+ python -m lidar_slam --no-model /working/2d7ab115-d2a4-43d1-aebe-f8180e147539 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/2d7ab115-d2a4-43d1-aebe-f8180e147539 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 0.002320588 Adjusted end_distance from 9.223372036854776e+18 to 360.702320588 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002320588 meters Centerline goodness [0,1] 0.9974469756480754 Centerline is valid? [0, True] SLAMing on 0.032320588 meters Centerline goodness [0,1] 0.9999017922906949 Centerline is valid? [True, True] Translation: X:0.03, Y:0.01, Z:0.00 [[ 9.99822551e-01 1.23177190e-02 1.42527516e-02 3.07141039e-02] [-1.23059508e-02 9.99923862e-01 -9.13088349e-04 6.55386342e-03] [-1.42629136e-02 7.37532661e-04 9.99898007e-01 6.74465924e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.062320587999999996 meters Centerline goodness [0,1] 0.9999017922906949 Centerline is valid? [True, True] Translation: X:0.06, Y:0.00, Z:0.00 [[ 9.99820431e-01 1.24888511e-02 1.42525383e-02 6.32381444e-02] [-1.24770529e-02 9.99921739e-01 -9.16413822e-04 4.52485321e-03] [-1.42628678e-02 7.38419587e-04 9.99898007e-01 8.38717525e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.092320588 meters Centerline goodness [0,1] 0.9998034204835856 Centerline is valid? [True, True] Translation: X:0.09, Y:0.00, Z:0.00 [[ 9.99746312e-01 1.90744291e-02 1.19781802e-02 9.41372077e-02] [-1.90665647e-02 9.99817920e-01 -7.70420751e-04 5.29615902e-05] [-1.19906946e-02 5.41842556e-04 9.99927962e-01 3.21827772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.122320588 meters Centerline goodness [0,1] 0.9997053624042428 Centerline is valid? [True, True] Translation: X:0.13, Y:-0.01, Z:0.01 [[ 9.99601439e-01 2.71680730e-02 7.67197049e-03 1.25137250e-01] [-2.71650835e-02 9.99630839e-01 -4.93620046e-04 -5.00249496e-03] [-7.68254901e-03 2.85013589e-04 9.99970448e-01 6.67149652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.152320588 meters Centerline goodness [0,1] 0.999803362501229 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.01, Z:0.01 [[ 9.99313530e-01 3.68144621e-02 4.14302200e-03 1.55119185e-01] [-3.68136725e-02 9.99322111e-01 -2.66711629e-04 -1.20170224e-02] [-4.15003234e-03 1.14008684e-04 9.99991382e-01 7.61361766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.02, Z:0.01 [[ 9.98972170e-01 4.53158238e-02 1.03922892e-03 1.84144391e-01] [-4.53157789e-02 9.98972710e-01 -6.66842837e-05 -2.00981046e-02] [-1.04118319e-03 1.95222755e-05 9.99999458e-01 6.18640076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.21, Y:-0.03, Z:0.01 [[ 9.98618322e-01 5.25294843e-02 -1.44892139e-03 2.12378362e-01] [-5.25294021e-02 9.98619373e-01 9.47699115e-05 -2.87841306e-02] [ 1.45189919e-03 -1.85279956e-05 9.99998946e-01 5.42034398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.03, Z:0.01 [[ 9.98644887e-01 5.20220194e-02 -1.44894691e-03 2.39707757e-01] [-5.20219372e-02 9.98645938e-01 9.43776580e-05 -3.08417497e-02] [ 1.45189466e-03 -1.88727404e-05 9.99998946e-01 5.55882480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27232058800000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.27, Y:-0.04, Z:0.01 [[ 9.98334026e-01 5.76559422e-02 -2.22804431e-03 2.68467891e-01] [-5.76557681e-02 9.98336512e-01 1.42364109e-04 -3.82059752e-02] [ 2.23254612e-03 -1.36673279e-05 9.99997508e-01 5.94658119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.04, Z:0.01 [[ 9.98176972e-01 6.03297879e-02 1.74643139e-03 2.96458140e-01] [-6.03296942e-02 9.98178499e-01 -1.06321972e-04 -4.38975449e-02] [-1.74966464e-03 7.66472519e-07 9.99998469e-01 6.21322182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.05, Z:0.01 [[ 9.98105672e-01 6.13524064e-02 4.57701578e-03 3.25104835e-01] [-6.13517618e-02 9.98116167e-01 -2.81235969e-04 -4.89339498e-02] [-4.58564795e-03 -1.04765699e-07 9.99989486e-01 7.49550045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.05, Z:0.01 [[ 9.98085501e-01 6.12241907e-02 8.77100643e-03 3.53124314e-01] [-6.12217994e-02 9.98124040e-01 -5.41132541e-04 -5.39310905e-02] [-8.78768277e-03 3.11974754e-06 9.99961388e-01 8.25256683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.06, Z:0.01 [[ 9.98085502e-01 6.12241867e-02 8.77095633e-03 3.83069739e-01] [-6.12217881e-02 9.98124040e-01 -5.41943381e-04 -5.57806556e-02] [-8.78768241e-03 3.93220089e-06 9.99961388e-01 8.40390345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.41, Y:-0.06, Z:0.01 [[ 9.98125167e-01 6.01267506e-02 1.14422528e-02 4.13044059e-01] [-6.01225965e-02 9.98190750e-01 -7.06998524e-04 -5.93905125e-02] [-1.14640604e-02 1.77350702e-05 9.99934285e-01 9.53481145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45232058799999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.44, Y:-0.06, Z:0.01 [[ 9.98146485e-01 5.89878393e-02 1.49676306e-02 4.43996377e-01] [-5.89805835e-02 9.98258700e-01 -9.26112637e-04 -6.16364768e-02] [-1.49961969e-02 4.15964852e-05 9.99887550e-01 8.97588013e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.06, Z:0.01 [[ 9.98177011e-01 5.71711063e-02 1.93421486e-02 4.76362805e-01] [-5.71585953e-02 9.98364390e-01 -1.19949687e-03 -6.24538954e-02] [-1.93790889e-02 9.17401610e-05 9.99812204e-01 7.45831314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.06, Z:0.01 [[ 9.98284056e-01 5.49044206e-02 2.03580038e-02 5.08773125e-01] [-5.48900370e-02 9.98491604e-01 -1.26506735e-03 -6.36665805e-02] [-2.03967537e-02 1.45444977e-04 9.99791954e-01 5.08920199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.07, Z:0.01 [[ 9.98273648e-01 5.50934304e-02 2.03577448e-02 5.41259271e-01] [-5.50790012e-02 9.98481193e-01 -1.26923114e-03 -6.56252206e-02] [-2.03967516e-02 1.45755749e-04 9.99791954e-01 5.25314361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.57, Y:-0.07, Z:0.00 [[ 9.98396121e-01 5.26426225e-02 2.08312024e-02 5.73404716e-01] [-5.26269334e-02 9.98613395e-01 -1.30102176e-03 -6.90539346e-02] [-2.08708069e-02 2.02652778e-04 9.99782160e-01 3.22069254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.07, Z:0.00 [[ 9.98521009e-01 5.03372454e-02 2.05415897e-02 6.05153502e-01] [-5.03214489e-02 9.98732246e-01 -1.28550152e-03 -7.38543957e-02] [-2.05802566e-02 2.49917724e-04 9.99788173e-01 2.91316312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.08, Z:0.00 [[ 9.98589944e-01 4.86886503e-02 2.11551402e-02 6.36848268e-01] [-4.86714700e-02 9.98813961e-01 -1.32654177e-03 -7.82874051e-02] [-2.11946369e-02 2.95019505e-04 9.99775325e-01 3.06438528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6623205879999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.08, Z:0.00 [[ 9.98580866e-01 4.88745847e-02 2.11548736e-02 6.69334559e-01] [-4.88573562e-02 9.98804880e-01 -1.33078662e-03 -8.02645831e-02] [-2.11946327e-02 2.95326860e-04 9.99775325e-01 3.22833936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.08, Z:0.00 [[ 9.98620460e-01 4.75119717e-02 2.23559529e-02 7.01343154e-01] [-4.74923360e-02 9.98870609e-01 -1.40873422e-03 -8.27508754e-02] [-2.23976360e-02 3.45054386e-04 9.99749082e-01 4.21624570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.08, Z:0.00 [[ 9.98675966e-01 4.61201870e-02 2.27868998e-02 7.33819124e-01] [-4.60993603e-02 9.98935823e-01 -1.43871371e-03 -8.42127479e-02] [-2.28290043e-02 3.86347305e-04 9.99739310e-01 4.50903460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.09, Z:0.00 [[ 9.98792449e-01 4.42964841e-02 2.12476926e-02 7.67031713e-01] [-4.42778720e-02 9.99018348e-01 -1.34584933e-03 -8.62530320e-02] [-2.12864512e-02 4.03421540e-04 9.99773336e-01 4.22871268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.09, Z:0.00 [[ 9.98918955e-01 4.18102344e-02 2.03180910e-02 7.98706726e-01] [-4.17926564e-02 9.99125474e-01 -1.28917505e-03 -8.98523584e-02] [-2.03542230e-02 4.38634402e-04 9.99792735e-01 2.55403185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.09, Z:0.00 [[ 9.98911207e-01 4.19950854e-02 2.03178321e-02 8.31195035e-01] [-4.19774628e-02 9.99117721e-01 -1.29325112e-03 -9.18556411e-02] [-2.03542163e-02 4.38952001e-04 9.99792735e-01 2.71800732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.09, Z:0.00 [[ 9.98903423e-01 4.21799367e-02 2.03175926e-02 8.63682955e-01] [-4.21622758e-02 9.99109934e-01 -1.29701022e-03 -9.38652156e-02] [-2.03542164e-02 4.38952003e-04 9.99792735e-01 2.88193961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.10, Z:0.00 [[ 9.99034559e-01 3.98419601e-02 1.85086199e-02 8.95704938e-01] [-3.98268657e-02 9.99205895e-01 -1.18356934e-03 -9.78048453e-02] [-1.85410779e-02 4.45286352e-04 9.99828000e-01 2.04384860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9023205879999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.10, Z:0.00 [[ 9.99091093e-01 3.87694967e-02 1.77176451e-02 9.27958041e-01] [-3.87554575e-02 9.99248080e-01 -1.13517967e-03 -1.01011055e-01] [-1.77483332e-02 4.47492450e-04 9.99842386e-01 2.12039585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.10, Z:0.00 [[ 9.99078213e-01 3.88859499e-02 1.81825865e-02 9.59854632e-01] [-3.88711436e-02 9.99243550e-01 -1.16715646e-03 -1.03235295e-01] [-1.82142183e-02 4.59302664e-04 9.99834002e-01 4.13387922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.11, Z:0.00 [[ 9.99071084e-01 3.90687998e-02 1.81823526e-02 9.92341399e-01] [-3.90539575e-02 9.99236417e-01 -1.17079568e-03 -1.05263544e-01] [-1.82142105e-02 4.59615280e-04 9.99834002e-01 4.29785746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.992320588 meters Centerline goodness [0,1] 0.9999508985564176 Centerline is valid? [True, True] Translation: X:1.03, Y:-0.11, Z:0.01 [[ 9.99011048e-01 4.01102335e-02 1.91857884e-02 1.02509321e+00] [-4.00938326e-02 9.99195151e-01 -1.23888727e-03 -1.07512437e-01] [-1.92200388e-02 4.68430278e-04 9.99815168e-01 6.01405608e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.11, Z:0.01 [[ 9.98925637e-01 4.29771741e-02 1.73359135e-02 1.05723049e+00] [-4.29641821e-02 9.99075984e-01 -1.12134278e-03 -1.11199789e-01] [-1.73680870e-02 3.75314704e-04 9.99849093e-01 8.25136663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.052320588 meters Centerline goodness [0,1] 0.9999508720216164 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.12, Z:0.01 [[ 9.98829372e-01 4.63887545e-02 1.37101841e-02 1.08939589e+00] [-4.63809253e-02 9.98923431e-01 -8.88636884e-04 -1.16399563e-01] [-1.37366469e-02 2.51705595e-04 9.99905616e-01 7.86472818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.12, Z:0.01 [[ 9.98709723e-01 4.99617258e-02 9.09484096e-03 1.12166500e+00] [-4.99584087e-02 9.98751124e-01 -5.91688613e-04 -1.22524940e-01] [-9.11304441e-03 1.36561389e-04 9.99958466e-01 6.18116386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1123205879999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.12, Z:0.01 [[ 9.98706592e-01 5.00242727e-02 9.09484358e-03 1.15245035e+00] [-5.00209586e-02 9.98747993e-01 -5.91647830e-04 -1.24507221e-01] [-9.11305352e-03 1.35949794e-04 9.99958466e-01 6.33653563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1423205879999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.13, Z:0.00 [[ 9.98596539e-01 5.25044301e-02 6.94534976e-03 1.18392013e+00] [-5.25025538e-02 9.98620687e-01 -4.52328799e-04 -1.29982772e-01] [-6.95951922e-03 8.70453727e-05 9.99975778e-01 4.34286422e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1723205879999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.14, Z:0.00 [[ 9.98453230e-01 5.48604150e-02 9.02675093e-03 1.21451097e+00] [-5.48573455e-02 9.98494029e-01 -5.87472487e-04 -1.35352205e-01] [-9.04538589e-03 9.13802067e-05 9.99959085e-01 3.92189427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2023205879999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.14, Z:0.00 [[ 9.98248897e-01 5.70936092e-02 1.54744911e-02 1.24559165e+00] [-5.70848362e-02 9.98368822e-01 -1.00841001e-03 -1.39845357e-01] [-1.55068232e-02 1.23285393e-04 9.99879754e-01 4.95519827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2323205879999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.14, Z:0.01 [[ 9.97978575e-01 5.88888746e-02 2.38927810e-02 1.27773225e+00] [-5.88683954e-02 9.98264533e-01 -1.56020042e-03 -1.44158398e-01] [-2.39431943e-02 1.50516915e-04 9.99713309e-01 7.25847475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.15, Z:0.01 [[ 9.97742243e-01 6.06110959e-02 2.89259602e-02 1.31001107e+00] [-6.05816970e-02 9.98161448e-01 -1.89245365e-03 -1.47713197e-01] [-2.89874820e-02 1.35797195e-04 9.99579765e-01 1.06293432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.15, Z:0.01 [[ 9.97632165e-01 6.18792946e-02 3.00169299e-02 1.34166898e+00] [-6.18477925e-02 9.98083633e-01 -1.97768567e-03 -1.49839862e-01] [-3.00817843e-02 1.16521981e-04 9.99547434e-01 1.31306454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3223205879999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.23, Z:0.01 [[ 9.97847415e-01 6.55767500e-02 -4.75049409e-04 1.36733094e+00] [-6.55767426e-02 9.97847528e-01 3.12473770e-05 -2.29315298e-01] [ 4.76075980e-04 -2.79215773e-08 9.99999887e-01 5.58697709e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3523205879999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.23, Z:0.01 [[ 9.97840493e-01 6.56691464e-02 -1.38311934e-03 1.39579467e+00] [-6.56690809e-02 9.97841452e-01 9.27511830e-05 -2.31860729e-01] [ 1.38622470e-03 -1.72271069e-06 9.99999039e-01 7.73011594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3823205879999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.23, Z:0.01 [[ 9.97871041e-01 6.52033202e-02 -1.38316232e-03 1.42401953e+00] [-6.52032551e-02 9.97871999e-01 9.20994635e-05 -2.33995235e-01] [ 1.38622414e-03 -1.71670159e-06 9.99999039e-01 7.87284992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4123205879999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.24, Z:0.01 [[ 9.97835867e-01 6.57522776e-02 4.69113093e-04 1.45226760e+00] [-6.57522718e-02 9.97835977e-01 -2.78613037e-05 -2.37860417e-01] [-4.69929866e-04 -3.04424348e-06 9.99999890e-01 1.04197647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4423205879999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.24, Z:0.01 [[ 9.97840277e-01 6.56853159e-02 4.68985732e-04 1.48136928e+00] [-6.56853091e-02 9.97840388e-01 -2.98383657e-05 -2.39750136e-01] [-4.69932847e-04 -1.03154967e-06 9.99999890e-01 1.05668239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4723205879999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.24, Z:0.01 [[ 9.97890503e-01 6.48297365e-02 3.41320342e-03 1.51132014e+00] [-6.48293665e-02 9.97896340e-01 -2.19055288e-04 -2.42653456e-01] [-3.42022450e-03 -2.68262345e-06 9.99994151e-01 1.15883269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.25, Z:0.01 [[ 9.97942670e-01 6.37367778e-02 6.93186149e-03 1.54232335e+00] [-6.37352148e-02 9.97966745e-01 -4.46375357e-04 -2.45725803e-01] [-6.94621777e-03 3.65333447e-06 9.99975875e-01 1.18055057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.25, Z:0.01 [[ 9.98046245e-01 6.18560442e-02 8.80472883e-03 1.57385228e+00] [-6.18534408e-02 9.98085081e-01 -5.67942542e-04 -2.49379630e-01] [-8.82299917e-03 2.22301482e-05 9.99961076e-01 1.09802335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.25, Z:0.01 [[ 9.98144725e-01 5.99102912e-02 1.08566051e-02 1.60589692e+00] [-5.99062019e-02 9.98203764e-01 -7.01761797e-04 -2.53478421e-01] [-1.08791468e-02 5.00818576e-05 9.99940819e-01 1.05509174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5923205879999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.26, Z:0.01 [[ 9.98132696e-01 6.01103816e-02 1.08564417e-02 1.63834927e+00] [-6.01062767e-02 9.98191735e-01 -7.04287183e-04 -2.55519953e-01] [-1.08791453e-02 5.04317765e-05 9.99940819e-01 1.07147912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6223205879999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.26, Z:0.01 [[ 9.98205547e-01 5.81973304e-02 1.40980820e-02 1.67059425e+00] [-5.81901998e-02 9.98305095e-01 -9.15813271e-04 -2.60334656e-01] [-1.41274850e-02 9.37996801e-05 9.99900198e-01 9.00001708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6523205879999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.26, Z:0.01 [[ 9.98257635e-01 5.68215768e-02 1.59060371e-02 1.70297180e+00] [-5.68122934e-02 9.98384341e-01 -1.03525322e-03 -2.64926894e-01] [-1.59391630e-02 1.29790987e-04 9.99872955e-01 8.18790768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6823205879999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.27, Z:0.01 [[ 9.98230862e-01 5.68795413e-02 1.73165900e-02 1.73524690e+00] [-5.68685087e-02 9.98381038e-01 -1.12927060e-03 -2.68602440e-01] [-1.73527875e-02 1.42504113e-04 9.99849419e-01 8.12773020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7123205879999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.27, Z:0.01 [[ 9.98219609e-01 5.70767530e-02 1.73163447e-02 1.76770053e+00] [-5.70656848e-02 9.98369783e-01 -1.13302790e-03 -2.70663604e-01] [-1.73527848e-02 1.42841600e-04 9.99849419e-01 8.29162129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.27, Z:0.01 [[ 9.98172165e-01 5.78608988e-02 1.74483905e-02 1.80085124e+00] [-5.78497206e-02 9.98324646e-01 -1.14512268e-03 -2.73392206e-01] [-1.74854161e-02 1.33645074e-04 9.99847109e-01 8.36437132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.28, Z:0.01 [[ 9.98085022e-01 5.93898273e-02 1.72955610e-02 1.83284810e+00] [-5.93790400e-02 9.98234861e-01 -1.13702153e-03 -2.76227198e-01] [-1.73325594e-02 1.07850352e-04 9.99849774e-01 8.32513744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8023205879999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.28, Z:0.01 [[ 9.97989244e-01 6.10996219e-02 1.68613275e-02 1.86469837e+00] [-6.10895756e-02 9.98131670e-01 -1.11072394e-03 -2.79640456e-01] [-1.68976898e-02 7.84392079e-05 9.99857221e-01 7.51578785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8323205879999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.28, Z:0.01 [[ 9.97873812e-01 6.33779778e-02 1.52015847e-02 1.89656819e+00] [-6.33700450e-02 9.97989594e-01 -1.00344955e-03 -2.83993834e-01] [-1.52346200e-02 3.79909217e-05 9.99883946e-01 7.75635275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8623205879999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.29, Z:0.01 [[ 9.97861176e-01 6.35766574e-02 1.52013620e-02 1.92901748e+00] [-6.35686963e-02 9.97976957e-01 -1.00681912e-03 -2.86078903e-01] [-1.52346192e-02 3.83349433e-05 9.99883946e-01 7.92023291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8923205879999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.29, Z:0.01 [[ 9.97754126e-01 6.55428211e-02 1.38145820e-02 1.96090949e+00] [-6.55364128e-02 9.97849757e-01 -9.16558863e-04 -2.90617750e-01] [-1.38449511e-02 9.14224016e-06 9.99904154e-01 8.58838576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9223205879999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.29, Z:0.01 [[ 9.97658878e-01 6.74033879e-02 1.15562415e-02 1.99304726e+00] [-6.73990094e-02 9.97725806e-01 -7.68368067e-04 -2.94714662e-01] [-1.15817510e-02 -1.23100079e-05 9.99932929e-01 9.56046548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9523205879999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.30, Z:0.01 [[ 9.97589434e-01 6.89060770e-02 8.20200251e-03 2.02533646e+00] [-6.89039114e-02 9.97623151e-01 -5.46646263e-04 -2.98361415e-01] [-8.22017484e-03 -1.98215183e-05 9.99966214e-01 1.05219204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9823205879999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.30, Z:0.01 [[ 9.97580197e-01 6.90396978e-02 8.20192911e-03 2.05694329e+00] [-6.90375278e-02 9.97613913e-01 -5.47747222e-04 -3.00430303e-01] [-8.22017490e-03 -1.98191275e-05 9.99966214e-01 1.06815620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0123205879999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.30, Z:0.01 [[ 9.97566078e-01 6.95057790e-02 5.55575809e-03 2.08873761e+00] [-6.95047852e-02 9.97581549e-01 -3.71994134e-04 -3.02105280e-01] [-5.56817750e-03 -1.50630431e-05 9.99984497e-01 1.17066457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.30, Z:0.01 [[ 9.97532251e-01 7.01480722e-02 2.94198439e-03 2.12119505e+00] [-7.01477942e-02 9.97536590e-01 -1.97705550e-04 -3.03542360e-01] [-2.94860574e-03 -9.15605262e-06 9.99995653e-01 1.16724174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0723205879999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.31, Z:0.01 [[ 9.97505074e-01 7.05879753e-02 9.82381429e-04 2.15274565e+00] [-7.05879443e-02 9.97505558e-01 -6.61979344e-05 -3.05491042e-01] [-9.84603713e-04 -3.31151016e-06 9.99999515e-01 1.21912196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.31, Z:0.01 [[ 9.97430627e-01 7.15752844e-02 3.02051937e-03 2.18261343e+00] [-7.15749994e-02 9.97435200e-01 -2.02489356e-04 -3.08988489e-01] [-3.02726558e-03 -1.42245870e-05 9.99995418e-01 1.27831487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.31, Z:0.01 [[ 9.97425838e-01 7.16419914e-02 3.02048327e-03 2.21338198e+00] [-7.16417051e-02 9.97430411e-01 -2.03027690e-04 -3.11034257e-01] [-3.02726718e-03 -1.38875074e-05 9.99995418e-01 1.29385713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.32, Z:0.01 [[ 9.97322469e-01 7.28460241e-02 6.43037129e-03 2.24479018e+00] [-7.28447510e-02 9.97343198e-01 -4.32280588e-04 -3.15019350e-01] [-6.44477699e-03 -3.72956514e-05 9.99979232e-01 1.47115797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.32, Z:0.02 [[ 9.97172290e-01 7.44229848e-02 1.04232151e-02 2.27646961e+00] [-7.44197098e-02 9.97226761e-01 -7.02246224e-04 -3.17748114e-01] [-1.04465723e-02 -7.54321692e-05 9.99945430e-01 1.64919298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2223205879999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.32, Z:0.02 [[ 9.96915468e-01 7.70639285e-02 1.48559782e-02 2.30856170e+00] [-7.70575432e-02 9.97026143e-01 -1.00260593e-03 -3.19613676e-01] [-1.48890634e-02 -1.45251819e-04 9.99889141e-01 1.73384410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.32, Z:0.02 [[ 9.96899671e-01 7.72680584e-02 1.48557488e-02 2.34100647e+00] [-7.72616451e-02 9.97010344e-01 -1.00600195e-03 -3.21752026e-01] [-1.48890670e-02 -1.44896573e-04 9.99889141e-01 1.75023214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2823205879999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.32, Z:0.02 [[ 9.96552580e-01 8.07806339e-02 1.89062225e-02 2.37287010e+00] [-8.07708416e-02 9.96731873e-01 -1.28222380e-03 -3.24575251e-01] [-1.89480134e-02 -2.49268065e-04 9.99820439e-01 1.68182764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.33, Z:0.02 [[ 9.96200240e-01 8.45334184e-02 2.09566695e-02 2.40516404e+00] [-8.45221596e-02 9.96420582e-01 -1.42400166e-03 -3.28114002e-01] [-2.10020325e-02 -3.52712162e-04 9.99779371e-01 1.62878044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3423205879999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.33, Z:0.01 [[ 9.95728715e-01 8.91278703e-02 2.40945676e-02 2.43712044e+00] [-8.91142566e-02 9.96020059e-01 -1.64030517e-03 -3.31615011e-01] [-2.41448696e-02 -5.13870525e-04 9.99708338e-01 1.49785097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.33, Z:0.02 [[ 9.95079502e-01 9.59811026e-02 2.45848156e-02 2.46890726e+00] [-9.59687294e-02 9.95382923e-01 -1.68539139e-03 -3.32752536e-01] [-2.46330713e-02 -6.82275092e-04 9.99696327e-01 1.56746527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.33, Z:0.02 [[ 9.95030045e-01 9.64927021e-02 2.45839129e-02 2.50139735e+00] [-9.64801608e-02 9.95333458e-01 -1.69851750e-03 -3.34685944e-01] [-2.46330856e-02 -6.81783932e-04 9.99696327e-01 1.58386898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4323205879999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.33, Z:0.02 [[ 9.94299214e-01 1.03680905e-01 2.48866054e-02 2.53269344e+00] [-1.03670295e-01 9.94610232e-01 -1.71961489e-03 -3.32961594e-01] [-2.49307636e-02 -8.70189995e-04 9.99688801e-01 1.62862009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.33, Z:0.02 [[ 9.93459049e-01 1.11827534e-01 2.31023992e-02 2.56430884e+00] [-1.11820558e-01 9.93727131e-01 -1.59766405e-03 -3.31318215e-01] [-2.31361437e-02 -9.96109359e-04 9.99731827e-01 1.58901928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4923205879999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.33, Z:0.02 [[ 9.92631235e-01 1.19213224e-01 2.17126169e-02 2.59534450e+00] [-1.19208811e-01 9.92868069e-01 -1.50207418e-03 -3.29206776e-01] [-2.17368312e-02 -1.09732950e-03 9.99763125e-01 1.50042059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.33, Z:0.02 [[ 9.92572654e-01 1.19700159e-01 2.17117172e-02 2.62786511e+00] [-1.19695579e-01 9.92809485e-01 -1.51503503e-03 -3.31173298e-01] [-2.17369487e-02 -1.09501423e-03 9.99763125e-01 1.51684079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5523205879999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.33, Z:0.01 [[ 9.91763959e-01 1.26601057e-01 1.94015827e-02 2.65920746e+00] [-1.26598729e-01 9.91953089e-01 -1.35310991e-03 -3.31342212e-01] [-1.94167650e-02 -1.11425007e-03 9.99810856e-01 1.36495619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.33, Z:0.01 [[ 9.91005356e-01 1.32865107e-01 1.59764938e-02 2.69031535e+00] [-1.32864332e-01 9.91133607e-01 -1.11461280e-03 -3.30457255e-01] [-1.59829331e-02 -1.01811893e-03 9.99871746e-01 1.45403723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6123205879999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.33, Z:0.02 [[ 9.90387861e-01 1.37760587e-01 1.24058946e-02 2.72194397e+00] [-1.37760490e-01 9.90465192e-01 -8.66420043e-04 -3.26348850e-01] [-1.24069653e-02 -8.50950233e-04 9.99922669e-01 1.51553570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6423205879999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.32, Z:0.02 [[ 9.89884482e-01 1.41562468e-01 9.42226345e-03 2.75370685e+00] [-1.41562578e-01 9.89929090e-01 -6.58676923e-04 -3.21796696e-01] [-9.42061661e-03 -6.81825837e-04 9.99955393e-01 1.55609673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.32, Z:0.02 [[ 9.89867816e-01 1.41678964e-01 9.42216527e-03 2.78539199e+00] [-1.41679065e-01 9.89912424e-01 -6.60080547e-04 -3.23984974e-01] [-9.42063799e-03 -6.81531081e-04 9.99955393e-01 1.57210382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7023205879999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.33, Z:0.02 [[ 9.89851136e-01 1.41795459e-01 9.42208756e-03 2.81707685e+00] [-1.41795555e-01 9.89895744e-01 -6.61189377e-04 -3.26177240e-01] [-9.42063803e-03 -6.81531083e-04 9.99955393e-01 1.58810999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.32, Z:0.02 [[ 9.89463874e-01 1.44606667e-01 7.08191895e-03 2.84936473e+00] [-1.44606782e-01 9.89489075e-01 -4.98485294e-04 -3.20447285e-01] [-7.07956573e-03 -5.30860321e-04 9.99974799e-01 1.71813201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7623205879999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.31, Z:0.02 [[ 9.89355889e-01 1.45423771e-01 5.18184374e-03 2.88020671e+00] [-1.45423847e-01 9.89369381e-01 -3.64145710e-04 -3.13048786e-01] [-5.17971297e-03 -3.93293946e-04 9.99986508e-01 1.86706955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.30, Z:0.02 [[ 9.89206272e-01 1.46480072e-01 3.81323240e-03 2.91060675e+00] [-1.46480123e-01 9.89213578e-01 -2.67451215e-04 -3.04974780e-01] [-3.81127754e-03 -2.93998331e-04 9.99992694e-01 2.05158427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8223205879999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.31, Z:0.02 [[ 9.89266320e-01 1.46073970e-01 3.81346593e-03 2.93889905e+00] [-1.46074031e-01 9.89273626e-01 -2.64114656e-04 -3.07212817e-01] [-3.81114155e-03 -2.95768605e-04 9.99992694e-01 2.06588992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.30, Z:0.02 [[ 9.89329144e-01 1.45566230e-01 6.19003009e-03 2.96857436e+00] [-1.45566388e-01 9.89348394e-01 -4.27447439e-04 -2.98736473e-01] [-6.18631824e-03 -4.78174114e-04 9.99980750e-01 2.16534954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.882320588 meters Centerline goodness [0,1] 0.999950874435056 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.29, Z:0.02 [[ 9.89428043e-01 1.44798458e-01 8.09650874e-03 2.99743505e+00] [-1.44798731e-01 9.89460974e-01 -5.55613335e-04 -2.90154117e-01] [-8.09163137e-03 -6.22624776e-04 9.99967068e-01 2.28431790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9123205879999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.28, Z:0.02 [[ 9.89578909e-01 1.43602183e-01 1.05827849e-02 3.02674068e+00] [-1.43602616e-01 9.89635168e-01 -7.22869847e-04 -2.83362280e-01] [-1.05769018e-02 -8.04378837e-04 9.99943739e-01 2.23959173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.28, Z:0.02 [[ 9.89871391e-01 1.41378237e-01 1.29160172e-02 3.05655816e+00] [-1.41378751e-01 9.89955190e-01 -8.77878263e-04 -2.77102650e-01] [-1.29103911e-02 -9.57063796e-04 9.99916199e-01 2.16070234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9723205879999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.28, Z:0.02 [[ 9.89871394e-01 1.41378227e-01 1.29158860e-02 3.08657519e+00] [-1.41378716e-01 9.89955193e-01 -8.79804625e-04 -2.79145650e-01] [-1.29105336e-02 -9.55137946e-04 9.99916199e-01 2.17588553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.27, Z:0.02 [[ 9.91213303e-01 1.31243839e-01 1.64694483e-02 3.11788994e+00] [-1.31243265e-01 9.91349560e-01 -1.12040553e-03 -2.67379085e-01] [-1.64740266e-02 -1.05094330e-03 9.99863742e-01 2.21240297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0323205879999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.27, Z:0.02 [[ 9.91205398e-01 1.31303543e-01 1.64693370e-02 3.14873106e+00] [-1.31302949e-01 9.91341655e-01 -1.12204027e-03 -2.69464752e-01] [-1.64740677e-02 -1.05030015e-03 9.99863742e-01 2.22798688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.26, Z:0.02 [[ 9.92309587e-01 1.22214355e-01 1.96299459e-02 3.17959469e+00] [-1.22211749e-01 9.92503149e-01 -1.33684017e-03 -2.64025496e-01] [-1.96461642e-02 -1.07245071e-03 9.99806420e-01 2.23343472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0923205879999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.26, Z:0.02 [[ 9.93476434e-01 1.12068102e-01 2.11024868e-02 3.21011411e+00] [-1.12062806e-01 9.93700087e-01 -1.43705843e-03 -2.59652308e-01] [-2.11305913e-02 -9.37120189e-04 9.99776285e-01 2.23565967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.26, Z:0.02 [[ 9.94525152e-01 1.02173467e-01 2.19158569e-02 3.24109962e+00] [-1.02165334e-01 9.94766311e-01 -1.49333522e-03 -2.56618854e-01] [-2.19537354e-02 -7.53881411e-04 9.99758703e-01 2.19960457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.25, Z:0.02 [[ 9.95358633e-01 9.34592657e-02 2.29468596e-02 3.27290395e+00] [-9.34479963e-02 9.95622932e-01 -1.56527895e-03 -2.54386247e-01] [-2.29927095e-02 -5.86324141e-04 9.99735461e-01 1.93726714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1823205879999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.26, Z:0.02 [[ 9.95340394e-01 9.36533872e-02 2.29465098e-02 3.30538862e+00] [-9.36420514e-02 9.95604691e-01 -1.57040029e-03 -2.56553456e-01] [-2.29927261e-02 -5.85675403e-04 9.99735461e-01 1.95367196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.25, Z:0.02 [[ 9.96008239e-01 8.59436345e-02 2.41097537e-02 3.33834240e+00] [-8.59287714e-02 9.96299910e-01 -1.65373363e-03 -2.54619133e-01] [-2.41626733e-02 -4.24589192e-04 9.99707950e-01 1.87513199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2423205879999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.25, Z:0.02 [[ 9.96600344e-01 7.87396223e-02 2.42451255e-02 3.37035846e+00] [-7.87223868e-02 9.96895185e-01 -1.66600871e-03 -2.52442087e-01] [-2.43010298e-02 -2.48289292e-04 9.99704656e-01 1.82020217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.25, Z:0.02 [[ 9.97023351e-01 7.29206664e-02 2.50402336e-02 3.40293094e+00] [-7.29003644e-02 9.97337739e-01 -1.72389970e-03 -2.52502632e-01] [-2.50992779e-02 -1.06673898e-04 9.99684958e-01 1.78188526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3023205879999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.25, Z:0.02 [[ 9.97009182e-01 7.31142638e-02 2.50398764e-02 3.43540779e+00] [-7.30938928e-02 9.97323565e-01 -1.72908192e-03 -2.54679754e-01] [-2.50992794e-02 -1.06351491e-04 9.99684958e-01 1.79828140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.26, Z:0.02 [[ 9.97370934e-01 6.73888471e-02 2.66451467e-02 3.46780187e+00] [-6.73636546e-02 9.97726787e-01 -1.84299163e-03 -2.56193817e-01] [-2.67087737e-02 4.32318250e-05 9.99643256e-01 1.64580999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3623205879999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.26, Z:0.02 [[ 9.97661550e-01 6.32032061e-02 2.60151099e-02 3.50061493e+00] [-6.31776298e-02 9.98000666e-01 -1.80471147e-03 -2.59255137e-01] [-2.60771605e-02 1.56918263e-04 9.99659921e-01 1.60628881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3923205879999996 meters Centerline goodness [0,1] 0.9999509250625706 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.26, Z:0.02 [[ 9.97978293e-01 5.85640806e-02 2.46895668e-02 3.53367046e+00] [-5.85395079e-02 9.98283615e-01 -1.71748438e-03 -2.62797152e-01] [-2.47477729e-02 2.68697037e-04 9.99693691e-01 1.51784351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.27, Z:0.01 [[ 9.98216712e-01 5.50810771e-02 2.30102180e-02 3.56636336e+00] [-5.50587074e-02 9.98481829e-01 -1.60506039e-03 -2.67121624e-01] [-2.30636930e-02 3.35285242e-04 9.99733941e-01 1.41488345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4523205879999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.27, Z:0.01 [[ 9.98206460e-01 5.52666849e-02 2.30099199e-02 3.59883817e+00] [-5.52442660e-02 9.98471573e-01 -1.60932903e-03 -2.69327438e-01] [-2.30636932e-02 3.35276499e-04 9.99733941e-01 1.43127565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.27, Z:0.01 [[ 9.98458961e-01 5.16261496e-02 2.03578886e-02 3.63061261e+00] [-5.16077978e-02 9.98666411e-01 -1.42614655e-03 -2.73998163e-01] [-2.04043660e-02 3.73323000e-04 9.99791740e-01 1.42416640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5123205879999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.28, Z:0.01 [[ 9.98449314e-01 5.18124980e-02 2.03575997e-02 3.66308557e+00] [-5.17941010e-02 9.98656761e-01 -1.43026587e-03 -2.76215535e-01] [-2.04043602e-02 3.73644398e-04 9.99791740e-01 1.44056287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.28, Z:0.01 [[ 9.98659558e-01 4.85218026e-02 1.80200336e-02 3.69481064e+00] [-4.85068163e-02 9.98822047e-01 -1.26806158e-03 -2.79880790e-01] [-1.80603354e-02 3.92267357e-04 9.99836822e-01 1.36545325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5723205879999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.28, Z:0.01 [[ 9.98834734e-01 4.55765315e-02 1.58730769e-02 3.72641616e+00] [-4.55645000e-02 9.98960772e-01 -1.11899327e-03 -2.82660347e-01] [-1.59075810e-02 3.94440529e-04 9.99873389e-01 1.38527680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6023205879999995 meters Centerline goodness [0,1] 0.9999508792612241 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.28, Z:0.01 [[ 9.98920982e-01 4.42366122e-02 1.41419007e-02 3.75895261e+00] [-4.42268856e-02 9.99021012e-01 -9.99938712e-04 -2.84057232e-01] [-1.41722899e-02 3.73407534e-04 9.99899498e-01 1.41616075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.29, Z:0.01 [[ 9.98982954e-01 4.32864277e-02 1.26231047e-02 3.79129875e+00] [-4.32785787e-02 9.99062643e-01 -8.94422999e-04 -2.86658584e-01] [-1.26499887e-02 3.47203299e-04 9.99919925e-01 1.46591792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6623205879999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.29, Z:0.01 [[ 9.99013669e-01 4.28710060e-02 1.15657078e-02 3.82295707e+00] [-4.28643735e-02 9.99080563e-01 -8.20859469e-04 -2.90231990e-01] [-1.15902649e-02 3.24293013e-04 9.99932778e-01 1.45017647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.30, Z:0.01 [[ 9.99026140e-01 4.26098247e-02 1.14531512e-02 3.85501449e+00] [-4.26032874e-02 9.99091736e-01 -8.14273441e-04 -2.95492820e-01] [-1.14774448e-02 3.25538561e-04 9.99934079e-01 1.44839348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7223205879999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.30, Z:0.01 [[ 9.99020944e-01 4.27315032e-02 1.14530521e-02 3.88664130e+00] [-4.27249579e-02 9.99086539e-01 -8.15666883e-04 -2.97704240e-01] [-1.14774448e-02 3.25537132e-04 9.99934079e-01 1.46436472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.752320588 meters Centerline goodness [0,1] 0.9999508961453474 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.30, Z:0.02 [[ 9.98950306e-01 4.39224492e-02 1.30040161e-02 3.91859777e+00] [-4.39140921e-02 9.99034880e-01 -9.27637496e-04 -3.02522781e-01] [-1.30322097e-02 3.55604202e-04 9.99915014e-01 1.56041874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7823205879999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.30, Z:0.02 [[ 9.98861955e-01 4.49627898e-02 1.59104760e-02 3.95100848e+00] [-4.49503819e-02 9.98988574e-01 -1.13679522e-03 -3.04635308e-01] [-1.59454973e-02 4.20319525e-04 9.99872774e-01 1.71193778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.30, Z:0.02 [[ 9.98747748e-01 4.62959861e-02 1.89635654e-02 3.98297585e+00] [-4.62785562e-02 9.98927652e-01 -1.35717595e-03 -3.04937425e-01] [-1.90060617e-02 4.77870000e-04 9.99819254e-01 1.64582336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8423205879999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.31, Z:0.02 [[ 9.98739216e-01 4.64798034e-02 1.89632936e-02 4.01544809e+00] [-4.64623346e-02 9.98919115e-01 -1.36096976e-03 -3.07204673e-01] [-1.90060541e-02 4.78174972e-04 9.99819254e-01 1.66222156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8723205879999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.31, Z:0.02 [[ 9.98555713e-01 4.91983878e-02 2.15871904e-02 4.04834879e+00] [-4.91763002e-02 9.98788906e-01 -1.55316606e-03 -3.09118806e-01] [-2.16374596e-02 4.89344690e-04 9.99765763e-01 1.54136515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.31, Z:0.01 [[ 9.98372981e-01 5.22319400e-02 2.28738860e-02 4.08002777e+00] [-5.22078792e-02 9.98634879e-01 -1.64821380e-03 -3.11548863e-01] [-2.29287498e-02 4.51335051e-04 9.99737000e-01 1.36789059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9323205879999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.32, Z:0.01 [[ 9.98097419e-01 5.59780751e-02 2.58456344e-02 4.11204054e+00] [-5.59485293e-02 9.98431912e-01 -1.86545201e-03 -3.15308089e-01] [-2.59095306e-02 4.15877601e-04 9.99664205e-01 1.22569863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.32, Z:0.01 [[ 9.97821998e-01 5.93140644e-02 2.88634973e-02 4.14431387e+00] [-5.92785065e-02 9.98239302e-01 -2.08680249e-03 -3.17697393e-01] [-2.89364542e-02 3.71272421e-04 9.99581184e-01 1.25446658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9923205879999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.32, Z:0.01 [[ 9.97810912e-01 5.95004669e-02 2.88630844e-02 4.17678581e+00] [-5.94648220e-02 9.98228209e-01 -2.09250752e-03 -3.19985281e-01] [-2.89364502e-02 3.71588659e-04 9.99581184e-01 1.27086540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0223205879999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.32, Z:0.01 [[ 9.97511903e-01 6.28011265e-02 3.20315756e-02 4.20933545e+00] [-6.27588092e-02 9.98026013e-01 -2.32579193e-03 -3.21816647e-01] [-3.21144080e-02 3.09741594e-04 9.99484151e-01 1.39703421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.32, Z:0.01 [[ 9.97217254e-01 6.55498770e-02 3.55100328e-02 4.24135304e+00] [-6.54989992e-02 9.97849260e-01 -2.59543975e-03 -3.22512659e-01] [-3.56037907e-02 2.62345690e-04 9.99365950e-01 1.33696366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.32, Z:0.01 [[ 9.96995472e-01 6.77564414e-02 3.75379051e-02 4.27384895e+00] [-6.77005378e-02 9.97701870e-01 -2.75983914e-03 -3.24058242e-01] [-3.76386350e-02 2.10210754e-04 9.99291393e-01 1.30297510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.112320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.33, Z:0.01 [[ 9.96961708e-01 6.82522040e-02 3.75365058e-02 4.30640076e+00] [-6.81959373e-02 9.97668077e-01 -2.77881500e-03 -3.26122870e-01] [-3.76386338e-02 2.10534951e-04 9.99291393e-01 1.31938469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.33, Z:0.01 [[ 9.96833919e-01 6.91040209e-02 3.93290140e-02 4.33898812e+00] [-6.90422515e-02 9.97609439e-01 -2.92825235e-03 -3.27207571e-01] [-3.94373496e-02 2.03617583e-04 9.99222024e-01 1.23784845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.33, Z:0.01 [[ 9.96922731e-01 6.88055219e-02 3.75615284e-02 4.37107564e+00] [-6.87483428e-02 9.97630067e-01 -2.81329695e-03 -3.26841255e-01] [-3.76660805e-02 2.22346842e-04 9.99290357e-01 1.16016837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.33, Z:0.01 [[ 9.96975337e-01 6.84358143e-02 3.68336372e-02 4.40347864e+00] [-6.83799778e-02 9.97655491e-01 -2.77503068e-03 -3.25773546e-01] [-3.69371919e-02 2.47953845e-04 9.99317558e-01 1.06336105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.232320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.33, Z:0.01 [[ 9.97107983e-01 6.77274837e-02 3.44769334e-02 4.43632837e+00] [-6.76780018e-02 9.97703824e-01 -2.60155526e-03 -3.25015719e-01] [-3.45739650e-02 2.60701556e-04 9.99402108e-01 1.04920272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.33, Z:0.01 [[ 9.97074278e-01 6.82225965e-02 3.44755084e-02 4.46887773e+00] [-6.81727596e-02 9.97670090e-01 -2.62037999e-03 -3.27144223e-01] [-3.45739527e-02 2.62422939e-04 9.99402108e-01 1.06563124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.33, Z:0.01 [[ 9.97148717e-01 6.75907155e-02 3.35548872e-02 4.50114571e+00] [-6.75426653e-02 9.97713090e-01 -2.56473838e-03 -3.27616826e-01] [-3.36515027e-02 2.91039068e-04 9.99433585e-01 9.73708588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.33, Z:0.01 [[ 9.97134718e-01 6.82823385e-02 3.25557283e-02 4.53293185e+00] [-6.82370097e-02 9.97666000e-01 -2.50266599e-03 -3.29431426e-01] [-3.26506311e-02 2.73989601e-04 9.99466788e-01 9.13106385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3523205879999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.33, Z:0.01 [[ 9.97075050e-01 6.95159779e-02 3.17627556e-02 4.56476985e+00] [-6.94730148e-02 9.97580809e-01 -2.45557428e-03 -3.31069448e-01] [-3.18566171e-02 2.41737459e-04 9.99492420e-01 8.86470487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.33, Z:0.01 [[ 9.97040286e-01 7.00133938e-02 3.17615021e-02 4.59731325e+00] [-6.99701679e-02 9.97546022e-01 -2.47174360e-03 -3.33260127e-01] [-3.18566152e-02 2.42070311e-04 9.99492420e-01 9.02877322e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.33, Z:0.01 [[ 9.96964894e-01 7.19891637e-02 2.96405347e-02 4.62971050e+00] [-7.19520099e-02 9.97405398e-01 -2.31954644e-03 -3.33898463e-01] [-2.97306115e-02 1.79810322e-04 9.99557931e-01 9.18364199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.442320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.33, Z:0.01 [[ 9.96898162e-01 7.38652412e-02 2.71658050e-02 4.66171436e+00] [-7.38346745e-02 9.97268225e-01 -2.12792180e-03 -3.34876911e-01] [-2.72487735e-02 1.15542964e-04 9.99628677e-01 8.94708322e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.34, Z:0.01 [[ 9.96809184e-01 7.59178381e-02 2.46563083e-02 4.69434747e+00] [-7.58931843e-02 9.97114075e-01 -1.93547840e-03 -3.37123311e-01] [-2.47320894e-02 5.80568943e-05 9.99694113e-01 7.79559000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.34, Z:0.01 [[ 9.96792121e-01 7.67266601e-02 2.27703300e-02 4.72605783e+00] [-7.67057809e-02 9.97052164e-01 -1.79024603e-03 -3.40744778e-01] [-2.28405664e-02 3.78871882e-05 9.99739120e-01 7.13808279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.34, Z:0.01 [[ 9.96777452e-01 7.69170938e-02 2.27699624e-02 4.75851031e+00] [-7.68961576e-02 9.97037491e-01 -1.79491709e-03 -3.43234439e-01] [-2.28405660e-02 3.82102685e-05 9.99739120e-01 7.30203494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5623205879999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.35, Z:0.01 [[ 9.96744494e-01 7.75424186e-02 2.20813517e-02 4.79077853e+00] [-7.75228273e-02 9.96989053e-01 -1.74315471e-03 -3.47036207e-01] [-2.21500343e-02 2.56710487e-05 9.99754658e-01 7.01351032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.35, Z:0.01 [[ 9.96860482e-01 7.61848993e-02 2.15647900e-02 4.82245611e+00] [-7.61658361e-02 9.97093706e-01 -1.70516470e-03 -3.49139602e-01] [-2.16320242e-02 5.73110484e-05 9.99765999e-01 7.76234084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.35, Z:0.01 [[ 9.96845938e-01 7.63750612e-02 2.15644394e-02 4.85490662e+00] [-7.63559466e-02 9.97079158e-01 -1.70959447e-03 -3.51643899e-01] [-2.16320234e-02 5.76291200e-05 9.99765999e-01 7.92628885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.652320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.35, Z:0.01 [[ 9.96973183e-01 7.47437962e-02 2.13971550e-02 4.88784340e+00] [-7.47245132e-02 9.97202766e-01 -1.70043674e-03 -3.52854185e-01] [-2.14643992e-02 9.63978440e-05 9.99769609e-01 8.25658185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.36, Z:0.01 [[ 9.96958843e-01 7.49349085e-02 2.13968283e-02 4.92029326e+00] [-7.49155814e-02 9.97188423e-01 -1.70454399e-03 -3.55372888e-01] [-2.14643993e-02 9.64043751e-05 9.99769609e-01 8.42048407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.36, Z:0.01 [[ 9.97066992e-01 7.25104293e-02 2.44877657e-02 4.95282889e+00] [-7.24843173e-02 9.97367639e-01 -1.95344405e-03 -3.56935584e-01] [-2.45649501e-02 1.72735610e-04 9.99698221e-01 6.51429023e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.36, Z:0.01 [[ 9.97158037e-01 7.04129930e-02 2.67928979e-02 4.98457487e+00] [-7.03808866e-02 9.97517894e-01 -2.14063155e-03 -3.60013745e-01] [-2.68771234e-02 2.48840045e-04 9.99638714e-01 6.24786860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7723205879999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.36, Z:0.01 [[ 9.97173854e-01 6.88216790e-02 3.01310571e-02 5.01616890e+00] [-6.87799366e-02 9.97628919e-01 -2.42084767e-03 -3.63470455e-01] [-3.02262207e-02 3.41593810e-04 9.99543025e-01 6.02716882e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.37, Z:0.01 [[ 9.97100069e-01 6.81262498e-02 3.39155778e-02 5.04774613e+00] [-6.80727548e-02 9.97676622e-01 -2.73084667e-03 -3.66184905e-01] [-3.40228214e-02 4.14200594e-04 9.99420970e-01 6.14069477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.37, Z:0.01 [[ 9.96926384e-01 6.82299666e-02 3.85026950e-02 5.08018044e+00] [-6.81609324e-02 9.97669510e-01 -3.10434178e-03 -3.67134409e-01] [-3.86247740e-02 4.70420633e-04 9.99253674e-01 6.24253294e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.862320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.37, Z:0.01 [[ 9.96893124e-01 6.87151349e-02 3.85010331e-02 5.11272626e+00] [-6.86456687e-02 9.97636210e-01 -3.12489398e-03 -3.69430463e-01] [-3.86247523e-02 4.72256161e-04 9.99253674e-01 6.40687771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.892320588 meters Centerline goodness [0,1] 0.9999509443218052 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.37, Z:0.01 [[ 9.96638977e-01 7.05989077e-02 4.15516906e-02 5.14453223e+00] [-7.05189643e-02 9.97504684e-01 -3.38837246e-03 -3.69339454e-01] [-4.16872214e-02 4.46801882e-04 9.99130610e-01 7.05930819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.37, Z:0.01 [[ 9.96439033e-01 7.25917586e-02 4.28916155e-02 5.17681859e+00] [-7.25076239e-02 9.97361660e-01 -3.51607787e-03 -3.70791353e-01] [-4.30336912e-02 3.93588098e-04 9.99073544e-01 6.87629234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.37, Z:0.01 [[ 9.96403268e-01 7.30820608e-02 4.28898549e-02 5.20936955e+00] [-7.29974582e-02 9.97325853e-01 -3.53749729e-03 -3.73132097e-01] [-4.30336887e-02 3.93923465e-04 9.99073544e-01 7.04044308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.982320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.38, Z:0.01 [[ 9.96302958e-01 7.51774968e-02 4.15783532e-02 5.24100468e+00] [-7.50990740e-02 9.97170119e-01 -3.44707875e-03 -3.77862273e-01] [-4.17198341e-02 3.11838932e-04 9.99129300e-01 6.32994454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.39, Z:0.00 [[ 9.96351174e-01 7.58620491e-02 3.91061181e-02 5.27329023e+00] [-7.57930137e-02 9.97118286e-01 -3.24701569e-03 -3.85598089e-01] [-3.92397507e-02 2.71197347e-04 9.99229788e-01 2.88854445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.39, Z:0.00 [[ 9.96637269e-01 7.37869917e-02 3.56319111e-02 5.30474305e+00] [-7.37277514e-02 9.97273967e-01 -2.97545363e-03 -3.93248198e-01] [-3.57543271e-02 3.38387300e-04 9.99360552e-01 1.67202468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.072320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.40, Z:0.00 [[ 9.96883120e-01 7.01007146e-02 3.61930228e-02 5.33614266e+00] [-7.00366423e-02 9.97539797e-01 -3.03666647e-03 -3.98744958e-01] [-3.63168531e-02 4.92363758e-04 9.99340204e-01 7.23414299e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1023205879999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.40, Z:0.00 [[ 9.97190165e-01 6.42842412e-02 3.84618115e-02 5.36833626e+00] [-6.42074340e-02 9.97931346e-01 -3.23015735e-03 -4.01433645e-01] [-3.85898956e-02 7.51546914e-04 9.99254850e-01 1.17328564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.40, Z:0.00 [[ 9.97508423e-01 5.80348589e-02 4.01111144e-02 5.39922595e+00] [-5.79462404e-02 9.98314019e-01 -3.36939894e-03 -4.02683052e-01] [-4.02390305e-02 1.03671554e-03 9.99189544e-01 1.80776658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.41, Z:0.00 [[ 9.97480903e-01 5.85071784e-02 4.01093285e-02 5.43176683e+00] [-5.84180894e-02 9.98286447e-01 -3.39059992e-03 -4.05092918e-01] [-4.02389735e-02 1.03894833e-03 9.99189544e-01 1.97219929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.192320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.41, Z:0.00 [[ 9.97734220e-01 5.30440920e-02 4.13853845e-02 5.46318582e+00] [-5.29445340e-02 9.98591325e-01 -3.49874225e-03 -4.08409535e-01] [-4.15126735e-02 1.29968498e-03 9.99137132e-01 3.49480476e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.41, Z:-0.00 [[ 9.98058419e-01 4.83979373e-02 3.92049891e-02 5.49534970e+00] [-4.83043186e-02 9.98827107e-01 -3.33222300e-03 -4.13866180e-01] [-3.93202786e-02 1.43198293e-03 9.99225633e-01 -2.92800107e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.42, Z:-0.00 [[ 9.98341684e-01 4.47591657e-02 3.62008134e-02 5.52707755e+00] [-4.46764250e-02 9.98996726e-01 -3.09171724e-03 -4.21102031e-01] [-3.63028768e-02 1.46926727e-03 9.99339753e-01 -1.31418717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.282320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.43, Z:-0.00 [[ 9.98514031e-01 4.15275623e-02 3.52872742e-02 5.55811039e+00] [-4.14467081e-02 9.99136152e-01 -3.02004699e-03 -4.30157100e-01] [-3.53822065e-02 1.55301795e-03 9.99372647e-01 -1.36030001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3123205879999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.43, Z:-0.00 [[ 9.98494837e-01 4.19878006e-02 3.52857696e-02 5.59065165e+00] [-4.19066146e-02 9.99116914e-01 -3.03758286e-03 -4.32627946e-01] [-3.53821506e-02 1.55430366e-03 9.99372647e-01 -1.19594881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.44, Z:-0.00 [[ 9.98615209e-01 3.92015693e-02 3.50842104e-02 5.62180789e+00] [-3.91191453e-02 9.99229950e-01 -3.03295105e-03 -4.41128808e-01] [-3.51760903e-02 1.65628672e-03 9.99379757e-01 -6.37762916e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.372320588 meters Centerline goodness [0,1] 0.9998526450218577 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.45, Z:-0.00 [[ 9.98677770e-01 3.82121171e-02 3.43881680e-02 5.65286674e+00] [-3.81318669e-02 9.99268252e-01 -2.98671368e-03 -4.52545845e-01] [-3.44771332e-02 1.67147951e-03 9.99404089e-01 -1.39715397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.402320587999999 meters Centerline goodness [0,1] 0.9999017826449934 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.46, Z:-0.00 [[ 9.98750820e-01 3.71257468e-02 3.34436668e-02 5.68375111e+00] [-3.70487856e-02 9.99309197e-01 -2.91820049e-03 -4.64377502e-01] [-3.35289042e-02 1.67550789e-03 9.99436344e-01 -2.75367014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.432320588 meters Centerline goodness [0,1] 0.9999017826449934 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.47, Z:-0.00 [[ 9.98733860e-01 3.75804356e-02 3.34423116e-02 5.71628262e+00] [-3.75032109e-02 9.99292201e-01 -2.93369694e-03 -4.66904748e-01] [-3.35288908e-02 1.67578840e-03 9.99436344e-01 -2.58941749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.48, Z:-0.00 [[ 9.98719879e-01 3.74605857e-02 3.39898230e-02 5.74715976e+00] [-3.73806302e-02 9.99296642e-01 -2.98498232e-03 -4.80326265e-01] [-3.40777352e-02 1.71060017e-03 9.99417721e-01 -2.78411049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.49, Z:-0.00 [[ 9.98598423e-01 3.85805797e-02 3.62315966e-02 5.77865819e+00] [-3.84898772e-02 9.99253873e-01 -3.19784328e-03 -4.90796211e-01] [-3.63279379e-02 1.79881155e-03 9.99338304e-01 -2.22689127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5223205879999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.50, Z:-0.00 [[ 9.98374364e-01 4.13995219e-02 3.91753627e-02 5.81148103e+00] [-4.12949172e-02 9.99140955e-01 -3.47593908e-03 -5.00275315e-01] [-3.92856115e-02 1.85254511e-03 9.99226305e-01 -5.17099191e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.552320588 meters Centerline goodness [0,1] 0.9999016909162407 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.51, Z:0.00 [[ 9.98041839e-01 4.65909025e-02 4.17345920e-02 5.84296367e+00] [-4.64760084e-02 9.98912482e-01 -3.71953054e-03 -5.09160597e-01] [-4.18625011e-02 1.77258985e-03 9.99121809e-01 6.50540399e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.52, Z:0.00 [[ 9.97798329e-01 5.21695181e-02 4.09492002e-02 5.87382542e+00] [-5.20635682e-02 9.98637102e-01 -3.65025517e-03 -5.17348544e-01] [-4.10838227e-02 1.51025703e-03 9.99154562e-01 1.57998733e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.612320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.53, Z:0.00 [[ 9.97519328e-01 5.87739704e-02 3.87402967e-02 5.90418895e+00] [-5.86840810e-02 9.98270628e-01 -3.45437113e-03 -5.25385159e-01] [-3.88763274e-02 1.17236326e-03 9.99243342e-01 3.82448985e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.53, Z:0.00 [[ 9.97491075e-01 5.92527591e-02 3.87384336e-02 5.93667984e+00] [-5.91624217e-02 9.98242321e-01 -3.47520958e-03 -5.27968337e-01] [-3.88762596e-02 1.17463100e-03 9.99243342e-01 5.46710247e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.54, Z:-0.00 [[ 9.97128599e-01 6.60341860e-02 3.70680952e-02 5.96767738e+00] [-6.59561440e-02 9.97816981e-01 -3.32562715e-03 -5.35177555e-01] [-3.72067799e-02 8.71209313e-04 9.99307208e-01 -2.38334763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.54, Z:-0.00 [[ 9.96637720e-01 7.30052612e-02 3.71952629e-02 5.99925342e+00] [-7.29311687e-02 9.97331361e-01 -3.34673879e-03 -5.42574350e-01] [-3.73403317e-02 6.22792121e-04 9.99302413e-01 -3.93359035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.732320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.54, Z:-0.00 [[ 9.97713341e-01 6.31605774e-02 2.40588801e-02 6.03180540e+00] [-6.31266771e-02 9.98003170e-01 -2.16670764e-03 -5.37049546e-01] [-2.41476891e-02 6.42995964e-04 9.99708195e-01 -1.97612135e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.54, Z:-0.00 [[ 9.97712557e-01 6.32018601e-02 2.39828733e-02 6.06447107e+00] [-6.31678530e-02 9.98000550e-01 -2.17367379e-03 -5.42866742e-01] [-2.40723010e-02 6.53755014e-04 9.99710006e-01 -1.33407657e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.55, Z:-0.00 [[ 9.97772918e-01 6.23157742e-02 2.37896842e-02 6.09595605e+00] [-6.22818229e-02 9.98056252e-01 -2.16614595e-03 -5.52150236e-01] [-2.38784281e-02 6.79656863e-04 9.99714639e-01 -1.54883594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.822320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.55, Z:-0.00 [[ 9.97742284e-01 6.28047527e-02 2.37885923e-02 6.12841754e+00] [-6.27706552e-02 9.98025601e-01 -2.17811178e-03 -5.54795481e-01] [-2.38784199e-02 6.79968702e-04 9.99714639e-01 -1.38478739e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8523205879999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.57, Z:-0.00 [[ 9.97884494e-01 6.13735004e-02 2.14436723e-02 6.16013420e+00] [-6.13452321e-02 9.98114655e-01 -1.97421111e-03 -5.71054305e-01] [-2.15244078e-02 6.54567602e-04 9.99768109e-01 -3.12114068e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.57, Z:-0.00 [[ 9.97873123e-01 6.15581735e-02 2.14434471e-02 6.19254133e+00] [-6.15298953e-02 9.98103284e-01 -1.97665543e-03 -5.73983025e-01] [-2.15244542e-02 6.53038279e-04 9.99768109e-01 -1.48189650e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.912320588 meters Centerline goodness [0,1] 0.999950741342791 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.58, Z:0.00 [[ 9.97941323e-01 6.09745982e-02 1.98800017e-02 6.22472103e+00] [-6.09501340e-02 9.98139126e-01 -1.83474658e-03 -5.79665750e-01] [-1.99548805e-02 6.19280655e-04 9.99800690e-01 1.90643136e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.942320587999999 meters Centerline goodness [0,1] 0.9999508043488956 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.58, Z:-0.00 [[ 9.97989245e-01 5.98427408e-02 2.08881003e-02 6.25636966e+00] [-5.98154310e-02 9.98207588e-01 -1.93033480e-03 -5.84657575e-01] [-2.09661767e-02 6.77022649e-04 9.99779956e-01 -5.42139765e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.59, Z:-0.00 [[ 9.97962705e-01 5.98863698e-02 2.20014204e-02 6.28782077e+00] [-5.98560219e-02 9.98204945e-01 -2.03591153e-03 -5.92389829e-01] [-2.20838500e-02 7.14846280e-04 9.99755866e-01 -7.35547977e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.60, Z:-0.00 [[ 9.97933358e-01 6.03738566e-02 2.20002535e-02 6.32026911e+00] [-6.03433500e-02 9.98175578e-01 -2.04849071e-03 -5.95087312e-01] [-2.20837910e-02 7.16688220e-04 9.99755866e-01 -5.71458977e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.032320587999999 meters Centerline goodness [0,1] 0.9999508067689886 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.60, Z:0.00 [[ 9.97926313e-01 5.99183201e-02 2.35131577e-02 6.35177602e+00] [-5.98831194e-02 9.98202974e-01 -2.19897051e-03 -6.04147120e-01] [-2.36026626e-02 7.86369308e-04 9.99721109e-01 6.64515678e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0623205879999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.61, Z:0.00 [[ 9.97860838e-01 6.09864250e-02 2.35457975e-02 6.38361430e+00] [-6.09511844e-02 9.98138297e-01 -2.21213197e-03 -6.12735709e-01] [-2.36368722e-02 7.72255618e-04 9.99720312e-01 3.44230321e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.62, Z:0.00 [[ 9.97834828e-01 6.29097358e-02 1.91838946e-02 6.41401768e+00] [-6.28866898e-02 9.98019045e-01 -1.80282303e-03 -6.20490645e-01] [-1.92593073e-02 5.92507981e-04 9.99814347e-01 1.62982706e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.63, Z:0.00 [[ 9.97768377e-01 6.53721214e-02 1.35923056e-02 6.44553524e+00] [-6.53607616e-02 9.97860880e-01 -1.27877331e-03 -6.26458198e-01] [-1.36468261e-02 3.87516122e-04 9.99906803e-01 7.01301540e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.152320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.63, Z:-0.00 [[ 9.97661374e-01 6.79978845e-02 6.93328013e-03 6.47642692e+00] [-6.79949887e-02 9.97685449e-01 -6.52802865e-04 -6.33654663e-01] [-6.96162192e-03 1.79847900e-04 9.99975751e-01 -3.25485983e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.64, Z:0.00 [[ 9.97652772e-01 6.81239937e-02 6.93316750e-03 6.50797398e+00] [-6.81210926e-02 9.97676846e-01 -6.53998666e-04 -6.36590430e-01] [-6.96161369e-03 1.80168636e-04 9.99975751e-01 1.27142153e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.212320588 meters Centerline goodness [0,1] 0.9999507558969813 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.64, Z:-0.00 [[ 9.97470841e-01 7.09354686e-02 4.48122645e-03 6.53953968e+00] [-7.09342814e-02 9.97480901e-01 -4.23511180e-04 -6.44754882e-01] [-4.49997977e-03 1.04567474e-04 9.99989870e-01 -8.22398160e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.65, Z:0.00 [[ 9.97367364e-01 7.24054484e-02 3.97385937e-03 6.57067653e+00] [-7.24045241e-02 9.97375277e-01 -3.76154198e-04 -6.53152907e-01] [-3.99066470e-03 8.74385250e-05 9.99992033e-01 2.81478518e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2723205879999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.66, Z:0.00 [[ 9.97214877e-01 7.43016319e-02 6.46190771e-03 6.60218035e+00] [-7.42992248e-02 9.97235805e-01 -6.12108266e-04 -6.60759149e-01] [-6.48952638e-03 1.30288736e-04 9.99978934e-01 1.88304536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.67, Z:0.00 [[ 9.97123909e-01 7.49591996e-02 1.11816366e-02 6.63388045e+00] [-7.49520224e-02 9.97186578e-01 -1.06014624e-03 -6.66688245e-01] [-1.12296456e-02 2.19010891e-04 9.99936922e-01 3.16828552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.67, Z:0.00 [[ 9.97109409e-01 7.51518597e-02 1.11814005e-02 6.66625373e+00] [-7.51446667e-02 9.97172076e-01 -1.06263399e-03 -6.69703578e-01] [-1.12296393e-02 2.19339737e-04 9.99936922e-01 3.33217213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.362320587999999 meters Centerline goodness [0,1] 0.9999507631708517 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.68, Z:0.00 [[ 9.96923699e-01 7.71467045e-02 1.38392611e-02 6.69772378e+00] [-7.71358602e-02 9.97019722e-01 -1.31645586e-03 -6.75086768e-01] [-1.38995765e-02 2.44902735e-04 9.99903366e-01 4.51462680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.68, Z:0.00 [[ 9.96773089e-01 7.89425032e-02 1.45427038e-02 6.72940180e+00] [-7.89306922e-02 9.96879144e-01 -1.38524047e-03 -6.79988993e-01] [-1.46066725e-02 2.32904748e-04 9.99893290e-01 4.99427190e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.69, Z:0.00 [[ 9.96528558e-01 8.20787489e-02 1.39252549e-02 6.76162312e+00] [-8.20681684e-02 9.96625830e-01 -1.33051718e-03 -6.86237357e-01] [-1.39874760e-02 1.83078202e-04 9.99902154e-01 3.44433869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.69, Z:0.00 [[ 9.96512497e-01 8.22735543e-02 1.39250193e-02 6.79399123e+00] [-8.22629583e-02 9.96609768e-01 -1.33298151e-03 -6.89274208e-01] [-1.39874794e-02 1.82819444e-04 9.99902154e-01 3.60823108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.482320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.70, Z:0.00 [[ 9.96283610e-01 8.52517692e-02 1.22924244e-02 6.82610436e+00] [-8.52437217e-02 9.96359433e-01 -1.17809501e-03 -6.95761317e-01] [-1.23481077e-02 1.25864748e-04 9.99923751e-01 1.97236809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.70, Z:0.00 [[ 9.96266875e-01 8.54471527e-02 1.22921614e-02 6.85846865e+00] [-8.54390863e-02 9.96342696e-01 -1.18083788e-03 -6.98807409e-01] [-1.23481044e-02 1.26198628e-04 9.99923751e-01 2.13623148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.71, Z:0.00 [[ 9.96064758e-01 8.80132937e-02 1.04239231e-02 6.88995448e+00] [-8.80076209e-02 9.96119297e-01 -1.00255504e-03 -7.05208176e-01] [-1.04717091e-02 8.12250684e-05 9.99945167e-01 3.37440772e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.572320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.71, Z:-0.00 [[ 9.95784486e-01 9.12127277e-02 9.66932563e-03 6.92142259e+00] [-9.12079682e-02 9.95831430e-01 -9.32977469e-04 -7.10916518e-01] [-9.71411779e-03 4.71249441e-05 9.99952816e-01 -7.20224190e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6023205879999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.72, Z:-0.00 [[ 9.95474270e-01 9.46354979e-02 8.66600313e-03 6.95296666e+00] [-9.46317980e-02 9.95511990e-01 -8.36917311e-04 -7.16535518e-01] [-8.70631211e-03 1.30501919e-05 9.99962099e-01 -9.33257668e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.72, Z:0.00 [[ 9.95101282e-01 9.85124843e-02 8.29027621e-03 6.98571107e+00] [-9.85092155e-02 9.95135815e-01 -8.02707692e-04 -7.22462432e-01] [-8.32902750e-03 -1.78931518e-05 9.99965313e-01 3.00658055e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.73, Z:0.00 [[ 9.94783733e-01 1.01617990e-01 8.89435006e-03 7.01775783e+00] [-1.01614345e-01 9.94823493e-01 -8.61992734e-04 -7.29340639e-01] [-8.93590236e-03 -4.62972018e-05 9.99960073e-01 1.84285678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.692320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.73, Z:0.00 [[ 9.94763048e-01 1.01820295e-01 8.89414150e-03 7.05011230e+00] [-1.01816639e-01 9.94802807e-01 -8.64143461e-04 -7.32421498e-01] [-8.93590427e-03 -4.59536087e-05 9.99960073e-01 2.00669870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.74, Z:0.00 [[ 9.94492119e-01 1.04414412e-01 9.11345613e-03 7.08131362e+00] [-1.04410674e-01 9.94533874e-01 -8.86311969e-04 -7.39711762e-01] [-9.15618457e-03 -7.01118255e-05 9.99958079e-01 4.18584766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.75, Z:0.01 [[ 9.94251224e-01 1.06635120e-01 9.66720660e-03 7.11265128e+00] [-1.06631006e-01 9.94298216e-01 -9.41435037e-04 -7.45948843e-01] [-9.71247632e-03 -9.48010290e-05 9.99952828e-01 5.24002264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.782320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.75, Z:0.01 [[ 9.93895240e-01 1.09771648e-01 1.10650992e-02 7.14467383e+00] [-1.09766437e-01 9.93956823e-01 -1.07895462e-03 -7.49457188e-01] [-1.11166694e-02 -1.42208653e-04 9.99938198e-01 6.08131365e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8123205879999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.75, Z:0.00 [[ 9.93469526e-01 1.13430231e-01 1.23240689e-02 7.17711731e+00] [-1.13424029e-01 9.93545943e-01 -1.20326585e-03 -7.50758472e-01] [-1.23810154e-02 -2.02437596e-04 9.99923332e-01 4.58118323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.75, Z:0.00 [[ 9.93409927e-01 1.13951103e-01 1.23232437e-02 7.20949292e+00] [-1.13944837e-01 9.93486339e-01 -1.21169702e-03 -7.53617711e-01] [-1.23810485e-02 -2.00458146e-04 9.99923332e-01 4.74502564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.75, Z:0.00 [[ 9.92907422e-01 1.18165070e-01 1.31098007e-02 7.24142233e+00] [-1.18158351e-01 9.92993929e-01 -1.28860604e-03 -7.54192296e-01] [-1.31702208e-02 -2.69565937e-04 9.99913233e-01 2.50391083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.902320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.76, Z:0.00 [[ 9.92299827e-01 1.23312067e-01 1.16270474e-02 7.27378525e+00] [-1.23307117e-01 9.92367898e-01 -1.14443587e-03 -7.55679095e-01] [-1.16794313e-02 -2.98074173e-04 9.99931749e-01 2.20210504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.76, Z:0.00 [[ 9.91570846e-01 1.29386578e-01 6.80959216e-03 7.30618233e+00] [-1.29385015e-01 9.91594205e-01 -6.71425531e-04 -7.58971080e-01] [-6.83922558e-03 -2.15293199e-04 9.99976589e-01 3.08478835e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.76, Z:0.00 [[ 9.90790007e-01 1.35336386e-01 4.38464282e-03 7.33803397e+00] [-1.35335793e-01 9.90799695e-01 -4.33103433e-04 -7.61205984e-01] [-4.40291743e-03 -1.64284560e-04 9.99990294e-01 4.00929394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.992320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.76, Z:0.01 [[ 9.90187931e-01 1.39729750e-01 1.85980409e-03 7.37016315e+00] [-1.39729650e-01 9.90189674e-01 -1.84296236e-04 -7.61892646e-01] [-1.86731047e-03 -7.73818653e-05 9.99998254e-01 6.38191277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0223205879999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.77, Z:0.01 [[ 9.90161772e-01 1.39914995e-01 1.85973840e-03 7.40253780e+00] [-1.39914894e-01 9.90163516e-01 -1.84960215e-04 -7.65043839e-01] [-1.86732382e-03 -7.70645667e-05 9.99998254e-01 6.54588654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.77, Z:0.01 [[ 9.89786712e-01 1.42552950e-01 9.60262664e-04 7.43425612e+00] [-1.42552924e-01 9.89787176e-01 -9.62673538e-05 -7.65157874e-01] [-9.64178866e-04 -4.16041028e-05 9.99999534e-01 7.41814516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.77, Z:0.01 [[ 9.89752072e-01 1.42795398e-01 5.56805905e-04 7.46685380e+00] [-1.42795388e-01 9.89752229e-01 -5.62545534e-05 -7.66016117e-01] [-5.59132777e-04 -2.38312547e-05 9.99999843e-01 7.01611642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.112320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.77, Z:0.01 [[ 9.90097763e-01 1.40379310e-01 -2.62464666e-04 7.49881749e+00] [-1.40379308e-01 9.90097798e-01 2.54773041e-05 -7.68848344e-01] [ 2.63442174e-04 1.16195863e-05 9.99999965e-01 6.46505527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.77, Z:0.01 [[ 9.90540692e-01 1.37218783e-01 3.79415036e-04 7.53061527e+00] [-1.37218778e-01 9.90540764e-01 -3.84218193e-05 -7.71631461e-01] [-3.81098255e-04 -1.40044921e-05 9.99999927e-01 6.24797328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.77, Z:0.01 [[ 9.90523505e-01 1.37342792e-01 3.79410262e-04 7.56215185e+00] [-1.37342788e-01 9.90523577e-01 -3.84693238e-05 -7.74742486e-01] [-3.81098295e-04 -1.40044936e-05 9.99999927e-01 6.40772003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.202320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.78, Z:0.01 [[ 9.90896730e-01 1.34596361e-01 2.73684111e-03 7.59453317e+00] [-1.34596117e-01 9.90900505e-01 -2.73905461e-04 -7.75044588e-01] [-2.74880391e-03 -9.69561600e-05 9.99996217e-01 5.61751966e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.232320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.77, Z:0.01 [[ 9.91155802e-01 1.32666408e-01 3.13052926e-03 7.62677240e+00] [-1.32666079e-01 9.91160740e-01 -3.13620641e-04 -7.73054001e-01] [-3.14446462e-03 -1.04468124e-04 9.99995051e-01 5.92484048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.77, Z:0.01 [[ 9.91205456e-01 1.32278831e-01 3.74900908e-03 7.65900375e+00] [-1.32278355e-01 9.91212538e-01 -3.75936540e-04 -7.71324283e-01] [-3.76579325e-03 -1.23282403e-04 9.99992902e-01 6.78738066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.77, Z:0.01 [[ 9.91180012e-01 1.32469355e-01 3.74890408e-03 7.69136660e+00] [-1.32468876e-01 9.91187094e-01 -3.76983786e-04 -7.74517488e-01] [-3.76580414e-03 -1.22954317e-04 9.99992902e-01 6.95130448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.322320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.78, Z:0.01 [[ 9.90966660e-01 1.34069494e-01 3.23241205e-03 7.72393594e+00] [-1.34069146e-01 9.90971926e-01 -3.25265564e-04 -7.75975694e-01] [-3.24683778e-03 -1.11039393e-04 9.99994723e-01 7.16577739e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3523205879999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.78, Z:0.01 [[ 9.90605384e-01 1.36731575e-01 2.33421567e-03 7.75561801e+00] [-1.36731400e-01 9.90608131e-01 -2.35357288e-04 -7.78981884e-01] [-2.34447379e-03 -8.60143779e-05 9.99997248e-01 7.67421607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.78, Z:0.01 [[ 9.90170688e-01 1.39845984e-01 2.26052368e-03 7.78732091e+00] [-1.39845828e-01 9.90173264e-01 -2.28006063e-04 -7.81255892e-01] [-2.27019584e-03 -9.03598840e-05 9.99997419e-01 8.34080456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.78, Z:0.01 [[ 9.89786339e-01 1.42499221e-01 4.12000240e-03 7.81940340e+00] [-1.42498722e-01 9.89794899e-01 -4.15840853e-04 -7.81935008e-01] [-4.13721435e-03 -1.75501482e-04 9.99991426e-01 9.34679015e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.442320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.78, Z:0.01 [[ 9.89493283e-01 1.44403859e-01 7.11111026e-03 7.85191359e+00] [-1.44402419e-01 9.89518785e-01 -7.18169429e-04 -7.82416878e-01] [-7.14028362e-03 -3.16237700e-04 9.99974458e-01 1.05086770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.79, Z:0.01 [[ 9.89466121e-01 1.44589865e-01 7.11094314e-03 7.88429155e+00] [-1.44588418e-01 9.89491623e-01 -7.19823528e-04 -7.85639524e-01] [-7.14029786e-03 -3.15919028e-04 9.99974458e-01 1.06726859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.79, Z:0.01 [[ 9.89344230e-01 1.45262874e-01 9.83320864e-03 7.91597074e+00] [-1.45260136e-01 9.89392996e-01 -9.95944995e-04 -7.88355211e-01] [-9.87358159e-03 -4.43040785e-04 9.99951157e-01 1.17206262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.532320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.79, Z:0.01 [[ 9.89531319e-01 1.44013004e-01 9.38207880e-03 7.94847757e+00] [-1.44010439e-01 9.89575711e-01 -9.51886769e-04 -7.91917316e-01] [-9.42136137e-03 -4.09195520e-04 9.99955534e-01 1.33615084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5623205879999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.80, Z:0.01 [[ 9.89907748e-01 1.41331653e-01 1.03929885e-02 7.98026392e+00] [-1.41328347e-01 9.89962213e-01 -1.05553245e-03 -7.95249310e-01] [-1.04378461e-02 -4.23944143e-04 9.99945434e-01 1.47114434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.80, Z:0.02 [[ 9.90355825e-01 1.37987421e-01 1.24423231e-02 8.01241684e+00] [-1.37982401e-01 9.90433873e-01 -1.26511394e-03 -7.95689483e-01] [-1.24978681e-02 -4.63908656e-04 9.99921791e-01 1.51338408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.80, Z:0.02 [[ 9.90329663e-01 1.38175082e-01 1.24420504e-02 8.04478614e+00] [-1.38170044e-01 9.90407710e-01 -1.26779480e-03 -7.98932111e-01] [-1.24978803e-02 -4.63583846e-04 9.99921791e-01 1.52978145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.652320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.08, Y:-0.80, Z:0.02 [[ 9.90716269e-01 1.35042399e-01 1.56468933e-02 8.07776109e+00] [-1.35034018e-01 9.90839678e-01 -1.59578063e-03 -7.96703288e-01] [-1.57190608e-02 -5.31897033e-04 9.99876306e-01 1.56740850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.11, Y:-0.79, Z:0.02 [[ 9.91030137e-01 1.32379277e-01 1.83028805e-02 8.11005713e+00] [-1.32367314e-01 9.91198972e-01 -1.86890374e-03 -7.92839788e-01] [-1.83892004e-02 -5.70563197e-04 9.99830742e-01 1.60919460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.79, Z:0.02 [[ 9.91202163e-01 1.30977185e-01 1.90591097e-02 8.14300753e+00] [-1.30963907e-01 9.91385222e-01 -1.94854590e-03 -7.87812991e-01] [-1.91501347e-02 -5.64652561e-04 9.99816460e-01 1.74530336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.742320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.78, Z:0.02 [[ 9.91202378e-01 1.31078328e-01 1.83389926e-02 8.17604700e+00] [-1.31066007e-01 9.91371866e-01 -1.87731953e-03 -7.83812112e-01] [-1.84268372e-02 -5.42814949e-04 9.99830064e-01 1.72792641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7723205879999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.79, Z:0.02 [[ 9.91177161e-01 1.31268926e-01 1.83385983e-02 8.20841522e+00] [-1.31256567e-01 9.91346647e-01 -1.88116835e-03 -7.87075941e-01] [-1.84268468e-02 -5.42490341e-04 9.99830064e-01 1.74432251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.78, Z:0.02 [[ 9.90988147e-01 1.32893282e-01 1.67889550e-02 8.24089290e+00] [-1.32883124e-01 9.91130215e-01 -1.72411939e-03 -7.83467688e-01] [-1.68691645e-02 -5.22386913e-04 9.99857569e-01 1.66294737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.78, Z:0.02 [[ 9.90829359e-01 1.34352436e-01 1.43737510e-02 8.27330445e+00] [-1.34345116e-01 9.90933502e-01 -1.47804918e-03 -7.79761772e-01] [-1.44420109e-02 -4.66548718e-04 9.99895600e-01 1.54025418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.862320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.78, Z:0.01 [[ 9.90630855e-01 1.36023808e-01 1.21668852e-02 8.30639772e+00] [-1.36018654e-01 9.90705483e-01 -1.25393977e-03 -7.77592378e-01] [-1.22243655e-02 -4.12731919e-04 9.99925194e-01 1.39852068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.78, Z:0.01 [[ 9.90564530e-01 1.36604514e-01 1.10054352e-02 8.33868908e+00] [-1.36600320e-01 9.90625592e-01 -1.13542653e-03 -7.75235528e-01] [-1.10573701e-02 -3.78632717e-04 9.99938794e-01 1.30111563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.77, Z:0.01 [[ 9.90707683e-01 1.35628463e-01 1.01590799e-02 8.37148131e+00] [-1.35624824e-01 9.90759711e-01 -1.04948462e-03 -7.72448486e-01] [-1.02075471e-02 -3.38090954e-04 9.99947844e-01 1.27651585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.952320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.78, Z:0.01 [[ 9.90690180e-01 1.35756261e-01 1.01589445e-02 8.40301408e+00] [-1.35752615e-01 9.90742208e-01 -1.05079553e-03 -7.75674858e-01] [-1.02075472e-02 -3.38090466e-04 9.99947844e-01 1.29248910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.982320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.77, Z:0.01 [[ 9.91161568e-01 1.32474036e-01 7.02681939e-03 8.43551150e+00] [-1.32472204e-01 9.91186454e-01 -7.27554795e-04 -7.72180649e-01] [-7.06127031e-03 -2.09733899e-04 9.99975047e-01 1.30414757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.77, Z:0.01 [[ 9.91817646e-01 1.27562370e-01 5.05954428e-03 8.46705052e+00] [-1.27561359e-01 9.91830543e-01 -5.23429458e-04 -7.68513870e-01] [-5.08498046e-03 -1.26255770e-04 9.99987063e-01 1.28326252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.042320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.76, Z:0.01 [[ 9.92699407e-01 1.20549111e-01 3.97477608e-03 8.49615925e+00] [-1.20548435e-01 9.92707362e-01 -4.10022880e-04 -7.64768047e-01] [-3.99521737e-03 -7.21235668e-05 9.99992016e-01 1.16265673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.76, Z:0.01 [[ 9.93626936e-01 1.12658198e-01 3.69371364e-03 8.52586185e+00] [-1.12657566e-01 9.93633800e-01 -3.79375130e-04 -7.61310077e-01] [-3.71293844e-03 -3.91674394e-05 9.99993106e-01 1.12588255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.76, Z:0.01 [[ 9.93686383e-01 1.12132626e-01 3.69405298e-03 8.55313594e+00] [-1.12132003e-01 9.93693249e-01 -3.76070710e-04 -7.64423604e-01] [-3.71292530e-03 -4.05252143e-05 9.99993106e-01 1.13972688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.132320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.76, Z:0.01 [[ 9.94431127e-01 1.05261937e-01 5.16314436e-03 8.58237152e+00] [-1.05260632e-01 9.94444530e-01 -5.24589809e-04 -7.61615448e-01] [-5.18968000e-03 -2.18074041e-05 9.99986533e-01 1.12636640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.76, Z:0.01 [[ 9.95089197e-01 9.88254038e-02 5.57044204e-03 8.61122337e+00] [-9.88237973e-02 9.95104788e-01 -5.63574480e-04 -7.59851177e-01] [-5.59886903e-03 1.03146406e-05 9.99984326e-01 1.22900769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.76, Z:0.01 [[ 9.95642487e-01 9.30108036e-02 6.71031851e-03 8.63979067e+00] [-9.30083580e-02 9.95665098e-01 -6.76288116e-04 -7.60469837e-01] [-6.74413204e-03 4.92254751e-05 9.99977257e-01 1.22292748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.222320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.76, Z:0.01 [[ 9.96106951e-01 8.80171442e-02 4.89118682e-03 8.66986238e+00] [-8.80157794e-02 9.96118958e-01 -4.94002871e-04 -7.62533636e-01] [-4.91568464e-03 6.15780744e-05 9.99987916e-01 1.32152370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.77, Z:0.01 [[ 9.96546291e-01 8.29713769e-02 3.35256549e-03 8.69853070e+00] [-8.29707193e-02 9.96551929e-01 -3.35018122e-04 -7.65845861e-01] [-3.36880252e-03 5.56962968e-05 9.99994324e-01 1.18224595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.77, Z:0.01 [[ 9.96889950e-01 7.87432473e-02 3.15085399e-03 8.72731211e+00] [-7.87426500e-02 9.96894928e-01 -3.13377856e-04 -7.71493808e-01] [-3.16574675e-03 6.42966421e-05 9.99994987e-01 1.19208297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.77, Z:0.01 [[ 9.96924426e-01 7.83055529e-02 3.15099132e-03 8.75543249e+00] [-7.83049577e-02 9.96929404e-01 -3.11998903e-04 -7.74598380e-01] [-3.16574714e-03 6.43010854e-05 9.99994987e-01 1.20635985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.78, Z:0.01 [[ 9.97158211e-01 7.51268331e-02 5.60900804e-03 8.78363806e+00] [-7.51249011e-02 9.97173978e-01 -5.54641257e-04 -7.81270005e-01] [-5.63482529e-03 1.31688910e-04 9.99984116e-01 1.22127360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.79, Z:0.01 [[ 9.97266340e-01 7.35023251e-02 7.56678362e-03 8.81387029e+00] [-7.34987395e-02 9.97295027e-01 -7.51226555e-04 -7.85938835e-01] [-7.60153257e-03 1.93023899e-04 9.99971089e-01 1.39791053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.79, Z:0.01 [[ 9.97261772e-01 7.35642747e-02 7.56670600e-03 8.84457299e+00] [-7.35606850e-02 9.97290459e-01 -7.52008129e-04 -7.88969819e-01] [-7.60152463e-03 1.93336883e-04 9.99971089e-01 1.41346047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.79, Z:0.01 [[ 9.97257201e-01 7.36262256e-02 7.56665928e-03 8.87527548e+00] [-7.36226341e-02 9.97285888e-01 -7.52478167e-04 -7.92002996e-01] [-7.60152464e-03 1.93336884e-04 9.99971089e-01 1.42900799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.462320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.79, Z:0.02 [[ 9.97229773e-01 7.37413057e-02 9.74675137e-03 8.90622357e+00] [-7.37353468e-02 9.97277373e-01 -9.69801604e-04 -7.94439207e-01] [-9.79172904e-03 2.48434941e-04 9.99952029e-01 1.58489307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.80, Z:0.02 [[ 9.97091656e-01 7.56527643e-02 9.21348026e-03 8.93793412e+00] [-7.56475074e-02 9.97134199e-01 -9.18233795e-04 -7.96255028e-01] [-9.25654319e-03 2.18586440e-04 9.99957133e-01 1.81796404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.80, Z:0.02 [[ 9.96843757e-01 7.88357749e-02 9.35115593e-03 8.97014684e+00] [-7.88304886e-02 9.96887598e-01 -9.33131857e-04 -7.99153333e-01] [-9.39561554e-03 1.93030476e-04 9.99955842e-01 1.78440237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.552320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.80, Z:0.02 [[ 9.96527335e-01 8.27399094e-02 9.34765221e-03 9.00076404e+00] [-8.27347961e-02 9.96571163e-01 -9.33055751e-04 -8.04765629e-01] [-9.39280158e-03 1.56439461e-04 9.99955874e-01 1.77679233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.81, Z:0.02 [[ 9.96107067e-01 8.73610204e-02 1.17797957e-02 9.03276137e+00] [-8.73532020e-02 9.96176707e-01 -1.17758721e-03 -8.11929432e-01] [-1.18376333e-02 1.44000068e-04 9.99929922e-01 1.73545056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.82, Z:0.02 [[ 9.96095939e-01 8.74878332e-02 1.17796458e-02 9.06429453e+00] [-8.74800060e-02 9.96165578e-01 -1.17908617e-03 -8.15043454e-01] [-1.18376333e-02 1.43999461e-04 9.99929922e-01 1.75141646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.82, Z:0.02 [[ 9.95811563e-01 9.05082332e-02 1.29456588e-02 9.09608771e+00] [-9.04990139e-02 9.95895700e-01 -1.29740480e-03 -8.20828632e-01] [-1.30099517e-02 1.20401344e-04 9.99915360e-01 1.82703077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.82, Z:0.02 [[ 9.95574246e-01 9.28663574e-02 1.44138974e-02 9.12809745e+00] [-9.28551488e-02 9.95678577e-01 -1.44637425e-03 -8.24087627e-01] [-1.44859284e-02 1.01568368e-04 9.99895068e-01 1.89381071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.83, Z:0.02 [[ 9.95446606e-01 9.41207600e-02 1.50776984e-02 9.16055340e+00] [-9.41085891e-02 9.95560784e-01 -1.51627309e-03 -8.26879791e-01] [-1.51534780e-02 9.04279772e-05 9.99885175e-01 1.90716977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.83, Z:0.02 [[ 9.95309685e-01 9.57813705e-02 1.35852952e-02 9.19286206e+00] [-9.57716236e-02 9.95402394e-01 -1.36772835e-03 -8.31168361e-01] [-1.36538382e-02 6.02275012e-05 9.99906780e-01 1.90449319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.83, Z:0.02 [[ 9.95297274e-01 9.59102785e-02 1.35851179e-02 9.22439182e+00] [-9.59005196e-02 9.95389981e-01 -1.36948819e-03 -8.34303692e-01] [-1.36538383e-02 6.02279939e-05 9.99906780e-01 1.92045859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.792320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.84, Z:0.02 [[ 9.95262739e-01 9.64796843e-02 1.19895916e-02 9.25598874e+00] [-9.64720979e-02 9.95334953e-01 -1.21084380e-03 -8.38888097e-01] [-1.20504815e-02 4.84466567e-05 9.99927389e-01 1.85957056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.84, Z:0.02 [[ 9.95074435e-01 9.85682502e-02 1.05436423e-02 9.28794276e+00] [-9.85624863e-02 9.95130293e-01 -1.06616684e-03 -8.41324856e-01] [-1.05973880e-02 2.17077648e-05 9.99943846e-01 1.81846645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.84, Z:0.02 [[ 9.94708268e-01 1.02385255e-01 8.52761534e-03 9.32059099e+00] [-1.02381614e-01 9.94744821e-01 -8.63585490e-04 -8.41634574e-01] [-8.57121962e-03 -1.40553934e-05 9.99963266e-01 1.96318325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.882320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.84, Z:0.02 [[ 9.94345731e-01 1.05945984e-01 7.21218299e-03 9.35119741e+00] [-1.05943477e-01 9.94371886e-01 -7.29803289e-04 -8.40786243e-01] [-7.24891172e-03 -3.84069574e-05 9.99973726e-01 2.03412712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.84, Z:0.02 [[ 9.94345731e-01 1.05945984e-01 7.21218299e-03 9.38104729e+00] [-1.05943477e-01 9.94371886e-01 -7.29803289e-04 -8.43806762e-01] [-7.24891172e-03 -3.84069574e-05 9.99973726e-01 2.04924883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.85, Z:0.02 [[ 9.93886283e-01 1.10300591e-01 4.88219118e-03 9.41176563e+00] [-1.10299495e-01 9.93898273e-01 -4.94030613e-04 -8.45070088e-01] [-4.90689325e-03 -4.74929707e-05 9.99987960e-01 2.22622767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.972320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.85, Z:0.02 [[ 9.93485587e-01 1.13941028e-01 1.95720527e-03 9.44019974e+00] [-1.13940865e-01 9.93487514e-01 -1.94812076e-04 -8.49388113e-01] [-1.96665609e-03 -2.94626729e-05 9.99998066e-01 2.32187731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.85, Z:0.02 [[ 9.93181586e-01 1.16577356e-01 2.37953204e-04 9.46887403e+00] [-1.16577354e-01 9.93181615e-01 -2.15151739e-05 -8.54144578e-01] [-2.38838929e-04 -6.37148027e-06 9.99999971e-01 2.32725068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.86, Z:0.02 [[ 9.93243548e-01 1.16048253e-01 2.38000556e-04 9.49615689e+00] [-1.16048251e-01 9.93243577e-01 -2.10353620e-05 -8.57170879e-01] [-2.38833641e-04 -6.72631074e-06 9.99999971e-01 2.34110274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.53, Y:-0.85, Z:0.03 [[ 9.92996665e-01 1.18133929e-01 -1.41355899e-03 9.52564451e+00] [-1.18133846e-01 9.92997671e-01 1.42648542e-04 -8.54009574e-01] [ 1.42051242e-03 2.53396345e-05 9.99998991e-01 2.50440959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.85, Z:0.02 [[ 9.93061585e-01 1.17586413e-01 -1.45718887e-03 9.55367093e+00] [-1.17586324e-01 9.93062654e-01 1.46534761e-04 -8.50648269e-01] [ 1.46431034e-03 2.58274409e-05 9.99998928e-01 2.49337705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.85, Z:0.03 [[ 9.93123741e-01 1.17060293e-01 -1.45726583e-03 9.58095299e+00] [-1.17060205e-01 9.93124809e-01 1.45760224e-04 -8.53629688e-01] [ 1.46430959e-03 2.58298981e-05 9.99998928e-01 2.50723222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.85, Z:0.02 [[ 9.93231291e-01 1.16132343e-01 -2.20940147e-03 9.60938652e+00] [-1.16132145e-01 9.93233748e-01 2.18425240e-04 -8.52413292e-01] [ 2.21981833e-03 3.96357482e-05 9.99997535e-01 2.44950421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.85, Z:0.02 [[ 9.93312573e-01 1.15453632e-01 -7.69126948e-04 9.63690382e+00] [-1.15453607e-01 9.93312870e-01 7.73716074e-05 -8.53808918e-01] [ 7.72916530e-04 1.19442902e-05 9.99999701e-01 2.44306305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.212320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.86, Z:0.03 [[ 9.93511453e-01 1.13731147e-01 4.67122870e-04 9.66507689e+00] [-1.13731140e-01 9.93511563e-01 -4.24251623e-05 -8.55666693e-01] [-4.68917035e-04 -1.09765317e-05 9.99999890e-01 2.52998429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.86, Z:0.03 [[ 9.93571566e-01 1.13204790e-01 4.67145456e-04 9.69236058e+00] [-1.13204782e-01 9.93571676e-01 -4.21832585e-05 -8.58592693e-01] [-4.68917840e-04 -1.09710133e-05 9.99999890e-01 2.54383914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.86, Z:0.03 [[ 9.93693813e-01 1.12055428e-01 4.02318628e-03 9.72095558e+00] [-1.12054799e-01 9.93701955e-01 -3.82167103e-04 -8.58215654e-01] [-4.04067197e-03 -7.10602444e-05 9.99991834e-01 2.64489185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.302320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.86, Z:0.03 [[ 9.93771995e-01 1.11290699e-01 5.62166052e-03 9.74917622e+00] [-1.11289472e-01 9.93787890e-01 -5.31582487e-04 -8.55870660e-01] [-5.64589833e-03 -9.73598422e-05 9.99984057e-01 2.86577407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.85, Z:0.03 [[ 9.93839923e-01 1.10487946e-01 8.63837069e-03 9.77851854e+00] [-1.10485038e-01 9.93877454e-01 -8.14637496e-04 -8.52753628e-01] [-8.67548948e-03 -1.44791447e-04 9.99962357e-01 2.87827053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.85, Z:0.03 [[ 9.93885625e-01 1.09913332e-01 1.05083087e-02 9.80718836e+00] [-1.09909043e-01 9.93941160e-01 -9.86566063e-04 -8.52017639e-01] [-1.05530773e-02 -1.74424323e-04 9.99944300e-01 2.66509330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.392320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.85, Z:0.02 [[ 9.94075805e-01 1.08147838e-01 1.08323101e-02 9.83621425e+00] [-1.08143228e-01 9.94134809e-01 -1.01205633e-03 -8.53201171e-01] [-1.08782282e-02 -1.65380269e-04 9.99940817e-01 2.42525426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.85, Z:0.02 [[ 9.94327251e-01 1.05915811e-01 9.75491424e-03 9.86605286e+00] [-1.05911954e-01 9.94375093e-01 -9.12519783e-04 -8.53667936e-01] [-9.79669403e-03 -1.25818744e-04 9.99952003e-01 2.32125201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.86, Z:0.02 [[ 9.94375720e-01 1.05459741e-01 9.75551618e-03 9.89417372e+00] [-1.05455926e-01 9.94423565e-01 -9.06070624e-04 -8.56585748e-01] [-9.79666915e-03 -1.27802366e-04 9.99952003e-01 2.33550462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.86, Z:0.02 [[ 9.94749723e-01 1.01692684e-01 1.14711202e-02 9.92326723e+00] [-1.01687215e-01 9.94815855e-01 -1.06049160e-03 -8.55305308e-01] [-1.15194965e-02 -1.11542544e-04 9.99933642e-01 2.29170586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.85, Z:0.02 [[ 9.95126473e-01 9.78453636e-02 1.22305733e-02 9.95354914e+00] [-9.78388397e-02 9.95201628e-01 -1.13205554e-03 -8.53277140e-01] [-1.22826528e-02 -7.00866620e-05 9.99924563e-01 2.47539346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.542320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.86, Z:0.02 [[ 9.95126474e-01 9.78453620e-02 1.22305432e-02 9.98342599e+00] [-9.78388340e-02 9.95201628e-01 -1.13238112e-03 -8.56043029e-01] [-1.22826547e-02 -6.97596520e-05 9.99924563e-01 2.49052043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.86, Z:0.03 [[ 9.95456610e-01 9.42255158e-02 1.37000005e-02 1.00129391e+01] [-9.42169989e-02 9.95550878e-01 -1.26720392e-03 -8.56043811e-01] [-1.37584505e-02 -2.93264119e-05 9.99905348e-01 2.72526549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.86, Z:0.03 [[ 9.95781231e-01 9.02819395e-02 1.63985294e-02 1.00438895e+01] [-9.02691721e-02 9.95916247e-01 -1.51861193e-03 -8.57461849e-01] [-1.64686650e-02 3.19235887e-05 9.99864382e-01 2.74764595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.632320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.86, Z:0.03 [[ 9.96132120e-01 8.60669494e-02 1.76997251e-02 1.00756856e+01] [-8.60513645e-02 9.96289349e-01 -1.64165815e-03 -8.60010899e-01] [-1.77753401e-02 1.12222916e-04 9.99842000e-01 2.76780392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.86, Z:0.03 [[ 9.96475951e-01 8.19586681e-02 1.78453527e-02 1.01080761e+01] [-8.19421260e-02 9.96635711e-01 -1.65743565e-03 -8.61123781e-01] [-1.79211570e-02 1.89308628e-04 9.99839385e-01 2.65833705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.86, Z:0.03 [[ 9.96736090e-01 7.89282409e-02 1.69558428e-02 1.01406106e+01] [-7.89128317e-02 9.96880273e-01 -1.57697726e-03 -8.62386933e-01] [-1.70274132e-02 2.33796583e-04 9.99854996e-01 2.56798835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.722320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.86, Z:0.02 [[ 9.96959002e-01 7.64979040e-02 1.48599912e-02 1.01726666e+01] [-7.64857698e-02 9.97069712e-01 -1.38401072e-03 -8.64687940e-01] [-1.49223211e-02 2.43224074e-04 9.99888626e-01 2.38568905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.87, Z:0.02 [[ 9.96949436e-01 7.66224997e-02 1.48598184e-02 1.02042312e+01] [-7.66103517e-02 9.97060145e-01 -1.38586615e-03 -8.67589640e-01] [-1.49223212e-02 2.43222568e-04 9.99888626e-01 2.40165668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.87, Z:0.02 [[ 9.97100100e-01 7.52146087e-02 1.15824324e-02 1.02359172e+01] [-7.52071151e-02 9.97167348e-01 -1.08180183e-03 -8.71615147e-01] [-1.16309907e-02 2.07583393e-04 9.99932336e-01 2.17064979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.88, Z:0.02 [[ 9.97155955e-01 7.48865823e-02 8.48533269e-03 1.02666800e+01] [-7.48825419e-02 9.97192045e-01 -7.93323051e-04 -8.77227564e-01] [-8.52091551e-03 1.55663525e-04 9.99963684e-01 2.20088136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.88, Z:0.02 [[ 9.97115822e-01 7.57603604e-02 4.51714188e-03 1.02952238e+01] [-7.57592446e-02 9.97126051e-01 -4.17865941e-04 -8.81813746e-01] [-4.53581752e-03 7.44454852e-05 9.99989710e-01 2.39266363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.89, Z:0.03 [[ 9.97025267e-01 7.70458329e-02 2.13439662e-03 1.03235037e+01] [-7.70455908e-02 9.97027552e-01 -1.95540379e-04 -8.85529254e-01] [-2.14311781e-03 3.05128500e-05 9.99997703e-01 2.61313737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.902320588 meters Centerline goodness [0,1] 0.9999507825573383 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.89, Z:0.03 [[ 9.96952003e-01 7.80126823e-02 -8.51841911e-04 1.03524120e+01] [-7.80126418e-02 9.96952367e-01 8.07498692e-05 -8.88193858e-01] [ 8.55545323e-04 -1.40493060e-05 9.99999634e-01 2.79123479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.89, Z:0.03 [[ 9.96869415e-01 7.90073481e-02 -3.03438128e-03 1.03809126e+01] [-7.90068604e-02 9.96874033e-01 2.80464356e-04 -8.91810286e-01] [ 3.04705465e-03 -3.98494002e-05 9.99995357e-01 2.91015819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.962320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.90, Z:0.03 [[ 9.96709175e-01 8.09801769e-02 -3.60977300e-03 1.04099617e+01] [-8.09795072e-02 9.96715711e-01 3.31533335e-04 -8.95481609e-01] [ 3.62476509e-03 -3.81246786e-05 9.99993430e-01 2.93756070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.90, Z:0.03 [[ 9.96750497e-01 8.04699623e-02 -3.60989794e-03 1.04372402e+01] [-8.04692942e-02 9.96757033e-01 3.30166302e-04 -8.98282628e-01] [ 3.62475964e-03 -3.86074862e-05 9.99993430e-01 2.95140770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.90, Z:0.03 [[ 9.96487485e-01 8.36907130e-02 -2.92522888e-03 1.04660692e+01] [-8.36902916e-02 9.96491778e-01 2.66394514e-04 -9.00658857e-01] [ 2.93726128e-03 -2.06455408e-05 9.99995686e-01 3.02498640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.052320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.90, Z:0.03 [[ 9.96219122e-01 8.68748178e-02 -4.75814511e-04 1.04936787e+01] [-8.68748062e-02 9.96219236e-01 4.51823895e-05 -9.02321162e-01] [ 4.77940781e-04 -3.67526700e-06 9.99999886e-01 3.00322014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.90, Z:0.03 [[ 9.95845291e-01 9.10478449e-02 1.56422905e-03 1.05216142e+01] [-9.10477420e-02 9.95846519e-01 -1.36983369e-04 -9.04862343e-01] [-1.57020409e-03 -6.00527999e-06 9.99998767e-01 3.06344750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.91, Z:0.03 [[ 9.95594195e-01 9.37557388e-02 1.43560846e-03 1.05498420e+01] [-9.37556564e-02 9.95595230e-01 -1.24763208e-04 -9.07928086e-01] [-1.44098221e-03 -1.03828885e-05 9.99998962e-01 3.09412446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.142320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.91, Z:0.03 [[ 9.95405332e-01 9.57508331e-02 -5.67500293e-05 1.05776672e+01] [-9.57508328e-02 9.95405333e-01 7.64809813e-06 -9.11029532e-01] [ 5.72215936e-05 -2.17909509e-06 9.99999998e-01 3.14618966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.91, Z:0.03 [[ 9.95366821e-01 9.61467009e-02 -8.38520524e-04 1.06052762e+01] [-9.61466708e-02 9.95367174e-01 7.61877315e-05 -9.13288534e-01] [ 8.41961004e-04 4.78621663e-06 9.99999646e-01 3.12352002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.91, Z:0.03 [[ 9.95434717e-01 9.54427461e-02 6.37489669e-04 1.06327761e+01] [-9.54427317e-02 9.95434921e-01 -5.29164757e-05 -9.14062093e-01] [-6.39629973e-04 -8.16885851e-06 9.99999795e-01 3.07504455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.91, Z:0.03 [[ 9.95454276e-01 9.52129643e-02 2.29691649e-03 1.06610312e+01] [-9.52127647e-02 9.95456926e-01 -1.96337829e-04 -9.14877255e-01] [-2.30517533e-03 -2.32504378e-05 9.99997343e-01 3.20216123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.92, Z:0.03 [[ 9.95527768e-01 9.43102150e-02 5.48153109e-03 1.06897728e+01] [-9.43090563e-02 9.95542857e-01 -4.70047019e-04 -9.15584175e-01] [-5.50142936e-03 -4.90131646e-05 9.99984866e-01 3.34330284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.292320587999999 meters Centerline goodness [0,1] 0.9999508551208964 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.92, Z:0.03 [[ 9.95541568e-01 9.40012064e-02 7.79490575e-03 1.07186234e+01] [-9.39988742e-02 9.95572081e-01 -6.65824124e-04 -9.16421640e-01] [-7.82297881e-03 -6.98567734e-05 9.99969398e-01 3.45659168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.322320588 meters Centerline goodness [0,1] 0.9999508551208964 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.92, Z:0.03 [[ 9.95590775e-01 9.34785669e-02 7.79528431e-03 1.07459129e+01] [-9.34762534e-02 9.95621290e-01 -6.61386771e-04 -9.19065945e-01] [-7.82297651e-03 -7.02034046e-05 9.99969398e-01 3.47044115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.92, Z:0.04 [[ 9.95594865e-01 9.32764588e-02 9.50611645e-03 1.07743078e+01] [-9.32730424e-02 9.95640244e-01 -8.03068232e-04 -9.19957086e-01] [-9.53957946e-03 -8.71337950e-05 9.99954493e-01 3.53074957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.382320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.92, Z:0.04 [[ 9.95532023e-01 9.38080956e-02 1.07718325e-02 1.08028313e+01] [-9.38037889e-02 9.95590292e-01 -9.05462381e-04 -9.20989654e-01] [-1.08092716e-02 -1.09021908e-04 9.99941572e-01 3.50939357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.92, Z:0.04 [[ 9.95407648e-01 9.51254223e-02 1.07130046e-02 1.08314656e+01] [-9.51212920e-02 9.95465287e-01 -8.95577174e-04 -9.22811218e-01] [-1.07496163e-02 -1.27570465e-04 9.99942213e-01 3.52577484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.442320588 meters Centerline goodness [0,1] 0.9999508140278393 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.92, Z:0.04 [[ 9.95155965e-01 9.78019610e-02 9.96908443e-03 1.08601051e+01] [-9.77985650e-02 9.95205885e-01 -8.28742226e-04 -9.24793696e-01] [-1.00023441e-02 -1.50234383e-04 9.99949964e-01 3.56757512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.472320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.93, Z:0.04 [[ 9.94746074e-01 1.02067090e-01 7.90929932e-03 1.08890703e+01] [-1.02065120e-01 9.94777505e-01 -6.53412449e-04 -9.26071394e-01] [-7.93468495e-03 -1.57284116e-04 9.99968508e-01 3.66166500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.93, Z:0.04 [[ 9.94309220e-01 1.06402085e-01 5.26991982e-03 1.09177230e+01] [-1.06401288e-01 9.94323176e-01 -4.32213017e-04 -9.26672508e-01] [-5.28599178e-03 -1.30972870e-04 9.99986020e-01 3.80768900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.93, Z:0.04 [[ 9.93756798e-01 1.11550755e-01 1.96327231e-03 1.09460405e+01] [-1.11550657e-01 9.93758736e-01 -1.60086228e-04 -9.26687091e-01] [-1.96887675e-03 -5.99175373e-05 9.99998060e-01 3.97382564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.562320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.93, Z:0.04 [[ 9.93328999e-01 1.15310203e-01 1.02782177e-03 1.09748852e+01] [-1.15310180e-01 9.93329530e-01 -8.17011779e-05 -9.26551832e-01] [-1.03038669e-03 -3.73621639e-05 9.99999468e-01 3.95995636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.93, Z:0.04 [[ 9.93038268e-01 1.17784708e-01 1.32708814e-03 1.10038002e+01] [-1.17784672e-01 9.93039153e-01 -1.05544818e-04 -9.26291367e-01] [-1.33028204e-03 -5.15005980e-05 9.99999114e-01 3.95376073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.93, Z:0.04 [[ 9.92755912e-01 1.20142197e-01 1.24573432e-03 1.10329575e+01] [-1.20142168e-01 9.92756692e-01 -9.83535252e-05 -9.26613764e-01] [-1.24852749e-03 -5.20241783e-05 9.99999219e-01 4.02810807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.92, Z:0.04 [[ 9.92034504e-01 1.25947874e-01 -2.16259743e-03 1.10629701e+01] [-1.25947791e-01 9.92036856e-01 1.74949643e-04 -9.21134806e-01] [ 2.16741089e-03 9.88182874e-05 9.99997646e-01 4.17089488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.92, Z:0.04 [[ 9.91534586e-01 1.29763080e-01 -4.55056219e-03 1.10930724e+01] [-1.29762756e-01 9.91545003e-01 3.67477684e-04 -9.17910393e-01] [ 4.55977223e-03 2.26126658e-04 9.99989579e-01 4.36790292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.712320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.91, Z:0.04 [[ 9.91006927e-01 1.33713364e-01 -5.09975567e-03 1.11230091e+01] [-1.33713012e-01 9.91020010e-01 4.11461449e-04 -9.14198021e-01] [ 5.10897781e-03 2.74142544e-04 9.99986912e-01 4.39506707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.91, Z:0.04 [[ 9.90571603e-01 1.36970715e-01 -2.63092041e-03 1.11529593e+01] [-1.36970633e-01 9.90575086e-01 2.12255137e-04 -9.08959161e-01] [ 2.63519695e-03 1.50104922e-04 9.99996517e-01 4.43629606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.772320588 meters Centerline goodness [0,1] 0.9999509419152276 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.90, Z:0.04 [[ 9.90500001e-01 1.37512254e-01 -3.56633279e-04 1.11821953e+01] [-1.37512252e-01 9.90500065e-01 3.07988151e-05 -9.03367050e-01] [ 3.57480501e-04 1.85352189e-05 9.99999936e-01 4.48762018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.802320587999999 meters Centerline goodness [0,1] 0.999951021207817 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.90, Z:0.05 [[ 9.90533680e-01 1.37244640e-01 2.63390435e-03 1.12111822e+01] [-1.37244572e-01 9.90537170e-01 -2.07625699e-04 -8.98498366e-01] [-2.63747567e-03 -1.55828825e-04 9.99996510e-01 4.50978826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.89, Z:0.05 [[ 9.91069473e-01 1.33316124e-01 2.84781279e-03 1.12406594e+01] [-1.33316030e-01 9.91073552e-01 -2.23647193e-04 -8.86924670e-01] [-2.85220772e-03 -1.58009190e-04 9.99995920e-01 4.61609682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.88, Z:0.05 [[ 9.91659956e-01 1.28874721e-01 1.35602680e-03 1.12700236e+01] [-1.28874697e-01 9.91660880e-01 -1.04814586e-04 -8.84109389e-01] [-1.35822668e-03 -7.08171163e-05 9.99999075e-01 4.64994233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.892320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.88, Z:0.05 [[ 9.92359449e-01 1.23379806e-01 3.83704241e-04 1.13004501e+01] [-1.23379804e-01 9.92359523e-01 -3.00758958e-05 -8.83106314e-01] [-3.84483316e-04 -1.74952545e-05 9.99999926e-01 4.60396011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.88, Z:0.05 [[ 9.93261325e-01 1.15894809e-01 5.77306944e-04 1.13302867e+01] [-1.15894802e-01 9.93261493e-01 -4.51352927e-05 -8.81012920e-01] [-5.78647703e-04 -2.20757336e-05 9.99999832e-01 4.67767185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.88, Z:0.05 [[ 9.94023551e-01 1.09141686e-01 2.29606454e-03 1.13602170e+01] [-1.09141560e-01 9.94026200e-01 -1.80326499e-04 -8.78962633e-01] [-2.30202945e-03 -7.13472790e-05 9.99997348e-01 4.61657547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.88, Z:0.05 [[ 9.94754957e-01 1.02267892e-01 1.96304292e-03 1.13894041e+01] [-1.02267788e-01 9.94756893e-01 -1.53549354e-04 -8.75941855e-01] [-1.96845364e-03 -4.80120762e-05 9.99998061e-01 4.75665620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.87, Z:0.05 [[ 9.95590597e-01 9.38041077e-02 3.90101828e-04 1.14184190e+01] [-9.38041032e-02 9.95590674e-01 -2.99436719e-05 -8.71316788e-01] [-3.91190582e-04 -6.78151396e-06 9.99999923e-01 4.59416932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.042320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.87, Z:0.05 [[ 9.95855722e-01 9.09465076e-02 3.36275203e-04 1.14467748e+01] [-9.09465047e-02 9.95855779e-01 -2.39528649e-05 -8.71718784e-01] [-3.37060033e-04 -6.72945675e-06 9.99999943e-01 4.53230971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.87, Z:0.05 [[ 9.96199174e-01 8.70799281e-02 2.07173847e-03 1.14754261e+01] [-8.70797871e-02 9.96201328e-01 -1.58310707e-04 -8.70971158e-01] [-2.07765430e-03 -2.26975501e-05 9.99997841e-01 4.57360882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.87, Z:0.05 [[ 9.96597811e-01 8.22515206e-02 5.24322113e-03 1.15034911e+01] [-8.22505483e-02 9.96611603e-01 -4.01172253e-04 -8.69214208e-01] [-5.25845204e-03 -3.14504240e-05 9.99986174e-01 4.60232373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.132320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.87, Z:0.05 [[ 9.97027163e-01 7.65815747e-02 8.49104569e-03 1.15321346e+01] [-7.65788351e-02 9.97063319e-01 -6.47780305e-04 -8.68756901e-01] [-8.51571824e-03 -4.37982768e-06 9.99963741e-01 4.62604918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.87, Z:0.05 [[ 9.97407876e-01 7.14250406e-02 8.71740015e-03 1.15598576e+01] [-7.14219970e-02 9.97445970e-01 -6.60352191e-04 -8.72397513e-01] [-8.74230132e-03 3.60263489e-05 9.99961785e-01 4.59753852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.89, Z:0.04 [[ 9.97991706e-01 6.28219237e-02 8.12165756e-03 1.15874698e+01] [-6.28190240e-02 9.98024747e-01 -6.11893588e-04 -8.85764776e-01] [-8.14405556e-03 1.00470124e-04 9.99966832e-01 4.39026068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.222320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.89, Z:0.04 [[ 9.98241676e-01 5.86464447e-02 8.61103449e-03 1.16157830e+01] [-5.86430602e-02 9.98278806e-01 -6.45230721e-04 -8.91058659e-01] [-8.63405372e-03 1.39118783e-04 9.99962716e-01 4.27435295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.89, Z:0.04 [[ 9.98457117e-01 5.47233405e-02 9.42030274e-03 1.16447822e+01] [-5.47191510e-02 9.98501538e-01 -7.02085865e-04 -8.93294117e-01] [-9.44460726e-03 1.85531660e-04 9.99955381e-01 4.31198621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.282320588 meters Centerline goodness [0,1] 0.9999508502899833 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.89, Z:0.04 [[ 9.98655244e-01 5.09207274e-02 9.73569548e-03 1.16736521e+01] [-5.09161122e-02 9.98702673e-01 -7.21489821e-04 -8.94597562e-01] [-9.75980388e-03 2.24815830e-04 9.99952347e-01 4.15878007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.312320587999999 meters Centerline goodness [0,1] 0.999950821284548 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.90, Z:0.04 [[ 9.98826035e-01 4.78642197e-02 7.45439705e-03 1.17018880e+01] [-4.78614557e-02 9.98853833e-01 -5.48841346e-04 -8.99268365e-01] [-7.47212293e-03 1.91418731e-04 9.99972065e-01 4.12136650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.342320588 meters Centerline goodness [0,1] 0.9999018742027279 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.91, Z:0.04 [[ 9.99073745e-01 4.30200619e-02 9.62304579e-04 1.17292749e+01] [-4.30200158e-02 9.99074208e-01 -6.86004265e-05 -9.13435777e-01] [-9.64364880e-04 2.71385269e-05 9.99999535e-01 4.02362437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.372320588 meters Centerline goodness [0,1] 0.9998035942256702 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.92, Z:0.04 [[ 9.99164035e-01 4.08712985e-02 -8.75992693e-04 1.17574651e+01] [-4.08712563e-02 9.99164419e-01 6.60994943e-05 -9.22250652e-01] [ 8.77962302e-04 -3.02413157e-05 9.99999614e-01 4.14748046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.402320588 meters Centerline goodness [0,1] 0.9999509250625706 Centerline is valid? [True, True] Translation: X:11.79, Y:-0.93, Z:0.04 [[ 9.99239175e-01 3.89526377e-02 -1.93982656e-03 1.17860038e+01] [-3.89524334e-02 9.99241056e-01 1.43028884e-04 -9.29729733e-01] [ 1.94392570e-03 -6.73590988e-05 9.99998108e-01 4.28118050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.432320588 meters Centerline goodness [0,1] 0.9999508067689886 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.94, Z:0.04 [[ 9.99278204e-01 3.79252299e-02 -2.17915780e-03 1.18139288e+01] [-3.79249721e-02 9.99280577e-01 1.59523923e-04 -9.37180708e-01] [ 2.18364005e-03 -7.67642802e-05 9.99997613e-01 4.30635087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.462320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.94, Z:0.04 [[ 9.99266058e-01 3.82688238e-02 -1.68591388e-03 1.18419701e+01] [-3.82686704e-02 9.99267479e-01 1.23193739e-04 -9.44619176e-01] [ 1.68939339e-03 -5.85856389e-05 9.99998571e-01 4.16942988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.95, Z:0.04 [[ 9.99250357e-01 3.86658809e-02 -1.91657620e-03 1.18698550e+01] [-3.86656855e-02 9.99252193e-01 1.38941352e-04 -9.53095980e-01] [ 1.92051526e-03 -6.47314634e-05 9.99998154e-01 4.13983095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.96, Z:0.04 [[ 9.99169400e-01 4.07095835e-02 -1.80003370e-03 1.18976691e+01] [-4.07094155e-02 9.99171020e-01 1.29879442e-04 -9.61803247e-01] [ 1.80382885e-03 -5.64932444e-05 9.99998372e-01 4.10495336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.552320587999999 meters Centerline goodness [0,1] 0.9998032657879206 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.98, Z:0.04 [[ 9.98969145e-01 4.53306207e-02 -2.40446862e-03 1.19258640e+01] [-4.53303386e-02 9.98972037e-01 1.71708943e-04 -9.75278077e-01] [ 2.40978059e-03 -6.25365592e-05 9.99997095e-01 4.23830332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.98, Z:0.04 [[ 9.98928265e-01 4.62014040e-02 -2.78400250e-03 1.19543693e+01] [-4.62010330e-02 9.98932143e-01 1.97467897e-04 -9.84300390e-01] [ 2.79015287e-03 -6.86324721e-05 9.99996105e-01 4.25604572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.612320588 meters Centerline goodness [0,1] 0.9997544445535802 Centerline is valid? [True, True] Translation: X:11.98, Y:-0.99, Z:0.04 [[ 9.98882796e-01 4.72078679e-02 -2.13923217e-03 1.19826951e+01] [-4.72076520e-02 9.98885086e-01 1.51332869e-04 -9.93434960e-01] [ 2.14399122e-03 -5.01756709e-05 9.99997700e-01 4.27292502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.642320587999999 meters Centerline goodness [0,1] 0.9999508575359969 Centerline is valid? [True, True] Translation: X:12.01, Y:-1.00, Z:0.04 [[ 9.98850696e-01 4.79255670e-02 -6.54019014e-04 1.20107409e+01] [-4.79255462e-02 9.98850910e-01 4.74788444e-05 -1.00195181e+00] [ 6.55542938e-04 -1.60800583e-05 9.99999785e-01 4.29914670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.672320588 meters Centerline goodness [0,1] 0.999852187623177 Centerline is valid? [True, True] Translation: X:12.04, Y:-1.01, Z:0.04 [[ 9.98824175e-01 4.84215261e-02 2.37140465e-03 1.20385954e+01] [-4.84212811e-02 9.98826989e-01 -1.60658468e-04 -1.00702668e+00] [-2.37640229e-03 4.56431106e-05 9.99997175e-01 4.18700851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.07, Y:-1.01, Z:0.04 [[ 9.98627058e-01 5.17820208e-02 7.91337864e-03 1.20662460e+01] [-5.17793826e-02 9.98658403e-01 -5.38033185e-04 -1.01387778e+00] [-7.93062252e-03 1.27544636e-04 9.99968544e-01 4.17896882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.10, Y:-1.02, Z:0.04 [[ 9.98437624e-01 5.47842686e-02 1.09997654e-02 1.20962614e+01] [-5.47793149e-02 9.98498203e-01 -7.51352951e-04 -1.02059974e+00] [-1.10244083e-02 1.47619441e-04 9.99939218e-01 4.25205861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.13, Y:-1.03, Z:0.04 [[ 9.98096366e-01 6.03560510e-02 1.26803226e-02 1.21272070e+01] [-6.03499032e-02 9.98176907e-01 -8.67261471e-04 -1.02827006e+00] [-1.27095496e-02 1.00354284e-04 9.99919225e-01 4.41894828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.792320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.16, Y:-1.03, Z:0.05 [[ 9.97659435e-01 6.71263179e-02 1.30272681e-02 1.21585024e+01] [-6.71203876e-02 9.97744485e-01 -8.92398748e-04 -1.03435925e+00] [-1.30577883e-02 1.59147464e-05 9.99914743e-01 4.55230043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.822320588 meters Centerline goodness [0,1] 0.999950731635217 Centerline is valid? [True, True] Translation: X:12.19, Y:-1.04, Z:0.05 [[ 9.97146264e-01 7.44958800e-02 1.22348676e-02 1.21908603e+01] [-7.44911817e-02 9.97221319e-01 -8.39910092e-04 -1.03787646e+00] [-1.22634406e-02 -7.38765316e-05 9.99924798e-01 4.66257391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.22, Y:-1.04, Z:0.05 [[ 9.96575863e-01 8.17558345e-02 1.23504176e-02 1.22220285e+01] [-8.17515985e-02 9.96652375e-01 -8.48300419e-04 -1.03881451e+00] [-1.23784266e-02 -1.64270661e-04 9.99923371e-01 4.63892701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.882320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.25, Y:-1.04, Z:0.05 [[ 9.95474064e-01 9.43781132e-02 1.11427317e-02 1.22525278e+01] [-9.43754520e-02 9.95536382e-01 -7.65578931e-04 -1.03798688e+00] [-1.11652487e-02 -2.89486374e-04 9.99937625e-01 4.79880693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.28, Y:-1.04, Z:0.05 [[ 9.95108496e-01 9.81362473e-02 1.13295432e-02 1.22812274e+01] [-9.81338263e-02 9.95172929e-01 -7.70768116e-04 -1.03970942e+00] [-1.13504950e-02 -3.44813527e-04 9.99935522e-01 4.91243989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.31, Y:-1.04, Z:0.05 [[ 9.95030138e-01 9.90153396e-02 1.05350234e-02 1.23096998e+01] [-9.90133479e-02 9.95085851e-01 -7.11739254e-04 -1.04053269e+00] [-1.05537259e-02 -3.34905933e-04 9.99944252e-01 5.08410545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.972320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.34, Y:-1.04, Z:0.05 [[ 9.95219716e-01 9.72956554e-02 8.44224825e-03 1.23384535e+01] [-9.72943512e-02 9.95255489e-01 -5.66026791e-04 -1.04076996e+00] [-8.45726586e-03 -2.58062044e-04 9.99964203e-01 5.22897441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.002320588 meters Centerline goodness [0,1] 0.9999509443218052 Centerline is valid? [True, True] Translation: X:12.37, Y:-1.04, Z:0.05 [[ 9.95606546e-01 9.34892582e-02 5.23099682e-03 1.23670221e+01] [-9.34887221e-02 9.95620278e-01 -3.47443744e-04 -1.04101022e+00] [-5.24056877e-03 -1.43121942e-04 9.99986258e-01 5.22987617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.40, Y:-1.04, Z:0.05 [[ 9.96498730e-01 8.35559379e-02 2.94727256e-03 1.23970366e+01] [-8.35557220e-02 9.96503087e-01 -1.96525055e-04 -1.03883251e+00] [-2.95338704e-03 -5.04245189e-05 9.99995637e-01 5.07185983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.062320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.43, Y:-1.04, Z:0.05 [[ 9.96922236e-01 7.83048355e-02 3.79577299e-03 1.24261585e+01] [-7.83044533e-02 9.96929461e-01 -2.49439804e-04 -1.03917962e+00] [-3.80365026e-03 -4.85538413e-05 9.99992765e-01 4.98041761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.092320588 meters Centerline goodness [0,1] 0.9999509515401216 Centerline is valid? [True, True] Translation: X:12.46, Y:-1.04, Z:0.05 [[ 9.97333680e-01 7.29141384e-02 3.00975695e-03 1.24550892e+01] [-7.29138791e-02 9.97338221e-01 -1.95925134e-04 -1.04094062e+00] [-3.01603136e-03 -2.40503192e-05 9.99995451e-01 4.94638834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.122320588 meters Centerline goodness [0,1] 0.9999508623654857 Centerline is valid? [True, True] Translation: X:12.48, Y:-1.04, Z:0.05 [[ 9.97681387e-01 6.80509984e-02 9.54847852e-04 1.24838508e+01] [-6.80509720e-02 9.97681844e-01 -6.01204547e-05 -1.04445650e+00] [-9.56725622e-04 -4.99726574e-06 9.99999542e-01 4.98641071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.152320588 meters Centerline goodness [0,1] 0.9999016764170886 Centerline is valid? [True, True] Translation: X:12.51, Y:-1.05, Z:0.05 [[ 9.97970909e-01 6.36715211e-02 -5.53232414e-05 1.25119375e+01] [-6.36715209e-02 9.97970910e-01 6.22748866e-06 -1.04845694e+00] [ 5.56074993e-05 -2.69233760e-06 9.99999998e-01 4.95239643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.182320588 meters Centerline goodness [0,1] 0.9999018067556952 Centerline is valid? [True, True] Translation: X:12.54, Y:-1.05, Z:0.05 [[ 9.98173097e-01 6.03568073e-02 -2.74317613e-03 1.25400294e+01] [-6.03565429e-02 9.98176866e-01 1.79168643e-04 -1.05180242e+00] [ 2.74898900e-03 -1.32726916e-05 9.99996221e-01 5.12275098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.212320587999999 meters Centerline goodness [0,1] 0.9995071463775259 Centerline is valid? [True, True] Translation: X:12.57, Y:-1.06, Z:0.05 [[ 9.98403270e-01 5.64881185e-02 -6.14162215e-05 1.25689799e+01] [-5.64881182e-02 9.98403271e-01 6.21619536e-06 -1.05567976e+00] [ 6.16692977e-05 -2.73698300e-06 9.99999998e-01 5.33480452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.242320588 meters Centerline goodness [0,1] 0.9995071463775259 Centerline is valid? [True, True] Translation: X:12.60, Y:-1.06, Z:0.05 [[ 9.98432195e-01 5.59745318e-02 -6.13994013e-05 1.25963123e+01] [-5.59745315e-02 9.98432197e-01 6.48973493e-06 -1.05773962e+00] [ 6.16663990e-05 -3.04275757e-06 9.99999998e-01 5.34865286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.272320588 meters Centerline goodness [0,1] 0.9995071463775259 Centerline is valid? [True, True] Translation: X:12.62, Y:-1.06, Z:0.05 [[ 9.98460856e-01 5.54609288e-02 -6.14020660e-05 1.26236457e+01] [-5.54609285e-02 9.98460858e-01 6.45810790e-06 -1.05978516e+00] [ 6.16657322e-05 -3.04275236e-06 9.99999998e-01 5.36250579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.302320587999999 meters Centerline goodness [0,1] 0.9998525798525798 Centerline is valid? [True, True] Translation: X:12.65, Y:-1.07, Z:0.05 [[ 9.98502218e-01 5.39341468e-02 9.18846701e-03 1.26516299e+01] [-5.39311731e-02 9.98544492e-01 -5.71275945e-04 -1.06705080e+00] [-9.20590440e-03 7.48754932e-05 9.99957622e-01 5.27673135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.332320588 meters Centerline goodness [0,1] 0.9999017778214321 Centerline is valid? [True, True] Translation: X:12.68, Y:-1.07, Z:0.05 [[ 9.98497560e-01 5.37779206e-02 1.05146641e-02 1.26818307e+01] [-5.37739906e-02 9.98552917e-01 -6.56324755e-04 -1.07177799e+00] [-1.05347442e-02 8.99232203e-05 9.99944504e-01 5.38482446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.71, Y:-1.08, Z:0.05 [[ 9.98495630e-01 5.38293462e-02 1.04345125e-02 1.27139347e+01] [-5.38254579e-02 9.98550146e-01 -6.53309525e-04 -1.07624749e+00] [-1.04545512e-02 9.06842933e-05 9.99945346e-01 5.38480753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.392320587999999 meters Centerline goodness [0,1] 0.9999508840864441 Centerline is valid? [True, True] Translation: X:12.75, Y:-1.08, Z:0.05 [[ 9.98500936e-01 5.39125946e-02 9.45054087e-03 1.27458148e+01] [-5.39093967e-02 9.98545655e-01 -5.92975275e-04 -1.08016357e+00] [-9.46876536e-03 8.26134106e-05 9.99955167e-01 5.24321545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.422320588 meters Centerline goodness [0,1] 0.9998526522593321 Centerline is valid? [True, True] Translation: X:12.78, Y:-1.08, Z:0.05 [[ 9.98563021e-01 5.32261260e-02 6.23480991e-03 1.27764721e+01] [-5.32247189e-02 9.98582483e-01 -3.91495342e-04 -1.08470540e+00] [-6.24680974e-03 5.90867665e-05 9.99980487e-01 5.19187542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.452320588 meters Centerline goodness [0,1] 0.9999014049790486 Centerline is valid? [True, True] Translation: X:12.81, Y:-1.09, Z:0.05 [[ 9.98667635e-01 5.13525639e-02 5.08611064e-03 1.28058589e+01] [-5.13516079e-02 9.98680585e-01 -3.18463524e-04 -1.09018618e+00] [-5.09575387e-03 5.68592551e-05 9.99987015e-01 5.08377737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.84, Y:-1.10, Z:0.05 [[ 9.98979284e-01 4.47632379e-02 6.05327178e-03 1.28351092e+01] [-4.47617648e-02 9.98997618e-01 -3.78697407e-04 -1.10207759e+00] [-6.06415581e-03 1.07355737e-04 9.99981607e-01 5.04194567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.512320588 meters Centerline goodness [0,1] 0.9998033528341773 Centerline is valid? [True, True] Translation: X:12.87, Y:-1.11, Z:0.05 [[ 9.99115075e-01 4.13870277e-02 7.49533717e-03 1.28665087e+01] [-4.13846651e-02 9.99143177e-01 -4.70095856e-04 -1.10848446e+00] [-7.50837086e-03 1.59487838e-04 9.99971799e-01 5.17055373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.542320587999999 meters Centerline goodness [0,1] 0.999607265586647 Centerline is valid? [True, True] Translation: X:12.90, Y:-1.11, Z:0.05 [[ 9.99251413e-01 3.76025443e-02 9.09193280e-03 1.28973044e+01] [-3.75989068e-02 9.99292748e-01 -5.70729581e-04 -1.11316884e+00] [-9.10696339e-03 2.28455606e-04 9.99958505e-01 5.31186044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.572320588 meters Centerline goodness [0,1] 0.9997536945812808 Centerline is valid? [True, True] Translation: X:12.93, Y:-1.12, Z:0.05 [[ 9.99383356e-01 3.34491598e-02 1.06799536e-02 1.29287408e+01] [-3.34438920e-02 9.99440371e-01 -6.71511905e-04 -1.11679897e+00] [-1.06964383e-02 3.13918607e-04 9.99942742e-01 5.27996835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.602320588 meters Centerline goodness [0,1] 0.9998524130466867 Centerline is valid? [True, True] Translation: X:12.96, Y:-1.12, Z:0.05 [[ 9.99516260e-01 2.98698048e-02 8.66263438e-03 1.29603798e+01] [-2.98661935e-02 9.99553757e-01 -5.45974900e-04 -1.12049683e+00] [-8.67507690e-03 2.86990876e-04 9.99962330e-01 5.29375626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.632320587999999 meters Centerline goodness [0,1] 0.999754009642822 Centerline is valid? [True, True] Translation: X:12.99, Y:-1.13, Z:0.05 [[ 9.99606050e-01 2.73225793e-02 6.42047098e-03 1.29917793e+01] [-2.73205392e-02 9.99626642e-01 -4.05258080e-04 -1.12696263e+00] [-6.42914654e-03 2.29687699e-04 9.99979306e-01 4.99270507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.662320588 meters Centerline goodness [0,1] 0.9997048260933733 Centerline is valid? [True, True] Translation: X:13.02, Y:-1.14, Z:0.05 [[ 9.99741129e-01 2.27043001e-02 1.47984936e-03 1.30234779e+01] [-2.27041856e-02 9.99742222e-01 -9.40997032e-05 -1.14031842e+00] [-1.48160436e-03 6.04765690e-05 9.99998901e-01 4.74315649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.692320588 meters Centerline goodness [0,1] 0.9997533787116504 Centerline is valid? [True, True] Translation: X:13.05, Y:-1.15, Z:0.05 [[ 9.99766682e-01 2.15955493e-02 4.62889469e-04 1.30525974e+01] [-2.15955382e-02 9.99766789e-01 -2.89092515e-05 -1.14748964e+00] [-4.63405829e-04 1.89061592e-05 9.99999892e-01 4.95569152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.722320587999999 meters Centerline goodness [0,1] 0.9999507340624693 Centerline is valid? [True, True] Translation: X:13.08, Y:-1.16, Z:0.05 [[ 9.99747490e-01 2.24401353e-02 1.18153664e-03 1.30822267e+01] [-2.24400633e-02 9.99748187e-01 -7.41909859e-05 -1.15540690e+00] [-1.18290397e-03 4.76584950e-05 9.99999299e-01 5.13223971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.11, Y:-1.16, Z:0.05 [[ 9.99733422e-01 2.30692218e-02 9.46593565e-04 1.31113435e+01] [-2.30691760e-02 9.99733869e-01 -5.93199368e-05 -1.16423613e+00] [-9.47710113e-04 3.74669899e-05 9.99999550e-01 5.43109991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.14, Y:-1.17, Z:0.06 [[ 9.99701604e-01 2.44071513e-02 9.96687717e-04 1.31405851e+01] [-2.44071012e-02 9.99702100e-01 -6.24128984e-05 -1.17354439e+00] [-9.97914126e-04 3.80680167e-05 9.99999501e-01 5.54816111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.812320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.17, Y:-1.18, Z:0.06 [[ 9.99641193e-01 2.67814158e-02 4.91475417e-04 1.31701053e+01] [-2.67814038e-02 9.99641313e-01 -3.09274571e-05 -1.18343038e+00] [-4.92127412e-04 1.77539586e-05 9.99999879e-01 5.58455904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.20, Y:-1.20, Z:0.05 [[ 9.99409574e-01 3.43562259e-02 3.91237112e-04 1.31988543e+01] [-3.43562190e-02 9.99409651e-01 -2.42826682e-05 -1.19782154e+00] [-3.91840406e-04 1.08269032e-05 9.99999923e-01 5.45147869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.23, Y:-1.21, Z:0.05 [[ 9.99165292e-01 4.08305302e-02 1.25990919e-03 1.32281239e+01] [-4.08304630e-02 9.99166086e-01 -7.90073588e-05 -1.20620996e+00] [-1.26208445e-03 2.74987351e-05 9.99999203e-01 5.41965417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.26, Y:-1.21, Z:0.05 [[ 9.98862664e-01 4.74726262e-02 4.44155503e-03 1.32579911e+01] [-4.74718545e-02 9.98872537e-01 -2.79081553e-04 -1.21417524e+00] [-4.44979608e-03 6.79152890e-05 9.99990097e-01 5.47381281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.29, Y:-1.22, Z:0.06 [[ 9.98479908e-01 5.47776530e-02 6.10582884e-03 1.32886356e+01] [-5.47763243e-02 9.98498576e-01 -3.84739016e-04 -1.22227844e+00] [-6.11773650e-03 4.96993169e-05 9.99981285e-01 5.58025719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.962320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.32, Y:-1.23, Z:0.06 [[ 9.98074344e-01 6.17978400e-02 5.35082550e-03 1.33207851e+01] [-6.17969154e-02 9.98088687e-01 -3.38122130e-04 -1.22852237e+00] [-5.36149361e-03 6.80651271e-06 9.99985627e-01 5.79047111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.35, Y:-1.23, Z:0.06 [[ 9.97679006e-01 6.79613680e-02 4.22533353e-03 1.33523352e+01] [-6.79608424e-02 9.97687953e-01 -2.68011037e-04 -1.23171889e+00] [-4.23377876e-03 -1.97682410e-05 9.99991037e-01 5.93113279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.38, Y:-1.23, Z:0.06 [[ 9.96791812e-01 8.00114913e-02 2.06027377e-03 1.33841602e+01] [-8.00113920e-02 9.96793941e-01 -1.30745462e-04 -1.23120692e+00] [-2.06412955e-03 -3.45193665e-05 9.99997869e-01 5.99920346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.052320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.41, Y:-1.23, Z:0.06 [[ 9.96406804e-01 8.46635121e-02 2.36037379e-03 1.34149743e+01] [-8.46633939e-02 9.96409598e-01 -1.50110612e-04 -1.23228162e+00] [-2.36460799e-03 -5.02660208e-05 9.99997203e-01 6.05144509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.45, Y:-1.23, Z:0.06 [[ 9.95999337e-01 8.91865377e-02 5.57516407e-03 1.34455188e+01] [-8.91859557e-02 9.96014930e-01 -3.53427437e-04 -1.23342986e+00] [-5.58446762e-03 -1.45212843e-04 9.99984396e-01 5.96488843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.48, Y:-1.23, Z:0.06 [[ 9.95502059e-01 9.44888581e-02 6.89249112e-03 1.34772290e+01] [-9.44880901e-02 9.95525896e-01 -4.37715229e-04 -1.23406878e+00] [-6.90301261e-03 -2.15511910e-04 9.99976151e-01 5.94054388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.142320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.51, Y:-1.23, Z:0.06 [[ 9.95093991e-01 9.87425163e-02 6.15340654e-03 1.35088267e+01] [-9.87419826e-02 9.95112992e-01 -3.91215733e-04 -1.23432040e+00] [-6.16196442e-03 -2.18303137e-04 9.99980991e-01 5.84472739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.54, Y:-1.23, Z:0.06 [[ 9.94833535e-01 1.01450581e-01 3.74388130e-03 1.35412877e+01] [-1.01450399e-01 9.94840570e-01 -2.38957998e-04 -1.23352961e+00] [-3.74880743e-03 -1.42094821e-04 9.99992963e-01 5.76866925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.57, Y:-1.23, Z:0.06 [[ 9.94836802e-01 1.01267911e-01 -6.67440983e-03 1.35723079e+01] [-1.01267336e-01 9.94859159e-01 4.24845138e-04 -1.23110878e+00] [ 6.68312092e-03 2.53248127e-04 9.99977636e-01 5.73017630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.232320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.60, Y:-1.23, Z:0.06 [[ 9.95000362e-01 9.93882410e-02 -9.81111488e-03 1.36012650e+01] [-9.93869281e-02 9.95048668e-01 6.22498829e-04 -1.22944745e+00] [ 9.82440585e-03 3.55710009e-04 9.99951676e-01 5.84744697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.63, Y:-1.23, Z:0.06 [[ 9.95213272e-01 9.72430590e-02 -9.71240031e-03 1.36299493e+01] [-9.72417116e-02 9.95260607e-01 6.11992554e-04 -1.22668216e+00] [ 9.72588145e-03 3.35387318e-04 9.99952646e-01 5.95192271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.292320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.66, Y:-1.22, Z:0.06 [[ 9.95541494e-01 9.41188501e-02 -6.22695774e-03 1.36594164e+01] [-9.41182479e-02 9.95560949e-01 3.90334850e-04 -1.22265344e+00] [ 6.23605382e-03 1.97475812e-04 9.99980536e-01 6.04418543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.69, Y:-1.22, Z:0.06 [[ 9.95823917e-01 9.12485044e-02 -2.90467938e-03 1.36882965e+01] [-9.12483614e-02 9.95828150e-01 1.81977862e-04 -1.22067520e+00] [ 2.90916670e-03 8.38293266e-05 9.99995765e-01 6.12181068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.72, Y:-1.22, Z:0.06 [[ 9.96089128e-01 8.83326412e-02 -1.94776394e-03 1.37165366e+01] [-8.83325716e-02 9.96091031e-01 1.21903900e-04 -1.22336086e+00] [ 1.95091828e-03 5.06238482e-05 9.99998096e-01 6.12859553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.382320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.75, Y:-1.23, Z:0.06 [[ 9.96489633e-01 8.37069413e-02 -1.24858475e-03 1.37455309e+01] [-8.37069089e-02 9.96490415e-01 7.82770422e-05 -1.22873964e+00] [ 1.25075506e-03 2.65129086e-05 9.99999217e-01 6.09407040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.77, Y:-1.23, Z:0.06 [[ 9.96881198e-01 7.89012944e-02 -1.56942567e-03 1.37744576e+01] [-7.89012390e-02 9.96882433e-01 9.72876912e-05 -1.23320402e+00] [ 1.57220900e-03 2.68453597e-05 9.99998764e-01 6.07434891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.80, Y:-1.23, Z:0.06 [[ 9.97556709e-01 6.98608246e-02 -2.79361367e-04 1.38032124e+01] [-6.98608220e-02 9.97556748e-01 1.91707651e-05 -1.23184220e+00] [ 2.80018102e-04 3.92489368e-07 9.99999961e-01 6.09852361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.472320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.83, Y:-1.23, Z:0.06 [[ 9.97789493e-01 6.64519511e-02 5.14789823e-04 1.38322026e+01] [-6.64519453e-02 9.97789626e-01 -2.83016529e-05 -1.23327428e+00] [-5.15532645e-04 -5.96969330e-06 9.99999867e-01 6.11377726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.86, Y:-1.24, Z:0.06 [[ 9.98019849e-01 6.28818014e-02 1.50348390e-03 1.38605787e+01] [-6.28817425e-02 9.98020981e-01 -8.64577075e-05 -1.23853249e+00] [-1.50594509e-03 -8.25517934e-06 9.99998866e-01 6.14624930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.89, Y:-1.25, Z:0.06 [[ 9.98113399e-01 6.13925082e-02 7.76380287e-04 1.38897791e+01] [-6.13924914e-02 9.98113701e-01 -4.54754773e-05 -1.24587968e+00] [-7.77707655e-04 -2.27423688e-06 9.99999698e-01 6.22990613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.562320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.92, Y:-1.25, Z:0.06 [[ 9.98182564e-01 6.02605914e-02 -4.79908427e-04 1.39191350e+01] [-6.02605846e-02 9.98182679e-01 2.86209938e-05 -1.25219411e+00] [ 4.80760997e-04 3.50585379e-07 9.99999884e-01 6.27518977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.95, Y:-1.26, Z:0.06 [[ 9.98162844e-01 6.04187025e-02 -4.52956100e-03 1.39478614e+01] [-6.04181120e-02 9.98173121e-01 2.67201024e-04 -1.25502063e+00] [ 4.53742998e-03 6.95738954e-06 9.99989706e-01 6.15547306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.98, Y:-1.26, Z:0.06 [[ 9.98195186e-01 5.98819866e-02 -4.52968286e-03 1.39752590e+01] [-5.98814000e-02 9.98205464e-01 2.65117990e-04 -1.25692730e+00] [ 4.53742997e-03 6.60425029e-06 9.99989706e-01 6.16932387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.00, Y:-1.26, Z:0.06 [[ 9.98152174e-01 6.05717079e-02 -4.82752083e-03 1.40029045e+01] [-6.05710633e-02 9.98163848e-01 2.79767063e-04 -1.26208236e+00] [ 4.83560274e-03 1.31579675e-05 9.99988308e-01 5.98497420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.03, Y:-1.27, Z:0.06 [[ 9.98210864e-01 5.95790502e-02 -5.04058235e-03 1.40309414e+01] [-5.95783490e-02 9.98223591e-01 2.89280112e-04 -1.26758468e+00] [ 5.04886324e-03 1.15470236e-05 9.99987254e-01 6.11973823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.712320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.06, Y:-1.27, Z:0.06 [[ 9.98267648e-01 5.86697633e-02 -4.42295433e-03 1.40584354e+01] [-5.86692236e-02 9.98277446e-01 2.51779562e-04 -1.27139894e+00] [ 4.43010739e-03 8.14790539e-06 9.99990187e-01 6.31056032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.09, Y:-1.27, Z:0.06 [[ 9.98376392e-01 5.67232455e-02 -5.20136532e-03 1.40866913e+01] [-5.67224900e-02 9.98389941e-01 2.92778203e-04 -1.27211440e+00] [ 5.20959814e-03 2.73154650e-06 9.99986430e-01 6.46783440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.11, Y:-1.27, Z:0.07 [[ 9.98536972e-01 5.37151070e-02 -6.21319613e-03 1.41142535e+01] [-5.37139949e-02 9.98556301e-01 3.45848411e-04 -1.27245383e+00] [ 6.22280343e-03 -1.16068397e-05 9.99980638e-01 6.53488382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.802320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.14, Y:-1.28, Z:0.06 [[ 9.98937739e-01 4.60148831e-02 -2.45421606e-03 1.41424218e+01] [-4.60146860e-02 9.98940754e-01 1.36746510e-04 -1.27877935e+00] [ 2.45790881e-03 -2.36712687e-05 9.99996979e-01 6.36686421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.832320588 meters Centerline goodness [0,1] 0.9999508091888435 Centerline is valid? [True, True] Translation: X:14.17, Y:-1.29, Z:0.06 [[ 9.99344043e-01 3.61808943e-02 1.55794335e-03 1.41709496e+01] [-3.61808100e-02 9.99345257e-01 -8.23215535e-05 -1.28527848e+00] [-1.55990176e-03 2.58999019e-05 9.99998783e-01 6.34469968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.20, Y:-1.29, Z:0.06 [[ 9.99519819e-01 3.09805465e-02 5.81005836e-04 1.42016602e+01] [-3.09805333e-02 9.99519988e-01 -3.17323402e-05 -1.28903644e+00] [-5.81710031e-04 1.37172323e-05 9.99999831e-01 6.43196954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.892320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.23, Y:-1.29, Z:0.06 [[ 9.99541370e-01 3.02802420e-02 3.95773702e-04 1.42318947e+01] [-3.02802358e-02 9.99541448e-01 -2.15067535e-05 -1.29407553e+00] [-3.96243449e-04 9.51276886e-06 9.99999921e-01 6.46969004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.26, Y:-1.30, Z:0.06 [[ 9.99541370e-01 3.02802420e-02 3.95773702e-04 1.42618592e+01] [-3.02802358e-02 9.99541448e-01 -2.15067535e-05 -1.29570384e+00] [-3.96243449e-04 9.51276886e-06 9.99999921e-01 6.48481480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.29, Y:-1.30, Z:0.07 [[ 9.99562998e-01 2.95082980e-02 1.75288620e-03 1.42925406e+01] [-2.95081763e-02 9.99564534e-01 -9.52536546e-05 -1.30091460e+00] [-1.75493365e-03 4.34875536e-05 9.99998459e-01 6.59940241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.982320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.32, Y:-1.30, Z:0.07 [[ 9.99561138e-01 2.95712387e-02 1.75286297e-03 1.43233420e+01] [-2.95711164e-02 9.99562674e-01 -9.56809296e-05 -1.30257201e+00] [-1.75492580e-03 4.38048241e-05 9.99998459e-01 6.61494917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.35, Y:-1.31, Z:0.07 [[ 9.99505729e-01 3.05857526e-02 7.26706709e-03 1.43540533e+01] [-3.05836804e-02 9.99532131e-01 -3.96136998e-04 -1.30788681e+00] [-7.27578321e-03 1.73687541e-04 9.99973516e-01 6.86747643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.042320587999999 meters Centerline goodness [0,1] 0.9999507170666798 Centerline is valid? [True, True] Translation: X:14.39, Y:-1.31, Z:0.07 [[ 9.99447241e-01 3.21723746e-02 8.37562493e-03 1.43860227e+01] [-3.21696663e-02 9.99482317e-01 -4.57916312e-04 -1.31089788e+00] [-8.38602127e-03 1.88222136e-04 9.99964819e-01 6.92607162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.072320588 meters Centerline goodness [0,1] 0.9999508164469801 Centerline is valid? [True, True] Translation: X:14.42, Y:-1.31, Z:0.07 [[ 9.99393527e-01 3.39865950e-02 7.58224009e-03 1.44176343e+01] [-3.39844198e-02 9.99422276e-01 -4.15571034e-04 -1.31476064e+00] [-7.59198350e-03 1.57640971e-04 9.99971168e-01 6.91059802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.45, Y:-1.32, Z:0.07 [[ 9.99336750e-01 3.58568732e-02 6.35170498e-03 1.44497733e+01] [-3.58553787e-02 9.99356928e-01 -3.49044798e-04 -1.31975974e+00] [-6.36013603e-03 1.21070506e-04 9.99979767e-01 6.77895620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.132320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.48, Y:-1.32, Z:0.07 [[ 9.99332159e-01 3.59846176e-02 6.35166029e-03 1.44814067e+01] [-3.59831205e-02 9.99352337e-01 -3.49857805e-04 -1.32146080e+00] [-6.36013605e-03 1.21071597e-04 9.99979767e-01 6.79492244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.51, Y:-1.33, Z:0.07 [[ 9.99224055e-01 3.91392803e-02 4.40515495e-03 1.45132191e+01] [-3.91385875e-02 9.99233762e-01 -2.43406327e-04 -1.32649033e+00] [-4.41130630e-03 7.08059146e-05 9.99990268e-01 6.74192504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.55, Y:-1.33, Z:0.07 [[ 9.99053045e-01 4.33789210e-02 3.35884496e-03 1.45454758e+01] [-4.33785402e-02 9.99058691e-01 -1.86196039e-04 -1.32934926e+00] [-3.36376023e-03 4.03179286e-05 9.99994342e-01 6.75519392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.222320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.58, Y:-1.33, Z:0.07 [[ 9.98803434e-01 4.88507437e-02 2.30317953e-03 1.45770501e+01] [-4.88505791e-02 9.98806090e-01 -1.27705199e-04 -1.33077367e+00] [-2.30666823e-03 1.50407378e-05 9.99997340e-01 6.78728211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.61, Y:-1.33, Z:0.07 [[ 9.98485815e-01 5.49773048e-02 1.89003476e-03 1.46082774e+01] [-5.49772045e-02 9.98487604e-01 -1.04989502e-04 -1.33170207e+00] [-1.89294832e-03 9.21700903e-07 9.99998208e-01 6.84593640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.64, Y:-1.33, Z:0.07 [[ 9.97721098e-01 6.74439757e-02 1.98012000e-03 1.46397285e+01] [-6.74438895e-02 9.97723063e-01 -1.10342711e-04 -1.33167311e+00] [-1.98305335e-03 -2.34557438e-05 9.99998033e-01 6.96061726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.312320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.67, Y:-1.33, Z:0.07 [[ 9.97367018e-01 7.24598282e-02 2.93338944e-03 1.46713857e+01] [-7.24596614e-02 9.97371330e-01 -1.63255484e-04 -1.33177840e+00] [-2.93750800e-03 -4.97267705e-05 9.99995684e-01 6.85233354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.70, Y:-1.33, Z:0.07 [[ 9.97069350e-01 7.65027819e-02 1.87210621e-04 1.47026124e+01] [-7.65027812e-02 9.97069368e-01 -1.07417401e-05 -1.33075834e+00] [-1.87483749e-04 -3.61187331e-06 9.99999982e-01 6.80596938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.73, Y:-1.33, Z:0.07 [[ 9.96846530e-01 7.93087378e-02 -2.66821060e-03 1.47325171e+01] [-7.93086242e-02 9.96850099e-01 1.48520093e-04 -1.32807858e+00] [ 2.67158494e-03 6.35603718e-05 9.99996429e-01 6.80343690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.402320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.76, Y:-1.33, Z:0.07 [[ 9.96788712e-01 8.00574078e-02 -1.75360384e-03 1.47614014e+01] [-8.00573575e-02 9.96790254e-01 9.89236062e-05 -1.32547542e+00] [ 1.75589479e-03 4.17829559e-05 9.99998458e-01 6.76150173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.79, Y:-1.32, Z:0.07 [[ 9.96896523e-01 7.87230727e-02 -1.98650444e-05 1.47903152e+01] [-7.87230726e-02 9.96896523e-01 3.41149428e-06 -1.32294123e+00] [ 2.00719570e-05 -1.83706946e-06 1.00000000e+00 6.93545329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.462320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.82, Y:-1.32, Z:0.07 [[ 9.97081909e-01 7.63082598e-02 2.17160507e-03 1.48198329e+01] [-7.63081834e-02 9.97084273e-01 -1.18110382e-04 -1.32088598e+00] [-2.17428606e-03 -4.79455128e-05 9.99997635e-01 7.13437873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.85, Y:-1.32, Z:0.07 [[ 9.97347036e-01 7.26712023e-02 4.21726569e-03 1.48500615e+01] [-7.26708791e-02 9.97355950e-01 -2.30021846e-04 -1.31943113e+00] [-4.22283099e-03 -7.70607988e-05 9.99991081e-01 7.32805064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.88, Y:-1.32, Z:0.07 [[ 9.97647272e-01 6.83792002e-02 4.91993336e-03 1.48818709e+01] [-6.83787049e-02 9.97659401e-01 -2.69015618e-04 -1.31850638e+00] [-4.92681284e-03 -6.80359741e-05 9.99987861e-01 7.39160537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.552320587999999 meters Centerline goodness [0,1] 0.999950818865883 Centerline is valid? [True, True] Translation: X:14.91, Y:-1.32, Z:0.07 [[ 9.98228648e-01 5.93503343e-02 4.13582778e-03 1.49133085e+01] [-5.93499054e-02 9.98237215e-01 -2.26477442e-04 -1.31665970e+00] [-4.14197872e-03 -1.93847174e-05 9.99991422e-01 7.23309239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.94, Y:-1.32, Z:0.07 [[ 9.98491025e-01 5.47052379e-02 4.79682958e-03 1.49443951e+01] [-5.47046060e-02 9.98502547e-01 -2.62938226e-04 -1.31669460e+00] [-4.80403065e-03 1.32786793e-07 9.99988461e-01 7.08178950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.98, Y:-1.32, Z:0.07 [[ 9.98688636e-01 5.07432364e-02 6.79211569e-03 1.49768624e+01] [-5.07418702e-02 9.98711732e-01 -3.73428464e-04 -1.31626240e+00] [-6.80231460e-03 2.82941102e-05 9.99976864e-01 6.99111082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.642320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.01, Y:-1.32, Z:0.07 [[ 9.98872532e-01 4.67645686e-02 8.16947802e-03 1.50094450e+01] [-4.67624514e-02 9.98905937e-01 -4.50085038e-04 -1.31687010e+00] [-8.18158813e-03 6.75527620e-05 9.99966528e-01 6.97174002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.04, Y:-1.32, Z:0.07 [[ 9.98994316e-01 4.36535117e-02 1.02336938e-02 1.50410796e+01] [-4.36500194e-02 9.99046724e-01 -5.64475800e-04 -1.31885313e+00] [-1.02485796e-02 1.17207182e-04 9.99947475e-01 7.01504321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.07, Y:-1.32, Z:0.07 [[ 9.99090260e-01 4.11962729e-02 1.10235704e-02 1.50728367e+01] [-4.11920540e-02 9.99151061e-01 -6.09588966e-04 -1.32219818e+00] [-1.10393249e-02 1.54950890e-04 9.99939053e-01 7.12056857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.732320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.11, Y:-1.33, Z:0.07 [[ 9.99234529e-01 3.80036047e-02 9.27799966e-03 1.51052729e+01] [-3.80004665e-02 9.99277589e-01 -5.14350778e-04 -1.32642485e+00] [-9.29084431e-03 1.61388742e-04 9.99956826e-01 7.11478105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.14, Y:-1.33, Z:0.07 [[ 9.99252910e-01 3.76842228e-02 8.57446522e-03 1.51382161e+01] [-3.76815132e-02 9.99289686e-01 -4.77392171e-04 -1.32909866e+00] [-8.58636481e-03 1.53936691e-04 9.99963125e-01 7.03591737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.792320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.17, Y:-1.33, Z:0.07 [[ 9.99230393e-01 3.81099470e-02 9.28723875e-03 1.51710894e+01] [-3.81067704e-02 9.99273539e-01 -5.18813835e-04 -1.33289194e+00] [-9.30026390e-03 1.64507877e-04 9.99956738e-01 6.93679953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.822320588 meters Centerline goodness [0,1] 0.9999508430418326 Centerline is valid? [True, True] Translation: X:15.20, Y:-1.34, Z:0.07 [[ 9.99210982e-01 3.86736614e-02 9.04214784e-03 1.52033201e+01] [-3.86706657e-02 9.99251882e-01 -5.05976409e-04 -1.33794678e+00] [-9.05495121e-03 1.55911308e-04 9.99958991e-01 6.98840288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.24, Y:-1.34, Z:0.07 [[ 9.99174202e-01 3.95141291e-02 9.46296429e-03 1.52357304e+01] [-3.95108654e-02 9.99218999e-01 -5.31670009e-04 -1.34304548e+00] [-9.47658219e-03 1.57341049e-04 9.99955084e-01 6.94978721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.882320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.27, Y:-1.35, Z:0.07 [[ 9.99159910e-01 4.04422661e-02 6.62557888e-03 1.52675700e+01] [-4.04406811e-02 9.99181871e-01 -3.73069489e-04 -1.34706868e+00] [-6.63524608e-03 1.04813154e-04 9.99977981e-01 7.04811150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.30, Y:-1.35, Z:0.07 [[ 9.99144960e-01 4.12435087e-02 2.88478634e-03 1.52991641e+01] [-4.12432095e-02 9.99149124e-01 -1.63168810e-04 -1.35186861e+00] [-2.88906140e-03 4.40514464e-05 9.99995826e-01 7.03882510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.33, Y:-1.36, Z:0.07 [[ 9.99146814e-01 4.12522727e-02 -1.97345434e-03 1.53294743e+01] [-4.12521341e-02 9.99148762e-01 1.10885003e-04 -1.36412637e+00] [ 1.97634872e-03 -2.93811948e-05 9.99998047e-01 7.05705343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.972320587999999 meters Centerline goodness [0,1] 0.9999507946661418 Centerline is valid? [True, True] Translation: X:15.36, Y:-1.37, Z:0.07 [[ 9.99219162e-01 3.93945313e-02 -3.02279622e-03 1.53584362e+01] [-3.93941927e-02 9.99223733e-01 1.71510260e-04 -1.37002965e+00] [ 3.02720629e-03 -5.22957217e-05 9.99995417e-01 7.21767237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.39, Y:-1.37, Z:0.07 [[ 9.99215359e-01 3.96043637e-02 -4.01178884e-04 1.53860651e+01] [-3.96043569e-02 9.99215439e-01 2.48639001e-05 -1.37370715e+00] [ 4.01848854e-04 -8.95595913e-06 9.99999919e-01 7.34001342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.42, Y:-1.38, Z:0.07 [[ 9.99117906e-01 4.19253225e-02 2.38282015e-03 1.54161380e+01] [-4.19251266e-02 9.99120747e-01 -1.32143323e-04 -1.37527904e+00] [-2.38626520e-03 3.21267235e-05 9.99997152e-01 7.45065556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.062320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.45, Y:-1.38, Z:0.07 [[ 9.98905925e-01 4.64901688e-02 5.06127615e-03 1.54475524e+01] [-4.64893400e-02 9.98918747e-01 -2.81341889e-04 -1.37773326e+00] [-5.06888326e-03 4.57386923e-05 9.99987152e-01 7.45434807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.48, Y:-1.38, Z:0.07 [[ 9.98622825e-01 5.21637674e-02 5.60318571e-03 1.54798556e+01] [-5.21628349e-02 9.98638544e-01 -3.12524495e-04 -1.38248533e+00] [-5.61185967e-03 1.98160429e-05 9.99984253e-01 7.42793736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.51, Y:-1.39, Z:0.07 [[ 9.98211398e-01 5.96983742e-02 3.17939219e-03 1.55116976e+01] [-5.96981098e-02 9.98216461e-01 -1.78057428e-04 -1.38832644e+00] [-3.18435136e-03 -1.20647497e-05 9.99994930e-01 7.39213199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.152320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.54, Y:-1.39, Z:0.07 [[ 9.97797188e-01 6.63379585e-02 2.18761635e-04 1.55439571e+01] [-6.63379573e-02 9.97797211e-01 -1.29132593e-05 -1.39228974e+00] [-2.19136389e-04 -1.62738626e-06 9.99999976e-01 7.42143578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.58, Y:-1.39, Z:0.07 [[ 9.97334648e-01 7.29575975e-02 -8.88158767e-04 1.55752634e+01] [-7.29575824e-02 9.97335043e-01 4.93933531e-05 -1.39461289e+00] [ 8.89395482e-04 1.55362140e-05 9.99999604e-01 7.43831887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.212320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.61, Y:-1.40, Z:0.07 [[ 9.96680717e-01 8.14016033e-02 1.15238090e-03 1.56055718e+01] [-8.14015831e-02 9.96681382e-01 -6.45246009e-05 -1.39877972e+00] [-1.15380899e-03 -2.94952038e-05 9.99999334e-01 7.41032753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.64, Y:-1.40, Z:0.08 [[ 9.96577999e-01 8.26471578e-02 1.31883913e-03 1.56368654e+01] [-8.26471319e-02 9.96578871e-01 -7.42584883e-05 -1.40248443e+00] [-1.32046446e-03 -3.49938957e-05 9.99999128e-01 7.53581095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.67, Y:-1.40, Z:0.08 [[ 9.96684478e-01 8.13391458e-02 1.99861275e-03 1.56677598e+01] [-8.13390837e-02 9.96686481e-01 -1.12498033e-04 -1.40468765e+00] [-2.00114080e-03 -5.04402865e-05 9.99997996e-01 7.61921866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.302320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.70, Y:-1.40, Z:0.08 [[ 9.96841691e-01 7.93931978e-02 1.83382507e-03 1.56996575e+01] [-7.93931411e-02 9.96843377e-01 -1.03825975e-04 -1.40444654e+00] [-1.83627945e-03 -4.20950714e-05 9.99998313e-01 7.67332478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.73, Y:-1.40, Z:0.08 [[ 9.97037810e-01 7.69129167e-02 9.75799065e-05 1.57307369e+01] [-7.69129165e-02 9.97037814e-01 -5.83003736e-06 -1.40376981e+00] [-9.77392619e-05 -1.69238752e-06 9.99999995e-01 7.60637991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.76, Y:-1.40, Z:0.07 [[ 9.97200807e-01 7.47683045e-02 -5.00847218e-04 1.57621413e+01] [-7.47682999e-02 9.97200933e-01 2.79082090e-05 -1.40381828e+00] [ 5.01531962e-04 9.61740641e-06 9.99999874e-01 7.43089241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.392320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.79, Y:-1.41, Z:0.07 [[ 9.97283149e-01 7.36583925e-02 -8.72714847e-04 1.57924004e+01] [-7.36583776e-02 9.97283531e-01 4.92103900e-05 -1.40545029e+00] [ 8.73968902e-04 1.52060670e-05 9.99999618e-01 7.41812294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.82, Y:-1.41, Z:0.08 [[ 9.97295589e-01 7.34940413e-02 -3.66312829e-04 1.58232654e+01] [-7.34940387e-02 9.97295656e-01 2.06555409e-05 -1.40702922e+00] [ 3.66840253e-04 6.32212941e-06 9.99999933e-01 7.54112173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.85, Y:-1.40, Z:0.08 [[ 9.97157921e-01 7.53330155e-02 1.00911212e-03 1.58539063e+01] [-7.53329965e-02 9.97158431e-01 -5.69015197e-05 -1.40197644e+00] [-1.01053122e-03 -1.92796387e-05 9.99999489e-01 7.91401583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.482320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.89, Y:-1.40, Z:0.08 [[ 9.97069139e-01 7.64983433e-02 -1.06540755e-03 1.58857093e+01] [-7.64983230e-02 9.97069708e-01 5.98130637e-05 -1.39941918e+00] [ 1.06686120e-03 2.18641310e-05 9.99999431e-01 7.91199259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.91, Y:-1.40, Z:0.08 [[ 9.96996833e-01 7.73078483e-02 -4.56204827e-03 1.59149265e+01] [-7.73074786e-02 9.97007265e-01 2.57592513e-04 -1.39948712e+00] [ 4.56830919e-03 9.58615296e-05 9.99989561e-01 7.90754898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.542320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.94, Y:-1.40, Z:0.08 [[ 9.97102194e-01 7.59480190e-02 -4.37180510e-03 1.59441681e+01] [-7.59476673e-02 9.97111775e-01 2.46656626e-04 -1.40195060e+00] [ 4.37791142e-03 8.60865361e-05 9.99990413e-01 7.73291916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.97, Y:-1.40, Z:0.08 [[ 9.97238516e-01 7.42291428e-02 -2.31875467e-03 1.59728260e+01] [-7.42290389e-02 9.97241211e-01 1.30950538e-04 -1.40488265e+00] [ 2.32207806e-03 4.15300107e-05 9.99997303e-01 7.70668218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.00, Y:-1.41, Z:0.08 [[ 9.97496802e-01 7.07049487e-02 9.69896874e-04 1.60020135e+01] [-7.07049326e-02 9.97497273e-01 -5.09541808e-05 -1.40521461e+00] [-9.71072200e-04 -1.77498608e-05 9.99999528e-01 7.85129839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.632320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.03, Y:-1.40, Z:0.08 [[ 9.97894437e-01 6.47680026e-02 3.43492085e-03 1.60324608e+01] [-6.47677362e-02 9.97900348e-01 -1.88843660e-04 -1.40201027e+00] [-3.43993974e-03 -3.40260092e-05 9.99994083e-01 8.05953389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.06, Y:-1.40, Z:0.08 [[ 9.98108867e-01 6.14241437e-02 2.40071869e-03 1.60642879e+01] [-6.14240014e-02 9.98111754e-01 -1.32999883e-04 -1.40366414e+00] [-2.40435494e-03 -1.47133854e-05 9.99997109e-01 8.00815817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.10, Y:-1.41, Z:0.08 [[ 9.98328335e-01 5.77892178e-02 -9.70487904e-04 1.60957705e+01] [-5.77891933e-02 9.98328807e-01 5.32129051e-05 -1.40636216e+00] [ 9.71941163e-04 2.95976217e-06 9.99999528e-01 7.93573620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.722320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.13, Y:-1.41, Z:0.08 [[ 9.98491788e-01 5.48026966e-02 -3.28831366e-03 1.61252510e+01] [-5.48023958e-02 9.98497203e-01 1.81572603e-04 -1.40839575e+00] [ 3.29332266e-03 -1.09128683e-06 9.99994577e-01 7.81173833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.15, Y:-1.41, Z:0.08 [[ 9.98610415e-01 5.24464180e-02 -5.15872203e-03 1.61529447e+01] [-5.24456494e-02 9.98623739e-01 2.84248864e-04 -1.41025611e+00] [ 5.16653012e-03 -1.33013497e-05 9.99986653e-01 7.79075058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.782320588 meters Centerline goodness [0,1] 0.9999508019285644 Centerline is valid? [True, True] Translation: X:16.18, Y:-1.41, Z:0.08 [[ 9.98698828e-01 5.07377737e-02 -5.13129024e-03 1.61808516e+01] [-5.07370049e-02 9.98712010e-01 2.79969506e-04 -1.41204853e+00] [ 5.13888622e-03 -1.92589197e-05 9.99986796e-01 7.91058480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.812320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.21, Y:-1.41, Z:0.08 [[ 9.98727075e-01 5.03379800e-02 -3.21211921e-03 1.62092011e+01] [-5.03376790e-02 9.98732240e-01 1.74542685e-04 -1.41474767e+00] [ 3.21683314e-03 -1.26298799e-05 9.99994826e-01 8.04057701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.24, Y:-1.42, Z:0.08 [[ 9.98660656e-01 5.17225826e-02 1.29193662e-03 1.62379378e+01] [-5.17225403e-02 9.98661491e-01 -6.61323502e-05 -1.41608148e+00] [-1.29362789e-03 -7.78467844e-07 9.99999163e-01 8.29451759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.27, Y:-1.42, Z:0.08 [[ 9.98518114e-01 5.43652507e-02 2.44874224e-03 1.62683844e+01] [-5.43650957e-02 9.98521116e-01 -1.29845765e-04 -1.41659608e+00] [-2.45217993e-03 -3.47275808e-06 9.99996993e-01 8.27981497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.902320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.30, Y:-1.42, Z:0.08 [[ 9.98299789e-01 5.81963822e-02 3.27305737e-03 1.62999928e+01] [-5.81961232e-02 9.98305154e-01 -1.74388038e-04 -1.41792911e+00] [-3.27765880e-03 -1.63877088e-05 9.99994628e-01 8.27459393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.932320588 meters Centerline goodness [0,1] 0.9999508551208964 Centerline is valid? [True, True] Translation: X:16.33, Y:-1.42, Z:0.08 [[ 9.97985524e-01 6.32711415e-02 4.65362311e-03 1.63314886e+01] [-6.32706734e-02 9.97996373e-01 -2.47881802e-04 -1.42056273e+00] [-4.65998275e-03 -4.70554184e-05 9.99989141e-01 8.16583362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.962320587999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.36, Y:-1.42, Z:0.08 [[ 9.97733018e-01 6.70567411e-02 5.67605080e-03 1.63637704e+01] [-6.70561001e-02 9.97749161e-01 -3.03368614e-04 -1.42303541e+00] [-5.68361783e-03 -7.79329476e-05 9.99983845e-01 8.05429023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.40, Y:-1.42, Z:0.08 [[ 9.97589573e-01 6.91502606e-02 5.76929337e-03 1.63954796e+01] [-6.91496290e-02 9.97606252e-01 -3.09128454e-04 -1.42474320e+00] [-5.77685944e-03 -9.05611736e-05 9.99983310e-01 8.10024471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.43, Y:-1.43, Z:0.08 [[ 9.97514900e-01 7.03554629e-02 3.75952979e-03 1.64275208e+01] [-7.03552004e-02 9.97521982e-01 -2.02187460e-04 -1.42577957e+00] [-3.76443860e-03 -6.28174680e-05 9.99992913e-01 8.11083687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.46, Y:-1.43, Z:0.08 [[ 9.97505394e-01 7.04901035e-02 3.75950252e-03 1.64591549e+01] [-7.04898401e-02 9.97512477e-01 -2.02694906e-04 -1.42744505e+00] [-3.76443865e-03 -6.28174687e-05 9.99992913e-01 8.12680214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.082320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.49, Y:-1.43, Z:0.08 [[ 9.97500854e-01 7.05783703e-02 3.27714594e-03 1.64901246e+01] [-7.05781707e-02 9.97506236e-01 -1.76654433e-04 -1.42697403e+00] [-3.28144149e-03 -5.50820175e-05 9.99994615e-01 8.22551254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.52, Y:-1.43, Z:0.08 [[ 9.97558182e-01 6.98281102e-02 1.30698405e-03 1.65215366e+01] [-6.98280774e-02 9.97559038e-01 -7.07405345e-05 -1.42547668e+00] [-1.30873343e-03 -2.06963842e-05 9.99999143e-01 8.38513844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.55, Y:-1.42, Z:0.08 [[ 9.97798229e-01 6.63097278e-02 1.30898666e-03 1.65522534e+01] [-6.63096923e-02 9.97799088e-01 -7.05127646e-05 -1.42116175e+00] [-1.31078138e-03 -1.64409911e-05 9.99999141e-01 8.41880820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.172320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.58, Y:-1.42, Z:0.08 [[ 9.97846867e-01 6.55844102e-02 5.61590627e-04 1.65827106e+01] [-6.55844035e-02 9.97847025e-01 -3.02518802e-05 -1.42041528e+00] [-5.62365588e-04 -6.64484239e-06 9.99999842e-01 8.32451379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.61, Y:-1.42, Z:0.08 [[ 9.97838879e-01 6.57075013e-02 -3.08380593e-04 1.66130783e+01] [-6.57074993e-02 9.97838927e-01 1.66119097e-05 -1.41966652e+00] [ 3.08805687e-04 3.68690829e-06 9.99999952e-01 8.21762992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.64, Y:-1.42, Z:0.08 [[ 9.97794492e-01 6.63779161e-02 3.51415536e-04 1.66429715e+01] [-6.63779137e-02 9.97794554e-01 -1.85693184e-05 -1.41835933e+00] [-3.51873100e-04 -4.79786651e-06 9.99999938e-01 8.21653770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.262320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.67, Y:-1.42, Z:0.08 [[ 9.97684604e-01 6.79930483e-02 1.54129175e-03 1.66729164e+01] [-6.79930020e-02 9.97685795e-01 -8.24808860e-05 -1.41900527e+00] [-1.54333301e-03 -2.25071429e-05 9.99998809e-01 8.22838093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.70, Y:-1.43, Z:0.08 [[ 9.97635134e-01 6.87094929e-02 1.77344456e-03 1.67032207e+01] [-6.87094321e-02 9.97636710e-01 -9.52940754e-05 -1.42578458e+00] [-1.77580100e-03 -2.67836508e-05 9.99998423e-01 8.41211797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.73, Y:-1.43, Z:0.08 [[ 9.97711998e-01 6.76040858e-02 6.75453832e-04 1.67332878e+01] [-6.76040767e-02 9.97712227e-01 -3.62947621e-05 -1.43048812e+00] [-6.76362221e-04 -9.45171305e-06 9.99999771e-01 8.40101492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.352320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.76, Y:-1.43, Z:0.08 [[ 9.97771244e-01 6.67184324e-02 1.09367635e-03 1.67637239e+01] [-6.67184081e-02 9.97771843e-01 -5.87674848e-05 -1.43289487e+00] [-1.09516034e-03 -1.43318384e-05 9.99999400e-01 8.31428834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.79, Y:-1.43, Z:0.08 [[ 9.97739793e-01 6.71637622e-02 2.08183770e-03 1.67941827e+01] [-6.71636750e-02 9.97741965e-01 -1.11865238e-04 -1.43321200e+00] [-2.08465013e-03 -2.82114706e-05 9.99997827e-01 8.29312907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.83, Y:-1.43, Z:0.08 [[ 9.97595933e-01 6.92324430e-02 3.03711959e-03 1.68250686e+01] [-6.92322661e-02 9.97600555e-01 -1.63467499e-04 -1.43375496e+00] [-3.04114944e-03 -4.71921591e-05 9.99995375e-01 8.37830635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.442320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.86, Y:-1.44, Z:0.09 [[ 9.97292923e-01 7.33012081e-02 5.81026932e-03 1.68561420e+01] [-7.33006274e-02 9.97309842e-01 -3.13125411e-04 -1.43573033e+00] [-5.81759125e-03 -1.13618631e-04 9.99983071e-01 8.52819677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.89, Y:-1.44, Z:0.09 [[ 9.96638876e-01 8.15185145e-02 8.10443475e-03 1.68871911e+01] [-8.15176563e-02 9.96671802e-01 -4.36728817e-04 -1.43650678e+00] [-8.11306307e-03 -2.25393609e-04 9.99967063e-01 8.90608050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.92, Y:-1.44, Z:0.09 [[ 9.96200880e-01 8.66980143e-02 8.20131031e-03 1.69195896e+01] [-8.66972977e-02 9.96234602e-01 -4.43522568e-04 -1.43558901e+00] [-8.20888164e-03 -2.69193869e-04 9.99966270e-01 8.79527896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.95, Y:-1.44, Z:0.09 [[ 9.96189688e-01 8.68265182e-02 8.20125369e-03 1.69512392e+01] [-8.68257974e-02 9.96223410e-01 -4.44569205e-04 -1.43726899e+00] [-8.20888131e-03 -2.69205133e-04 9.99966270e-01 8.81125133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.98, Y:-1.44, Z:0.08 [[ 9.95662075e-01 9.28034785e-02 6.67434397e-03 1.69835704e+01] [-9.28031287e-02 9.95684412e-01 -3.62766700e-04 -1.43603293e+00] [-6.67920627e-03 -2.58206957e-04 9.99977661e-01 8.20636512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.02, Y:-1.44, Z:0.08 [[ 9.95641935e-01 9.31228068e-02 5.02786962e-03 1.70154319e+01] [-9.31226067e-02 9.95654611e-01 -2.74406584e-04 -1.43736995e+00] [-5.03157509e-03 -1.94997623e-04 9.99987323e-01 8.10530279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.05, Y:-1.44, Z:0.08 [[ 9.95807021e-01 9.13485338e-02 4.88070955e-03 1.70469342e+01] [-9.13483246e-02 9.95818966e-01 -2.66235194e-04 -1.43652021e+00] [-4.88462333e-03 -1.80725766e-04 9.99988054e-01 8.20343344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.08, Y:-1.43, Z:0.08 [[ 9.96098421e-01 8.81755302e-02 3.60715925e-03 1.70787060e+01] [-8.81753940e-02 9.96104945e-01 -1.97079648e-04 -1.43141478e+00] [-3.61048677e-03 -1.21751962e-04 9.99993475e-01 8.44757016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.11, Y:-1.42, Z:0.09 [[ 9.96357590e-01 8.52552752e-02 1.75816353e-03 1.71085076e+01] [-8.52552390e-02 9.96359140e-01 -9.56809394e-05 -1.42475536e+00] [-1.75991960e-03 -5.45602214e-05 9.99998450e-01 8.59649731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.14, Y:-1.42, Z:0.09 [[ 9.96623852e-01 8.20988360e-02 -8.24322397e-04 1.71379508e+01] [-8.20988254e-02 9.96624192e-01 4.67413994e-05 -1.42118509e+00] [ 8.25377057e-04 2.10923070e-05 9.99999659e-01 8.51094564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.17, Y:-1.42, Z:0.08 [[ 9.96781690e-01 8.00514998e-02 -4.24505161e-03 1.71665102e+01] [-8.00512459e-02 9.96790723e-01 2.29958013e-04 -1.41857455e+00] [ 4.24983655e-03 1.10603734e-04 9.99990963e-01 8.25661914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.20, Y:-1.42, Z:0.08 [[ 9.96755924e-01 8.04527959e-02 -2.23045023e-03 1.71959311e+01] [-8.04527267e-02 9.96758418e-01 1.20902002e-04 -1.41606005e+00] [ 2.23294695e-03 5.89360163e-05 9.99997505e-01 8.30381507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.23, Y:-1.41, Z:0.08 [[ 9.96682407e-01 8.13888974e-02 1.61512257e-04 1.72254869e+01] [-8.13888975e-02 9.96682421e-01 -6.18503678e-06 -1.41051656e+00] [-1.61479821e-04 -6.98078718e-06 9.99999987e-01 8.39822638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.832320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.25, Y:-1.40, Z:0.09 [[ 9.96684493e-01 8.13535995e-02 1.27003229e-03 1.72549427e+01] [-8.13535839e-02 9.96685302e-01 -6.40212744e-05 -1.40339296e+00] [-1.27103087e-03 -3.95126667e-05 9.99999191e-01 8.59555251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.28, Y:-1.40, Z:0.09 [[ 9.96700165e-01 8.11708395e-02 2.75190713e-04 1.72835735e+01] [-8.11708394e-02 9.96700203e-01 -1.15456098e-05 -1.39946869e+00] [-2.75219806e-04 -1.08299500e-05 9.99999962e-01 8.66090836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.31, Y:-1.40, Z:0.09 [[ 9.97044132e-01 7.68265510e-02 8.24396249e-04 1.73127716e+01] [-7.68265442e-02 9.97044473e-01 -3.99000762e-05 -1.39640163e+00] [-8.25025108e-04 -2.35533780e-05 9.99999659e-01 8.56582811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.922320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.34, Y:-1.39, Z:0.08 [[ 9.97767606e-01 6.66663216e-02 3.92509596e-03 1.73419810e+01] [-6.66660509e-02 9.97775324e-01 -1.99908640e-04 -1.39117576e+00] [-3.92969106e-03 -6.22082812e-05 9.99992277e-01 8.27615346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.952320588 meters Centerline goodness [0,1] 0.9999509033778476 Centerline is valid? [True, True] Translation: X:17.37, Y:-1.38, Z:0.08 [[ 9.98593119e-01 5.27687179e-02 5.21960357e-03 1.73710637e+01] [-5.27680699e-02 9.98606761e-01 -2.61889511e-04 -1.37986849e+00] [-5.22615098e-03 -1.39073422e-05 9.99986343e-01 8.12986137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.40, Y:-1.37, Z:0.09 [[ 9.99216231e-01 3.94632203e-02 3.09476467e-03 1.74012430e+01] [-3.94629259e-02 9.99221023e-01 -1.56158870e-04 -1.37313957e+00] [-3.09851645e-03 3.39080086e-05 9.99995199e-01 8.55535769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.012320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.43, Y:-1.38, Z:0.08 [[ 9.99456228e-01 3.29728177e-02 2.03659780e-04 1.74305015e+01] [-3.29728164e-02 9.99456249e-01 -9.96770206e-06 -1.38183711e+00] [-2.03877703e-04 3.24704535e-06 9.99999979e-01 8.33746606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.46, Y:-1.39, Z:0.08 [[ 9.99700132e-01 2.44823164e-02 5.12399679e-04 1.74591796e+01] [-2.44823067e-02 9.99700263e-01 -2.53576684e-05 -1.38981346e+00] [-5.12866908e-04 1.28053384e-05 9.99999868e-01 8.20449761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.49, Y:-1.40, Z:0.09 [[ 9.99782171e-01 2.08576057e-02 7.55673510e-04 1.74871496e+01] [-2.08575847e-02 9.99782456e-01 -3.55897164e-05 -1.40094166e+00] [-7.56251434e-04 1.98204396e-05 9.99999714e-01 8.51605234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.102320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.52, Y:-1.41, Z:0.08 [[ 9.99658738e-01 2.49463998e-02 7.75145874e-03 1.75160454e+01] [-2.49441517e-02 9.99688771e-01 -3.86588758e-04 -1.41288025e+00] [-7.75869026e-03 1.93103267e-04 9.99969882e-01 8.40613010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.55, Y:-1.43, Z:0.08 [[ 9.99249447e-01 3.87258326e-02 -9.23458798e-04 1.75457930e+01] [-3.87258067e-02 9.99249874e-01 4.59626650e-05 -1.42618044e+00] [ 9.24546029e-04 -1.01664807e-05 9.99999573e-01 8.20931403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.57, Y:-1.43, Z:0.09 [[ 9.98758223e-01 4.96109346e-02 -4.55707299e-03 1.75740618e+01] [-4.96104115e-02 9.98768619e-01 2.27807234e-04 -1.42971456e+00] [ 4.56276323e-03 -1.44608136e-06 9.99989591e-01 8.79141575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.192320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.60, Y:-1.43, Z:0.08 [[ 9.98594154e-01 5.29281431e-02 -2.88571770e-03 1.76023097e+01] [-5.29279478e-02 9.98598323e-01 1.44039624e-04 -1.43255259e+00] [ 2.88929660e-03 8.89798874e-06 9.99995826e-01 8.37731673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.63, Y:-1.43, Z:0.09 [[ 9.98461379e-01 5.54270240e-02 1.64903396e-03 1.76309408e+01] [-5.54269713e-02 9.98462741e-01 -7.76516541e-05 -1.43319456e+00] [-1.65080296e-03 -1.38687802e-05 9.99998637e-01 8.50565535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.66, Y:-1.44, Z:0.09 [[ 9.98060895e-01 6.21956550e-02 -2.47998852e-03 1.76600318e+01] [-6.21955452e-02 9.98063976e-01 1.21421613e-04 -1.43577413e+00] [ 2.48273910e-03 3.30580744e-05 9.99996917e-01 8.69680654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.69, Y:-1.44, Z:0.08 [[ 9.98203449e-01 5.99048007e-02 1.13511575e-03 1.76875029e+01] [-5.99047811e-02 9.98204095e-01 -5.12599671e-05 -1.44431658e+00] [-1.13614791e-03 -1.68309847e-05 9.99999354e-01 8.30906188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.72, Y:-1.44, Z:0.09 [[ 9.98501513e-01 5.46886788e-02 1.96880953e-03 1.77167121e+01] [-5.46886070e-02 9.98503454e-01 -9.03477986e-05 -1.44399234e+00] [-1.97080412e-03 -1.74590372e-05 9.99998058e-01 8.90471520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.75, Y:-1.44, Z:0.09 [[ 9.98431292e-01 5.57537475e-02 5.14543644e-03 1.77468020e+01] [-5.57532428e-02 9.98444549e-01 -2.41581242e-04 -1.44178483e+00] [-5.15090203e-03 -4.56724957e-05 9.99986733e-01 8.73791277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.78, Y:-1.44, Z:0.09 [[ 9.98373845e-01 5.68335000e-02 4.42930389e-03 1.77771380e+01] [-5.68331354e-02 9.98383669e-01 -2.08248152e-04 -1.44287955e+00] [-4.43398014e-03 -4.38217189e-05 9.99990169e-01 8.79460393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.81, Y:-1.44, Z:0.09 [[ 9.98838002e-01 4.81653515e-02 -1.65659680e-03 1.78080743e+01] [-4.81652885e-02 9.98839376e-01 7.78865553e-05 -1.43855853e+00] [ 1.65842555e-03 1.99441143e-06 9.99998625e-01 8.77874094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.84, Y:-1.44, Z:0.09 [[ 9.99398190e-01 3.46863774e-02 3.35758530e-04 1.78365815e+01] [-3.46863749e-02 9.99398247e-01 -1.33051976e-05 -1.44399388e+00] [-3.36017995e-04 1.65094414e-06 9.99999944e-01 8.81907779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.87, Y:-1.44, Z:0.09 [[ 9.99694167e-01 2.47125646e-02 9.28300722e-04 1.78665001e+01] [-2.47125355e-02 9.99694598e-01 -4.28346769e-05 -1.44262220e+00] [-9.29075772e-04 1.98809121e-05 9.99999568e-01 8.84525800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.90, Y:-1.45, Z:0.09 [[ 9.99783653e-01 2.06277014e-02 2.67318974e-03 1.78961082e+01] [-2.06274434e-02 9.99787224e-01 -1.24035863e-04 -1.45117285e+00] [-2.67517953e-03 6.88679583e-05 9.99996419e-01 8.76651086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.93, Y:-1.46, Z:0.09 [[ 9.99639157e-01 2.66742304e-02 3.16867992e-03 1.79272062e+01] [-2.66738960e-02 9.99644177e-01 -1.47725914e-04 -1.46242295e+00] [-3.17149291e-03 6.31515694e-05 9.99994969e-01 8.85996737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.96, Y:-1.47, Z:0.09 [[ 9.99345802e-01 3.60276132e-02 3.15896346e-03 1.79573383e+01] [-3.60273278e-02 9.99350794e-01 -1.47222072e-04 -1.47063055e+00] [-3.16221670e-03 3.33167479e-05 9.99995000e-01 8.82545660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.582320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.99, Y:-1.47, Z:0.09 [[ 9.99018493e-01 4.42924606e-02 -4.77237224e-04 1.79889520e+01] [-4.42924552e-02 9.99018607e-01 2.19178584e-05 -1.47260844e+00] [ 4.77739663e-04 -7.58337532e-07 9.99999886e-01 8.97640810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.02, Y:-1.47, Z:0.09 [[ 9.98677120e-01 5.13033449e-02 -3.46085211e-03 1.80180175e+01] [-5.13030913e-02 9.98683116e-01 1.62070162e-04 -1.47341365e+00] [ 3.46460931e-03 1.56966489e-05 9.99993998e-01 8.92172633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.05, Y:-1.47, Z:0.09 [[ 9.98740081e-01 5.01676931e-02 1.20582586e-03 1.80465644e+01] [-5.01676660e-02 9.98740808e-01 -5.27369306e-05 -1.47133955e+00] [-1.20695318e-03 -7.82298256e-06 9.99999272e-01 8.83175146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.672320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.08, Y:-1.47, Z:0.09 [[ 9.98956244e-01 4.55712197e-02 3.11223654e-03 1.80763654e+01] [-4.55709996e-02 9.98961092e-01 -1.41648761e-04 -1.47131310e+00] [-3.11545832e-03 -3.26816131e-07 9.99995147e-01 8.94368886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.11, Y:-1.47, Z:0.09 [[ 9.99148668e-01 4.10578407e-02 4.02400655e-03 1.81071792e+01] [-4.10574344e-02 9.99156771e-01 -1.83581365e-04 -1.46964794e+00] [-4.02815084e-03 1.82096916e-05 9.99991887e-01 8.75521794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.14, Y:-1.47, Z:0.09 [[ 9.99478513e-01 3.21538314e-02 2.97201571e-03 1.81385192e+01] [-3.21535688e-02 9.99482931e-01 -1.36104821e-04 -1.46551903e+00] [-2.97485526e-03 4.04729323e-05 9.99995574e-01 8.75398652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.762320587999998 meters Centerline goodness [0,1] 0.9999508406253073 Centerline is valid? [True, True] Translation: X:18.17, Y:-1.47, Z:0.09 [[ 9.99696278e-01 2.43654749e-02 3.69796772e-03 1.81692220e+01] [-2.43650143e-02 9.99703115e-01 -1.69569532e-04 -1.46741246e+00] [-3.70100149e-03 7.94169940e-05 9.99993148e-01 8.89388414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.20, Y:-1.47, Z:0.09 [[ 9.99840140e-01 1.74617079e-02 3.84478950e-03 1.82003802e+01] [-1.74611582e-02 9.99847527e-01 -1.76485800e-04 -1.46942732e+00] [-3.84728501e-03 1.09323110e-04 9.99992593e-01 8.85288701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.23, Y:-1.48, Z:0.09 [[ 9.99886964e-01 1.49409094e-02 1.68150577e-03 1.82322764e+01] [-1.49407996e-02 9.99888377e-01 -7.78790506e-05 -1.47918394e+00] [-1.68248165e-03 5.27472069e-05 9.99998583e-01 9.08875439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.852320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.26, Y:-1.48, Z:0.09 [[ 9.99829791e-01 1.83265619e-02 2.12726191e-03 1.82631827e+01] [-1.83263945e-02 9.99832053e-01 -9.81815951e-05 -1.48374189e+00] [-2.12870397e-03 5.91798429e-05 9.99997733e-01 9.12488471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.29, Y:-1.49, Z:0.09 [[ 9.99787693e-01 2.06050333e-02 4.06235998e-05 1.82947008e+01] [-2.06050332e-02 9.99787694e-01 -2.34126015e-06 -1.49306752e+00] [-4.06632169e-05 1.50371246e-06 9.99999999e-01 8.81347796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.912320588 meters Centerline goodness [0,1] 0.9999506733093276 Centerline is valid? [True, True] Translation: X:18.32, Y:-1.51, Z:0.09 [[ 9.99764550e-01 2.16988898e-02 -5.18165844e-05 1.83240015e+01] [-2.16988897e-02 9.99764551e-01 2.54412216e-06 -1.50526552e+00] [ 5.18595889e-05 -1.41916080e-06 9.99999999e-01 8.74946849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.942320587999998 meters Centerline goodness [0,1] 0.9999506733093276 Centerline is valid? [True, True] Translation: X:18.35, Y:-1.51, Z:0.09 [[ 9.99765919e-01 2.16357327e-02 -5.18093112e-05 1.83531411e+01] [-2.16357326e-02 9.99765920e-01 2.70221764e-06 -1.50662402e+00] [ 5.18556481e-05 -1.58065270e-06 9.99999999e-01 8.76417159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.38, Y:-1.51, Z:0.09 [[ 9.99657577e-01 2.60824606e-02 2.10559735e-03 1.83823732e+01] [-2.60823154e-02 9.99659794e-01 -9.64136241e-05 -1.51083605e+00] [-2.10739572e-03 4.14617557e-05 9.99997779e-01 8.97844650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.41, Y:-1.52, Z:0.09 [[ 9.99417443e-01 3.40447557e-02 2.39343996e-03 1.84132025e+01] [-3.40445888e-02 9.99420309e-01 -1.10436406e-04 -1.51735289e+00] [-2.39581229e-03 2.88883906e-05 9.99997130e-01 9.05581305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.032320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.44, Y:-1.53, Z:0.09 [[ 9.98993796e-01 4.47851237e-02 2.38514303e-03 1.84440896e+01] [-4.47849882e-02 9.98996643e-01 -1.10219103e-04 -1.52520630e+00] [-2.38768606e-03 3.28959799e-06 9.99997149e-01 9.09454694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.48, Y:-1.53, Z:0.09 [[ 9.98519802e-01 5.43860259e-02 -6.04620711e-04 1.84755380e+01] [-5.43860192e-02 9.98519985e-01 2.75551602e-05 -1.52849886e+00] [ 6.05224479e-04 5.36854041e-06 9.99999817e-01 9.27339385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.51, Y:-1.53, Z:0.09 [[ 9.98204523e-01 5.97909772e-02 -3.57344700e-03 1.85054417e+01] [-5.97907698e-02 9.98210918e-01 1.64925931e-04 -1.53138620e+00] [ 3.57691489e-03 4.90293364e-05 9.99993602e-01 9.25526923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.53, Y:-1.53, Z:0.09 [[ 9.98028516e-01 6.27415117e-02 -1.60763224e-03 1.85346430e+01] [-6.27414711e-02 9.98029810e-01 7.57437269e-05 -1.52782088e+00] [ 1.60921718e-03 2.52708125e-05 9.99998705e-01 9.31937593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.56, Y:-1.53, Z:0.09 [[ 9.97943598e-01 6.40630299e-02 2.12225102e-03 1.85632583e+01] [-6.40629760e-02 9.97945853e-01 -9.34782449e-05 -1.52506561e+00] [-2.12388011e-03 -4.26717003e-05 9.99997744e-01 9.41455965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.59, Y:-1.53, Z:0.09 [[ 9.97934265e-01 6.42402978e-02 6.21231931e-04 1.85937879e+01] [-6.42402928e-02 9.97934459e-01 -2.80564776e-05 -1.52639514e+00] [-6.21751107e-04 -1.19096008e-05 9.99999807e-01 9.38196291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.62, Y:-1.51, Z:0.09 [[ 9.97934303e-01 6.42422369e-02 2.49494814e-04 1.86241592e+01] [-6.42422361e-02 9.97934334e-01 -1.09146526e-05 -1.51174329e+00] [-2.49680623e-04 -5.13599848e-06 9.99999969e-01 9.30282214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.65, Y:-1.51, Z:0.09 [[ 9.97832477e-01 6.57666007e-02 2.25863354e-03 1.86527117e+01] [-6.57665463e-02 9.97835032e-01 -9.84199300e-05 -1.50929092e+00] [-2.26021642e-03 -5.03359249e-05 9.99997444e-01 9.42151694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.68, Y:-1.51, Z:0.10 [[ 9.97489785e-01 7.07756636e-02 2.22125382e-03 1.86821362e+01] [-7.07756193e-02 9.97492257e-01 -9.86414356e-05 -1.51015495e+00] [-2.22266490e-03 -5.88167902e-05 9.99997528e-01 9.57383282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.71, Y:-1.50, Z:0.09 [[ 9.96980747e-01 7.75740148e-02 3.41511352e-03 1.87118482e+01] [-7.75739510e-02 9.96986589e-01 -1.51345363e-04 -1.49521497e+00] [-3.41656285e-03 -1.14035435e-04 9.99994157e-01 9.44897123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.332320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.74, Y:-1.48, Z:0.09 [[ 9.96711365e-01 8.08547065e-02 5.38257797e-03 1.87420619e+01] [-8.08545952e-02 9.96725879e-01 -2.38638787e-04 -1.48494027e+00] [-5.38424983e-03 -1.97352172e-04 9.99985485e-01 9.18087722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.77, Y:-1.49, Z:0.09 [[ 9.97294441e-01 7.35059080e-02 8.24656341e-04 1.87723124e+01] [-7.35059027e-02 9.97294781e-01 -3.67429086e-05 -1.49092519e+00] [-8.25126286e-04 -2.39736103e-05 9.99999659e-01 9.42153797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.80, Y:-1.48, Z:0.09 [[ 9.97862529e-01 6.53438772e-02 7.42345221e-04 1.88019570e+01] [-6.53438726e-02 9.97862805e-01 -3.04661357e-05 -1.48077391e+00] [-7.42749460e-04 -1.81066963e-05 9.99999724e-01 9.36924931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.422320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.83, Y:-1.47, Z:0.09 [[ 9.97738120e-01 6.70586858e-02 4.66657706e-03 1.88314912e+01] [-6.70584800e-02 9.97749027e-01 -2.00733956e-04 -1.46875387e+00] [-4.66953367e-03 -1.12653645e-04 9.99989091e-01 9.27446021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.86, Y:-1.47, Z:0.10 [[ 9.97390566e-01 7.20945804e-02 3.79881760e-03 1.88606926e+01] [-7.20944766e-02 9.97397794e-01 -1.64443780e-04 -1.46855502e+00] [-3.80078780e-03 -1.09859092e-04 9.99992771e-01 9.53894439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.89, Y:-1.47, Z:0.10 [[ 9.97260979e-01 7.38459233e-02 4.16166497e-03 1.88893766e+01] [-7.38458294e-02 9.97269654e-01 -1.76442054e-04 -1.46758170e+00] [-4.16333171e-03 -1.31362826e-04 9.99991325e-01 9.58257253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.512320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.92, Y:-1.47, Z:0.09 [[ 9.97484872e-01 7.06577289e-02 5.60503151e-03 1.89183564e+01] [-7.06575180e-02 9.97500606e-01 -2.35882455e-04 -1.47067984e+00] [-5.60768925e-03 -1.60748435e-04 9.99984264e-01 9.25415832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.95, Y:-1.47, Z:0.09 [[ 9.98052025e-01 6.18986010e-02 7.79220881e-03 1.89477683e+01] [-6.18979449e-02 9.98082431e-01 -3.25566713e-04 -1.46830875e+00] [-7.79741884e-03 -1.57389195e-04 9.99969587e-01 9.48984286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.98, Y:-1.46, Z:0.10 [[ 9.98515756e-01 5.38664038e-02 8.04337203e-03 1.89792737e+01] [-5.38654224e-02 9.98548147e-01 -3.38754665e-04 -1.45817450e+00] [-8.04994174e-03 -9.50077616e-05 9.99967594e-01 9.63812907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.602320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.01, Y:-1.46, Z:0.09 [[ 9.98762292e-01 4.94977966e-02 4.88393212e-03 1.90109337e+01] [-4.94973798e-02 9.98774232e-01 -2.06247775e-04 -1.46114549e+00] [-4.88815437e-03 -3.57493428e-05 9.99988052e-01 9.22381884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.04, Y:-1.46, Z:0.09 [[ 9.99019313e-01 4.40881471e-02 4.08022178e-03 1.90404151e+01] [-4.40878147e-02 9.99027645e-01 -1.71427971e-04 -1.46330061e+00] [-4.08381230e-03 -8.62820811e-06 9.99991661e-01 9.08456829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.07, Y:-1.46, Z:0.09 [[ 9.99161931e-01 4.07187883e-02 4.17314211e-03 1.90697175e+01] [-4.07184122e-02 9.99170646e-01 -1.75069075e-04 -1.46319598e+00] [-4.17680970e-03 4.99863427e-06 9.99991277e-01 9.16036678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.692320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.10, Y:-1.46, Z:0.09 [[ 9.99492677e-01 3.12637502e-02 6.07995486e-03 1.90997682e+01] [-3.12627785e-02 9.99511167e-01 -2.54824362e-04 -1.46443810e+00] [-6.08494954e-03 6.46188018e-05 9.99981484e-01 9.34031474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.13, Y:-1.46, Z:0.09 [[ 9.99672405e-01 2.48022279e-02 6.31919898e-03 1.91317813e+01] [-2.48010378e-02 9.99692371e-01 -2.66636488e-04 -1.46495655e+00] [-6.32386819e-03 1.09826446e-04 9.99979998e-01 9.45281244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.16, Y:-1.47, Z:0.09 [[ 9.99947046e-01 9.41289145e-03 4.15956404e-03 1.91620009e+01] [-9.41224447e-03 9.99955689e-01 -1.75089054e-04 -1.46612230e+00] [-4.16102782e-03 1.35928949e-04 9.99991334e-01 9.06410427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.782320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.19, Y:-1.47, Z:0.09 [[ 9.99987717e-01 4.13719724e-03 2.72950592e-03 1.91939126e+01] [-4.13689643e-03 9.99991436e-01 -1.15841478e-04 -1.47197717e+00] [-2.72996181e-03 1.04548372e-04 9.99996268e-01 9.01670883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.22, Y:-1.49, Z:0.09 [[ 9.99986942e-01 -4.96434550e-03 1.21301398e-03 1.92247248e+01] [ 4.96441170e-03 9.99987676e-01 -5.15732670e-05 -1.48673376e+00] [-1.21274300e-03 5.75944943e-05 9.99999263e-01 9.25326745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.26, Y:-1.49, Z:0.09 [[ 9.99956880e-01 -9.06279694e-03 2.02594225e-03 1.92551958e+01] [ 9.06298943e-03 9.99958927e-01 -8.58521075e-05 -1.49432130e+00] [-2.02508097e-03 1.04209499e-04 9.99997944e-01 9.30478577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.872320588 meters Centerline goodness [0,1] 0.9999507849795758 Centerline is valid? [True, True] Translation: X:19.29, Y:-1.51, Z:0.09 [[ 9.99925485e-01 -1.16131992e-02 3.76277647e-03 1.92867416e+01] [ 1.16138840e-02 9.99932544e-01 -1.60205430e-04 -1.51262454e+00] [-3.76066214e-03 2.03893942e-04 9.99992908e-01 9.18415944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.32, Y:-1.53, Z:0.09 [[ 9.99941470e-01 -1.03382886e-02 3.19013785e-03 1.93178119e+01] [ 1.03387766e-02 9.99946544e-01 -1.36530589e-04 -1.53001251e+00] [-3.18855583e-03 1.69504720e-04 9.99994902e-01 9.44621260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.35, Y:-1.54, Z:0.10 [[ 9.99983471e-01 -5.20739871e-03 -2.43723706e-03 1.93485045e+01] [ 5.20766681e-03 9.99986435e-01 1.03667534e-04 -1.54164817e+00] [ 2.43666416e-03 -1.16358139e-04 9.99997025e-01 9.54727404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.38, Y:-1.55, Z:0.09 [[ 9.99990278e-01 -1.38681838e-03 -4.18571932e-03 1.93765838e+01] [ 1.38757724e-03 9.99999021e-01 1.78397665e-04 -1.55261114e+00] [ 4.18546782e-03 -1.84203940e-04 9.99991224e-01 9.45285144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.41, Y:-1.58, Z:0.09 [[ 9.99967962e-01 7.84859750e-03 1.57299410e-03 1.94053512e+01] [-7.84850241e-03 9.99969198e-01 -6.66140682e-05 -1.57810398e+00] [-1.57346847e-03 5.42662860e-05 9.99998761e-01 9.17498519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.44, Y:-1.59, Z:0.09 [[ 9.99857090e-01 1.59072667e-02 5.72341882e-03 1.94361012e+01] [-1.59061326e-02 9.99873460e-01 -2.43611989e-04 -1.58920354e+00] [-5.72656978e-03 1.52539716e-04 9.99983591e-01 9.47781105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.47, Y:-1.60, Z:0.10 [[ 9.99654523e-01 2.54798652e-02 6.45063427e-03 1.94678316e+01] [-2.54786202e-02 9.99675329e-01 -2.75118421e-04 -1.59614373e+00] [-6.45554992e-03 1.10670114e-04 9.99979157e-01 9.59193149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.082320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.50, Y:-1.60, Z:0.10 [[ 9.99512942e-01 3.07690398e-02 5.21016737e-03 1.95001341e+01] [-3.07682941e-02 9.99526519e-01 -2.23236331e-04 -1.60065605e+00] [-5.21456922e-03 6.28196404e-05 9.99986402e-01 9.55155598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.53, Y:-1.60, Z:0.10 [[ 9.99080496e-01 4.28173032e-02 2.20033510e-03 1.95321305e+01] [-4.28171974e-02 9.99082919e-01 -9.51969870e-05 -1.60339525e+00] [-2.20239329e-03 8.97270807e-07 9.99997575e-01 9.52277553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.56, Y:-1.61, Z:0.10 [[ 9.98606604e-01 5.27672276e-02 6.86333753e-04 1.95637065e+01] [-5.27672196e-02 9.98606839e-01 -2.98026333e-05 -1.60601282e+00] [-6.86950182e-04 -6.45481743e-06 9.99999764e-01 9.65305360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.172320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.59, Y:-1.61, Z:0.10 [[ 9.98422484e-01 5.60908577e-02 2.52169297e-03 1.95945719e+01] [-5.60907617e-02 9.98425668e-01 -1.08816726e-04 -1.61054153e+00] [-2.52382661e-03 -3.27986133e-05 9.99996815e-01 9.88927325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.63, Y:-1.61, Z:0.10 [[ 9.98524029e-01 5.43107855e-02 -3.19576720e-04 1.96266929e+01] [-5.43107840e-02 9.98524080e-01 1.31053120e-05 -1.60727560e+00] [ 3.19816810e-04 4.27049326e-06 9.99999949e-01 9.93657342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.66, Y:-1.60, Z:0.10 [[ 9.98597552e-01 5.29331013e-02 -1.00751098e-03 1.96569191e+01] [-5.29330844e-02 9.98598061e-01 4.34775591e-05 -1.60475991e+00] [ 1.00839992e-03 9.91407972e-06 9.99999492e-01 9.87261992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.262320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.69, Y:-1.60, Z:0.10 [[ 9.98714467e-01 5.06890156e-02 -1.91163470e-04 1.96878822e+01] [-5.06890150e-02 9.98714486e-01 8.24936026e-06 -1.59905290e+00] [ 1.91335878e-04 1.45113255e-06 9.99999982e-01 9.83253591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.72, Y:-1.59, Z:0.10 [[ 9.98907815e-01 4.65802321e-02 3.66876659e-03 1.97181904e+01] [-4.65799659e-02 9.98914552e-01 -1.58025720e-04 -1.59270754e+00] [-3.67214521e-03 -1.30378961e-05 9.99993258e-01 9.71818437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.75, Y:-1.59, Z:0.10 [[ 9.99037108e-01 4.37487097e-02 3.30268601e-03 1.97501971e+01] [-4.37484743e-02 9.99042567e-01 -1.43535236e-04 -1.59068763e+00] [-3.30580339e-03 -1.09044725e-06 9.99994536e-01 9.70755249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.352320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.78, Y:-1.59, Z:0.10 [[ 9.99276610e-01 3.80133730e-02 1.11391752e-03 1.97820993e+01] [-3.80133420e-02 9.99277231e-01 -4.90069493e-05 -1.58632693e+00] [-1.11497533e-03 6.62777069e-06 9.99999378e-01 9.69326281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.81, Y:-1.59, Z:0.09 [[ 9.99353902e-01 3.58165190e-02 2.99271227e-03 1.98132363e+01] [-3.58162892e-02 9.99358382e-01 -1.30378812e-04 -1.58699968e+00] [-2.99546181e-03 2.31067266e-05 9.99995513e-01 9.41752005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.84, Y:-1.59, Z:0.10 [[ 9.99298889e-01 3.68268262e-02 6.74650868e-03 1.98449671e+01] [-3.68256810e-02 9.99321661e-01 -2.93941024e-04 -1.58664395e+00] [-6.75275718e-03 4.52901620e-05 9.99977199e-01 9.59946698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.442320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.88, Y:-1.59, Z:0.10 [[ 9.99234574e-01 3.81611635e-02 8.60186793e-03 1.98768367e+01] [-3.81593393e-02 9.99271596e-01 -3.76161341e-04 -1.58565992e+00] [-8.60995705e-03 4.76318205e-05 9.99962932e-01 9.72093978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.91, Y:-1.58, Z:0.10 [[ 9.99068545e-01 4.28736197e-02 4.88819863e-03 1.99093335e+01] [-4.28730823e-02 9.99080504e-01 -2.14702244e-04 -1.58461031e+00] [-4.89290902e-03 4.93011593e-06 9.99988030e-01 9.95545351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.94, Y:-1.59, Z:0.10 [[ 9.98946190e-01 4.58499898e-02 2.07060077e-03 1.99416012e+01] [-4.58498984e-02 9.98948336e-01 -9.16153956e-05 -1.58719790e+00] [-2.07262376e-03 -3.41798440e-06 9.99997852e-01 9.67655762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.532320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.97, Y:-1.59, Z:0.10 [[ 9.98977841e-01 4.48588151e-02 5.56419066e-03 1.99731131e+01] [-4.48581459e-02 9.98993337e-01 -2.45086320e-04 -1.58898676e+00] [-5.56958368e-03 -4.76347317e-06 9.99984490e-01 9.55509952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.01, Y:-1.59, Z:0.10 [[ 9.98992822e-01 4.42518692e-02 7.42391206e-03 2.00057325e+01] [-4.42506519e-02 9.99020406e-01 -3.28224110e-04 -1.59054752e+00] [-7.43116417e-03 -6.19418613e-07 9.99972389e-01 9.55762946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.04, Y:-1.59, Z:0.10 [[ 9.98941499e-01 4.57540609e-02 4.73797907e-03 2.00375121e+01] [-4.57535778e-02 9.98952735e-01 -2.10346769e-04 -1.59355846e+00] [-4.74264136e-03 -6.65537686e-06 9.99988754e-01 9.64876604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.07, Y:-1.59, Z:0.10 [[ 9.98658405e-01 5.17595519e-02 1.52953665e-03 2.00700712e+01] [-5.17595076e-02 9.98659576e-01 -6.85617348e-05 -1.59215319e+00] [-1.53103515e-03 -1.06983111e-05 9.99998828e-01 9.77785574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.10, Y:-1.59, Z:0.10 [[ 9.98170951e-01 6.04345526e-02 1.55480388e-03 2.01008055e+01] [-6.04345181e-02 9.98172162e-01 -6.92313906e-05 -1.58870486e+00] [-1.55614591e-03 -2.48590600e-05 9.99998789e-01 9.75595439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.13, Y:-1.59, Z:0.10 [[ 9.97879897e-01 6.50720677e-02 1.15613396e-03 2.01313606e+01] [-6.50720518e-02 9.97880567e-01 -5.13557858e-05 -1.58812354e+00] [-1.15702544e-03 -2.39851027e-05 9.99999330e-01 9.78452834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.16, Y:-1.59, Z:0.10 [[ 9.97333652e-01 7.29728358e-02 -7.43477135e-04 2.01609334e+01] [-7.29728312e-02 9.97333928e-01 3.33082288e-05 -1.58716058e+00] [ 7.43925568e-04 2.10342141e-05 9.99999723e-01 9.64545580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.19, Y:-1.57, Z:0.10 [[ 9.97384057e-01 7.20533938e-02 5.77506547e-03 2.01900733e+01] [-7.20531463e-02 9.97400762e-01 -2.51179834e-04 -1.56956790e+00] [-5.77815306e-03 -1.65588875e-04 9.99983293e-01 9.90916027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.22, Y:-1.52, Z:0.09 [[ 9.98511727e-01 5.40699179e-02 7.12565418e-03 2.02219555e+01] [-5.40690683e-02 9.98537149e-01 -3.11959157e-04 -1.51663335e+00] [-7.13209802e-03 -7.37826066e-05 9.99974564e-01 9.07062627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.25, Y:-1.51, Z:0.09 [[ 9.98130091e-01 6.11008072e-02 1.73545522e-03 2.02522040e+01] [-6.11007673e-02 9.98131600e-01 -7.60603271e-05 -1.51301192e+00] [-1.73686004e-03 -3.01195444e-05 9.99998491e-01 8.88378262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.832320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.28, Y:-1.52, Z:0.09 [[ 9.97801140e-01 6.62705884e-02 1.04640290e-03 2.02811320e+01] [-6.62705796e-02 9.97801688e-01 -4.30652889e-05 -1.51585082e+00] [-1.04695654e-03 -2.63751324e-05 9.99999452e-01 8.84213199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.31, Y:-1.52, Z:0.09 [[ 9.97835862e-01 6.57457070e-02 1.04644060e-03 2.03085285e+01] [-6.57456989e-02 9.97836410e-01 -4.21765380e-05 -1.51732437e+00] [-1.04694946e-03 -2.67137066e-05 9.99999452e-01 8.85598451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.34, Y:-1.51, Z:0.09 [[ 9.97284378e-01 7.35381116e-02 4.00203475e-03 2.03387787e+01] [-7.35380175e-02 9.97292400e-01 -1.70861973e-04 -1.50874870e+00] [-4.00376371e-03 -1.23903725e-04 9.99991977e-01 9.23488065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.37, Y:-1.50, Z:0.10 [[ 9.97252480e-01 7.39693003e-02 4.00433351e-03 2.03674535e+01] [-7.39692142e-02 9.97260511e-01 -1.69797351e-04 -1.50037310e+00] [-4.00592347e-03 -1.26866574e-04 9.99991968e-01 9.73712315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.40, Y:-1.51, Z:0.10 [[ 9.97840152e-01 6.56437666e-02 2.43447463e-03 2.03965046e+01] [-6.56437166e-02 9.97843120e-01 -1.00503967e-04 -1.50889350e+00] [-2.43582122e-03 -5.95210691e-05 9.99997032e-01 9.57516285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.42, Y:-1.51, Z:0.09 [[ 9.98291886e-01 5.82515243e-02 4.48000466e-03 2.04249915e+01] [-5.82512826e-02 9.98301935e-01 -1.84510596e-04 -1.51050530e+00] [-4.48314534e-03 -7.67705862e-05 9.99989948e-01 9.38134748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.012320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.45, Y:-1.50, Z:0.09 [[ 9.98893968e-01 4.59870482e-02 9.79958817e-03 2.04543463e+01] [-4.59853186e-02 9.98942035e-01 -4.01869419e-04 -1.49999107e+00] [-9.80770134e-03 -4.92122457e-05 9.99951902e-01 9.28018204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.49, Y:-1.50, Z:0.10 [[ 9.99093818e-01 4.12597834e-02 1.04485735e-02 2.04862879e+01] [-4.12575114e-02 9.99148453e-01 -4.32989989e-04 -1.49673570e+00] [-1.04575411e-02 1.51548262e-06 9.99945318e-01 9.52357875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.52, Y:-1.50, Z:0.10 [[ 9.99142088e-01 4.03074382e-02 9.50782439e-03 2.05183612e+01] [-4.03055016e-02 9.99187325e-01 -3.95288916e-04 -1.50211698e+00] [-9.51603070e-03 1.17321624e-05 9.99954721e-01 9.75062568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.55, Y:-1.50, Z:0.10 [[ 9.99235534e-01 3.88817789e-02 4.06877984e-03 2.05502697e+01] [-3.88814087e-02 9.99243818e-01 -1.70070373e-04 -1.50306938e+00] [-4.07231574e-03 1.17404683e-05 9.99991708e-01 9.53843339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.58, Y:-1.51, Z:0.09 [[ 9.99288162e-01 3.76427796e-02 2.48823576e-03 2.05800135e+01] [-3.76426396e-02 9.99291259e-01 -1.03109258e-04 -1.50526718e+00] [-2.49035357e-03 9.37209919e-06 9.99996899e-01 9.19883614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.61, Y:-1.51, Z:0.09 [[ 9.99311597e-01 3.70958878e-02 -4.76295618e-04 2.06083390e+01] [-3.70958816e-02 9.99311711e-01 2.19171307e-05 -1.51071640e+00] [ 4.76780824e-04 -4.23343702e-06 9.99999886e-01 9.22332978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.192320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.64, Y:-1.51, Z:0.10 [[ 9.99287559e-01 3.77383912e-02 4.32841667e-04 2.06364682e+01] [-3.77383883e-02 9.99287653e-01 -1.49272463e-05 -1.50932968e+00] [-4.33096664e-04 -1.41813533e-06 9.99999906e-01 9.69521883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.66, Y:-1.51, Z:0.10 [[ 9.99306326e-01 3.72334343e-02 -7.33448086e-04 2.06648329e+01] [-3.72334208e-02 9.99306595e-01 3.20110618e-05 -1.50744230e+00] [ 7.34131391e-04 -4.68007534e-06 9.99999731e-01 9.79981358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.69, Y:-1.51, Z:0.09 [[ 9.99316495e-01 3.69531016e-02 1.00515784e-03 2.06924237e+01] [-3.69530829e-02 9.99317001e-01 -3.71182965e-05 -1.50962008e+00] [-1.00584295e-03 -5.07549441e-08 9.99999494e-01 9.42654123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.282320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.72, Y:-1.51, Z:0.09 [[ 9.99324334e-01 3.65828481e-02 3.54541863e-03 2.07210217e+01] [-3.65825949e-02 9.99330624e-01 -1.36245601e-04 -1.51271639e+00] [-3.54802966e-03 6.45293105e-06 9.99993706e-01 9.31381039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.75, Y:-1.52, Z:0.10 [[ 9.99191452e-01 3.95726145e-02 7.10283828e-03 2.07502293e+01] [-3.95716467e-02 9.99216697e-01 -2.76795308e-04 -1.51748366e+00] [-7.10822813e-03 -4.49950206e-06 9.99974736e-01 9.52640740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.78, Y:-1.52, Z:0.10 [[ 9.99071710e-01 4.23627293e-02 7.81776149e-03 2.07812661e+01] [-4.23616328e-02 9.99102296e-01 -3.05858569e-04 -1.51536179e+00] [-7.82370046e-03 -2.55984986e-05 9.99969394e-01 9.79870683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.81, Y:-1.51, Z:0.10 [[ 9.98936530e-01 4.60237949e-02 2.76023897e-03 2.08123542e+01] [-4.60236711e-02 9.98940344e-01 -1.08380589e-04 -1.51104834e+00] [-2.76230215e-03 -1.87710009e-05 9.99996185e-01 9.62969140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.84, Y:-1.51, Z:0.09 [[ 9.98809445e-01 4.87793454e-02 -5.18156121e-04 2.08398750e+01] [-4.87793402e-02 9.98809579e-01 2.26629991e-05 -1.51345653e+00] [ 5.18644784e-04 2.63929618e-06 9.99999866e-01 9.37249010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.87, Y:-1.52, Z:0.09 [[ 9.98481686e-01 5.49912287e-02 -3.20753126e-03 2.08688312e+01] [-5.49911117e-02 9.98486836e-01 1.24705709e-04 -1.51757186e+00] [ 3.20953546e-03 5.18693429e-05 9.99994848e-01 9.27133451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.90, Y:-1.51, Z:0.10 [[ 9.98162276e-01 6.05882275e-02 1.06632509e-03 2.08972605e+01] [-6.05882196e-02 9.98162845e-01 -3.97022659e-05 -1.51333785e+00] [-1.06677158e-03 -2.49774349e-05 9.99999431e-01 9.69367834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.93, Y:-1.50, Z:0.10 [[ 9.97918954e-01 6.43841537e-02 3.52741560e-03 2.09258720e+01] [-6.43840868e-02 9.97925183e-01 -1.32639237e-04 -1.50473148e+00] [-3.52863673e-03 -9.47462235e-05 9.99993770e-01 1.00659217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.95, Y:-1.50, Z:0.10 [[ 9.97792150e-01 6.62545735e-02 4.59956162e-03 2.09545251e+01] [-6.62544948e-02 9.97802743e-01 -1.69648409e-04 -1.50090808e+00] [-4.60069518e-03 -1.35467780e-04 9.99989408e-01 1.01228860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.98, Y:-1.49, Z:0.10 [[ 9.97730599e-01 6.69941914e-02 6.74012913e-03 2.09831624e+01] [-6.69940529e-02 9.97753344e-01 -2.46576538e-04 -1.49448746e+00] [-6.74150558e-03 -2.05531610e-04 9.99977255e-01 9.96735280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.01, Y:-1.48, Z:0.10 [[ 9.97889864e-01 6.40264154e-02 1.07906509e-02 2.10111712e+01] [-6.40259361e-02 9.97948159e-01 -3.90211246e-04 -1.48443546e+00] [-1.07934940e-02 -3.01493679e-04 9.99941703e-01 1.00196401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.04, Y:-1.48, Z:0.10 [[ 9.98036505e-01 6.08563403e-02 1.48202770e-02 2.10408071e+01] [-6.08550530e-02 9.98146469e-01 -5.38235043e-04 -1.47782139e+00] [-1.48255622e-02 -3.64710521e-04 9.99890029e-01 1.00518995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.07, Y:-1.48, Z:0.10 [[ 9.98219226e-01 5.78255397e-02 1.46486911e-02 2.10717638e+01] [-5.78239324e-02 9.98326654e-01 -5.33599708e-04 -1.47795188e+00] [-1.46550345e-02 -3.14395439e-04 9.99892560e-01 1.00950604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.672320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.10, Y:-1.48, Z:0.10 [[ 9.98671232e-01 5.04197108e-02 1.06593904e-02 2.11038494e+01] [-5.04184241e-02 9.98728107e-01 -3.89575213e-04 -1.47613672e+00] [-1.06654750e-02 -1.48372105e-04 9.99943111e-01 1.00564074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.14, Y:-1.47, Z:0.10 [[ 9.98976021e-01 4.44490493e-02 8.43745756e-03 2.11350258e+01] [-4.44480297e-02 9.99011650e-01 -3.08414179e-04 -1.47270404e+00] [-8.44282712e-03 -6.69299954e-05 9.99964356e-01 9.91364185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.16, Y:-1.47, Z:0.10 [[ 9.99088681e-01 4.18094543e-02 8.58936998e-03 2.11649168e+01] [-4.18083091e-02 9.99125601e-01 -3.12922710e-04 -1.47152169e+00] [-8.59494257e-03 -4.64694975e-05 9.99963062e-01 9.83961626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.762320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.20, Y:-1.47, Z:0.10 [[ 9.99271446e-01 3.75201483e-02 6.98684139e-03 2.11953036e+01] [-3.75192865e-02 9.99295871e-01 -2.54421314e-04 -1.46614216e+00] [-6.99146768e-03 -7.90534920e-06 9.99975559e-01 9.87153885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.23, Y:-1.46, Z:0.10 [[ 9.99483654e-01 3.17362158e-02 5.02375711e-03 2.12252250e+01] [-3.17356999e-02 9.99496279e-01 -1.82407727e-04 -1.46247362e+00] [-5.02701547e-03 2.28810936e-05 9.99987364e-01 9.96397854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.25, Y:-1.47, Z:0.10 [[ 9.99687323e-01 2.36124696e-02 8.22839892e-03 2.12537658e+01] [-2.36108538e-02 9.99721182e-01 -2.93464585e-04 -1.46742795e+00] [-8.23303412e-03 9.90933014e-05 9.99966103e-01 1.01125560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.852320587999998 meters Centerline goodness [0,1] 0.9999508864986985 Centerline is valid? [True, True] Translation: X:21.29, Y:-1.47, Z:0.10 [[ 9.99781246e-01 1.94086603e-02 7.79506990e-03 2.12857547e+01] [-1.94070537e-02 9.99811626e-01 -2.81698407e-04 -1.47068013e+00] [-7.79906889e-03 1.30357444e-04 9.99969578e-01 1.01788013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.32, Y:-1.48, Z:0.10 [[ 9.99956316e-01 8.41352970e-03 4.07171906e-03 2.13172525e+01] [-8.41298693e-03 9.99964599e-01 -1.50411078e-04 -1.47558373e+00] [-4.07284041e-03 1.16149188e-04 9.99991699e-01 9.83131025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.35, Y:-1.49, Z:0.10 [[ 9.99995962e-01 -7.75349404e-04 2.73391383e-03 2.13479237e+01] [ 7.75625387e-04 9.99999694e-01 -9.98890903e-05 -1.48747277e+00] [-2.73383555e-03 1.02009180e-04 9.99996258e-01 9.66273809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.942320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.38, Y:-1.50, Z:0.10 [[ 9.99998938e-01 -1.44777734e-03 -1.65597660e-04 2.13795092e+01] [ 1.44777803e-03 9.99998952e-01 4.03479824e-06 -1.49786833e+00] [ 1.65591645e-04 -4.27454261e-06 9.99999986e-01 1.00256633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.41, Y:-1.50, Z:0.10 [[ 9.99999355e-01 -5.74876479e-04 9.79701383e-04 2.14098247e+01] [ 5.74912166e-04 9.99999834e-01 -3.61452216e-05 -1.50410930e+00] [-9.79680442e-04 3.67084405e-05 9.99999519e-01 1.00676591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.44, Y:-1.52, Z:0.10 [[ 9.99978959e-01 5.28955580e-03 3.75531998e-03 2.14402074e+01] [-5.28907078e-03 9.99986003e-01 -1.39077201e-04 -1.52219643e+00] [-3.75600308e-03 1.19212121e-04 9.99992939e-01 9.96271911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.032320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.47, Y:-1.54, Z:0.10 [[ 9.99813253e-01 1.65909246e-02 9.90956598e-03 2.14712809e+01] [-1.65880913e-02 9.99862340e-01 -3.68044197e-04 -1.54228582e+00] [-9.91430803e-03 2.03594680e-04 9.99950831e-01 9.81840056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.50, Y:-1.56, Z:0.10 [[ 9.99569386e-01 2.84494087e-02 7.18845025e-03 2.15027852e+01] [-2.84482161e-02 9.99595232e-01 -2.68113464e-04 -1.55508627e+00] [-7.19316827e-03 6.34994240e-05 9.99974127e-01 9.98697805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.54, Y:-1.56, Z:0.10 [[ 9.99451360e-01 3.29001665e-02 3.81542627e-03 2.15352943e+01] [-3.28998580e-02 9.99458643e-01 -1.43612935e-04 -1.55977654e+00] [-3.81808566e-03 1.80071600e-05 9.99992711e-01 9.90335397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.122320587999997 meters Centerline goodness [0,1] 0.9999508382085444 Centerline is valid? [True, True] Translation: X:21.57, Y:-1.57, Z:0.10 [[ 9.99224256e-01 3.92818240e-02 2.79728084e-03 2.15652661e+01] [-3.92816851e-02 9.99228171e-01 -1.04600731e-04 -1.56798639e+00] [-2.79923072e-03 -5.36231721e-06 9.99996082e-01 9.87041188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.59, Y:-1.58, Z:0.10 [[ 9.99170530e-01 3.99130556e-02 8.07470739e-03 2.15949507e+01] [-3.99119257e-02 9.99203156e-01 -3.01087070e-04 -1.57965436e+00] [-8.08029042e-03 -2.14397945e-05 9.99967354e-01 9.97363201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.63, Y:-1.59, Z:0.10 [[ 9.99162712e-01 3.98922786e-02 9.08192535e-03 2.16267263e+01] [-3.98908282e-02 9.99203986e-01 -3.40867633e-04 -1.58552224e+00] [-9.08829400e-03 -2.17032951e-05 9.99958700e-01 1.00303628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.66, Y:-1.59, Z:0.10 [[ 9.99148769e-01 4.02642464e-02 8.97367971e-03 2.16590556e+01] [-4.02628347e-02 9.99189066e-01 -3.37986529e-04 -1.58572643e+00] [-8.98001142e-03 -2.36069587e-05 9.99959679e-01 1.00406890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.69, Y:-1.58, Z:0.10 [[ 9.99140960e-01 4.09595178e-02 6.29755270e-03 2.16917890e+01] [-4.09588298e-02 9.99160807e-01 -2.38231561e-04 -1.58208253e+00] [-6.30202569e-03 -1.99134789e-05 9.99980142e-01 9.91974679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.72, Y:-1.59, Z:0.10 [[ 9.99156995e-01 4.09599921e-02 2.75287839e-03 2.17232010e+01] [-4.09598600e-02 9.99160787e-01 -1.04356271e-04 -1.58704116e+00] [-2.75484257e-03 -8.48921520e-06 9.99996205e-01 1.00957861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.75, Y:-1.59, Z:0.10 [[ 9.99138767e-01 4.14073199e-02 2.67552430e-03 2.17524747e+01] [-4.14071990e-02 9.99142349e-01 -1.00595068e-04 -1.58799355e+00] [-2.67739501e-03 -1.02775354e-05 9.99996416e-01 1.03672728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.332320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.78, Y:-1.59, Z:0.11 [[ 9.99140501e-01 4.13640938e-02 2.69650776e-03 2.17825264e+01] [-4.13639713e-02 9.99144140e-01 -1.01207402e-04 -1.58598685e+00] [-2.69838628e-03 -1.04178555e-05 9.99996359e-01 1.05185706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.81, Y:-1.59, Z:0.10 [[ 9.99206574e-01 3.98273432e-02 -7.38211125e-05 2.18124622e+01] [-3.98273431e-02 9.99206577e-01 3.10607261e-06 -1.58695884e+00] [ 7.38862477e-05 -1.63509396e-07 9.99999997e-01 1.03056159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.84, Y:-1.59, Z:0.10 [[ 9.99276003e-01 3.80316048e-02 -1.03315446e-03 2.18401749e+01] [-3.80315828e-02 9.99276537e-01 4.09456961e-05 -1.59417733e+00] [ 1.03396424e-03 -1.62355229e-06 9.99999465e-01 9.68148138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.422320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.87, Y:-1.60, Z:0.10 [[ 9.99328308e-01 3.66343339e-02 -9.26935724e-04 2.18683273e+01] [-3.66343158e-02 9.99328737e-01 3.65434932e-05 -1.60099580e+00] [ 9.27652253e-04 -2.56129122e-06 9.99999570e-01 9.72653198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.90, Y:-1.61, Z:0.10 [[ 9.99285352e-01 3.77936514e-02 6.52722316e-04 2.18955890e+01] [-3.77936458e-02 9.99285565e-01 -2.08303482e-05 -1.61106645e+00] [-6.53043243e-04 -3.85329427e-06 9.99999787e-01 1.03910541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.92, Y:-1.61, Z:0.11 [[ 9.99083924e-01 4.24262539e-02 5.59687532e-03 2.19245251e+01] [-4.24258182e-02 9.99099600e-01 -1.96599282e-04 -1.61082698e+00] [-5.60017686e-03 -4.10328325e-05 9.99984318e-01 1.08266030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.512320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.96, Y:-1.62, Z:0.10 [[ 9.98760391e-01 4.92242890e-02 7.39264691e-03 2.19556349e+01] [-4.92236864e-02 9.98787745e-01 -2.63552963e-04 -1.61690908e+00] [-7.39665834e-03 -1.00667073e-04 9.99972639e-01 1.01352545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.99, Y:-1.62, Z:0.10 [[ 9.98707265e-01 5.02866625e-02 7.41962322e-03 2.19878822e+01] [-5.02860750e-02 9.98734820e-01 -2.65834168e-04 -1.62276939e+00] [-7.42360397e-03 -1.07613215e-04 9.99972439e-01 9.86327632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.02, Y:-1.63, Z:0.10 [[ 9.98743427e-01 4.94890465e-02 7.89950063e-03 2.20200181e+01] [-4.94883477e-02 9.98774661e-01 -2.84031842e-04 -1.63353356e+00] [-7.90387752e-03 -1.07258298e-04 9.99968758e-01 1.00937157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.602320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.05, Y:-1.64, Z:0.11 [[ 9.98711859e-01 5.04230808e-02 5.66887068e-03 2.20519450e+01] [-5.04227306e-02 9.98727944e-01 -2.04765591e-04 -1.64146880e+00] [-5.67198447e-03 -8.13381152e-05 9.99983911e-01 1.07596857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.08, Y:-1.63, Z:0.11 [[ 9.98529673e-01 5.37519578e-02 7.01568683e-03 2.20833553e+01] [-5.37515038e-02 9.98554311e-01 -2.53389601e-04 -1.63479919e+00] [-7.01916452e-03 -1.24086682e-04 9.99975358e-01 1.07507532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.11, Y:-1.63, Z:0.11 [[ 9.98329889e-01 5.75344520e-02 5.21730267e-03 2.21149422e+01] [-5.75342503e-02 9.98343515e-01 -1.88863914e-04 -1.62804229e+00] [-5.21952647e-03 -1.11625108e-04 9.99986372e-01 1.06081404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.692320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.15, Y:-1.62, Z:0.10 [[ 9.97701780e-01 6.77064803e-02 2.64396334e-03 2.21458476e+01] [-6.77064646e-02 9.97705280e-01 -9.55418920e-05 -1.62045216e+00] [-2.64436499e-03 -8.36910945e-05 9.99996500e-01 1.04360355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.17, Y:-1.62, Z:0.11 [[ 9.97480898e-01 7.08544070e-02 3.39291305e-03 2.21749863e+01] [-7.08544124e-02 9.97486661e-01 -1.18757142e-04 -1.62066087e+00] [-3.39279997e-03 -1.21944880e-04 9.99994237e-01 1.09169299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.20, Y:-1.62, Z:0.11 [[ 9.97512944e-01 7.04018100e-02 3.39296670e-03 2.22032593e+01] [-7.04018180e-02 9.97518707e-01 -1.17229055e-04 -1.62193117e+00] [-3.39280089e-03 -1.21933525e-04 9.99994237e-01 1.09312122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.782320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.23, Y:-1.62, Z:0.11 [[ 9.97592160e-01 6.92654463e-02 3.49012119e-03 2.22321412e+01] [-6.92654531e-02 9.97598257e-01 -1.19064260e-04 -1.61960057e+00] [-3.48998586e-03 -1.22967254e-04 9.99993902e-01 1.11243465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.26, Y:-1.61, Z:0.11 [[ 9.98025264e-01 6.25268697e-02 5.99688291e-03 2.22612820e+01] [-6.25267534e-02 9.98043267e-01 -2.07067829e-04 -1.60665953e+00] [-5.99809591e-03 -1.68306694e-04 9.99981997e-01 1.06773703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.29, Y:-1.59, Z:0.10 [[ 9.98554081e-01 5.29472669e-02 9.29161463e-03 2.22909854e+01] [-5.29466213e-02 9.98597294e-01 -3.15628088e-04 -1.59464534e+00] [-9.29529287e-03 -1.76787885e-04 9.99956782e-01 1.03055569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.872320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.32, Y:-1.58, Z:0.11 [[ 9.98891775e-01 4.66190740e-02 6.47180589e-03 2.23227888e+01] [-4.66186132e-02 9.98912737e-01 -2.22129927e-04 -1.58050603e+00] [-6.47512482e-03 -7.98228582e-05 9.99979033e-01 1.05159493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.35, Y:-1.58, Z:0.11 [[ 9.99041291e-01 4.35440774e-02 4.51801082e-03 2.23538011e+01] [-4.35438224e-02 9.99051506e-01 -1.54837098e-04 -1.57665820e+00] [-4.52046775e-03 -4.20428061e-05 9.99989782e-01 1.06971222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.38, Y:-1.58, Z:0.11 [[ 9.99349758e-01 3.54343911e-02 6.66817869e-03 2.23828195e+01] [-3.54336913e-02 9.99372005e-01 -2.23094400e-04 -1.57619958e+00] [-6.67189632e-03 -1.33288511e-05 9.99977743e-01 1.06862358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.41, Y:-1.57, Z:0.10 [[ 9.99626587e-01 2.60898553e-02 8.12435806e-03 2.24145291e+01] [-2.60884777e-02 9.99659600e-01 -2.75507438e-04 -1.57432070e+00] [-8.12878047e-03 6.34524265e-05 9.99966959e-01 1.04321738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.45, Y:-1.57, Z:0.10 [[ 9.99759288e-01 2.05095298e-02 7.79261625e-03 2.24464568e+01] [-2.05080826e-02 9.99789652e-01 -2.65579454e-04 -1.57493475e+00] [-7.79642400e-03 1.05703908e-04 9.99969602e-01 1.01997399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.022320588 meters Centerline goodness [0,1] 0.9999508647798742 Centerline is valid? [True, True] Translation: X:22.48, Y:-1.58, Z:0.10 [[ 9.99887159e-01 1.11439829e-02 1.00737539e-02 2.24783998e+01] [-1.11410787e-02 9.99937877e-01 -3.44366962e-04 -1.58070987e+00] [-1.00769657e-02 2.32095619e-04 9.99949199e-01 1.02139667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.052320588 meters Centerline goodness [0,1] 0.9999508792612241 Centerline is valid? [True, True] Translation: X:22.51, Y:-1.58, Z:0.11 [[ 9.99947916e-01 6.19376342e-03 8.11184967e-03 2.25105094e+01] [-6.19167606e-03 9.99980792e-01 -2.82410353e-04 -1.58352826e+00] [-8.11344304e-03 2.32169699e-04 9.99967059e-01 1.07126226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.082320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.54, Y:-1.58, Z:0.11 [[ 9.99955737e-01 7.22878551e-03 6.02231278e-03 2.25430254e+01] [-7.22765531e-03 9.99973858e-01 -2.09412239e-04 -1.58398280e+00] [-6.02366914e-03 1.65875769e-04 9.99981844e-01 1.07686095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.58, Y:-1.59, Z:0.10 [[ 9.99914061e-01 1.20419925e-02 5.18283513e-03 2.25750269e+01] [-1.20412163e-02 9.99927486e-01 -1.80957233e-04 -1.59003517e+00] [-5.18463838e-03 1.18534043e-04 9.99986553e-01 1.04481162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.61, Y:-1.60, Z:0.10 [[ 9.99846428e-01 1.47492946e-02 9.46461031e-03 2.26070067e+01] [-1.47468207e-02 9.99891205e-01 -3.31118054e-04 -1.59888463e+00] [-9.46846436e-03 1.91494292e-04 9.99955155e-01 1.04927856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.172320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.64, Y:-1.60, Z:0.11 [[ 9.99852462e-01 1.48393078e-02 8.65150435e-03 2.26387317e+01] [-1.48372343e-02 9.99889876e-01 -3.03804836e-04 -1.60245379e+00] [-8.65505987e-03 1.75395616e-04 9.99962529e-01 1.05653881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.67, Y:-1.61, Z:0.11 [[ 9.99867251e-01 1.47545432e-02 6.91258418e-03 2.26708701e+01] [-1.47532106e-02 9.99891136e-01 -2.43735038e-04 -1.60740153e+00] [-6.91542784e-03 1.41719872e-04 9.99976078e-01 1.05632090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.70, Y:-1.62, Z:0.10 [[ 9.99908414e-01 1.32135250e-02 2.92696234e-03 2.27024337e+01] [-1.32132773e-02 9.99912695e-01 -1.03930760e-04 -1.62385981e+00] [-2.92808009e-03 6.52464764e-05 9.99995711e-01 1.04408632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.262320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.73, Y:-1.63, Z:0.10 [[ 9.99930406e-01 1.13885159e-02 3.07990867e-03 2.27335038e+01] [-1.13882335e-02 9.99935146e-01 -1.09204600e-04 -1.63214529e+00] [-3.08095260e-03 7.41222809e-05 9.99995251e-01 1.04279651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.77, Y:-1.64, Z:0.11 [[ 9.99937727e-01 1.04955619e-02 3.79276093e-03 2.27656904e+01] [-1.04951245e-02 9.99944916e-01 -1.35197831e-04 -1.63645657e+00] [-3.79397098e-03 9.53839134e-05 9.99992798e-01 1.06780873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.80, Y:-1.64, Z:0.11 [[ 9.99914335e-01 1.20585902e-02 5.09055140e-03 2.27976020e+01] [-1.20578204e-02 9.99927285e-01 -1.81886907e-04 -1.63596766e+00] [-5.09237454e-03 1.20490371e-04 9.99987027e-01 1.07419434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.352320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.83, Y:-1.64, Z:0.11 [[ 9.99848366e-01 1.58306823e-02 7.25499548e-03 2.28296127e+01] [-1.58292132e-02 9.99874676e-01 -2.59869240e-04 -1.63757461e+00] [-7.25820016e-03 1.44988964e-04 9.99973648e-01 1.05435384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.86, Y:-1.65, Z:0.10 [[ 9.99650282e-01 2.57582155e-02 5.98570843e-03 2.28611913e+01] [-2.57573881e-02 9.99668200e-01 -2.15283927e-04 -1.64686771e+00] [-5.98926770e-03 6.10324229e-05 9.99982062e-01 1.02814457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.89, Y:-1.65, Z:0.10 [[ 9.99494012e-01 3.15671459e-02 3.90335207e-03 2.28930470e+01] [-3.15668354e-02 9.99501633e-01 -1.41134167e-04 -1.65271306e+00] [-3.90586198e-03 1.78462826e-05 9.99992372e-01 1.02554030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.442320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.92, Y:-1.66, Z:0.10 [[ 9.99352231e-01 3.58550722e-02 3.08750344e-03 2.29238606e+01] [-3.58548984e-02 9.99357000e-01 -1.11648631e-04 -1.66012467e+00] [-3.08952135e-03 8.74186525e-07 9.99995227e-01 1.04377189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.95, Y:-1.66, Z:0.11 [[ 9.99355275e-01 3.58633777e-02 1.68877031e-03 2.29547754e+01] [-3.58633252e-02 9.99356702e-01 -6.13317497e-05 -1.66385643e+00] [-1.68988349e-03 7.27288821e-07 9.99998572e-01 1.06515735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.98, Y:-1.67, Z:0.11 [[ 9.99332013e-01 3.64668932e-02 2.38591253e-03 2.29849923e+01] [-3.64667914e-02 9.99334862e-01 -8.61808102e-05 -1.66829689e+00] [-2.38746831e-03 -8.83331849e-07 9.99997150e-01 1.07006511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.532320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.02, Y:-1.67, Z:0.11 [[ 9.99319556e-01 3.68088945e-02 2.35148068e-03 2.30150474e+01] [-3.68087966e-02 9.99322323e-01 -8.49371080e-05 -1.67183584e+00] [-2.35301358e-03 -1.67586086e-06 9.99997232e-01 1.06029021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.05, Y:-1.67, Z:0.11 [[ 9.99236485e-01 3.88220524e-02 4.39261497e-03 2.30455505e+01] [-3.88217300e-02 9.99246140e-01 -1.58664290e-04 -1.67179700e+00] [-4.39546323e-03 -1.19857651e-05 9.99990340e-01 1.05353351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.08, Y:-1.67, Z:0.11 [[ 9.98983969e-01 4.40351316e-02 9.58835948e-03 2.30771416e+01] [-4.40338262e-02 9.99029980e-01 -3.47309524e-04 -1.67133931e+00] [-9.59435240e-03 -7.52555084e-05 9.99953970e-01 1.07351644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.622320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.11, Y:-1.67, Z:0.11 [[ 9.98802018e-01 4.77454803e-02 1.07190720e-02 2.31096302e+01] [-4.77440443e-02 9.98859527e-01 -3.89962886e-04 -1.67460946e+00] [-1.07254661e-02 -1.22276131e-04 9.99942473e-01 1.08554853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.14, Y:-1.68, Z:0.11 [[ 9.98660260e-01 5.07234075e-02 1.02381959e-02 2.31413449e+01] [-5.07222396e-02 9.98712729e-01 -3.73864092e-04 -1.67786399e+00] [-1.02439802e-02 -1.45941013e-04 9.99947518e-01 1.10228762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.17, Y:-1.68, Z:0.11 [[ 9.98333614e-01 5.72079509e-02 7.56604906e-03 2.31730616e+01] [-5.72074934e-02 9.98362272e-01 -2.77045040e-04 -1.67870002e+00] [-7.56950711e-03 -1.56251326e-04 9.99971339e-01 1.10227808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.21, Y:-1.68, Z:0.11 [[ 9.98164139e-01 6.00596580e-02 7.82233945e-03 2.32054019e+01] [-6.00592473e-02 9.98194773e-01 -2.87614803e-04 -1.67804947e+00] [-7.82549239e-03 -1.82717038e-04 9.99969364e-01 1.08737555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.24, Y:-1.67, Z:0.11 [[ 9.98181410e-01 5.99423112e-02 6.38689513e-03 2.32381924e+01] [-5.99420287e-02 9.98201832e-01 -2.35817950e-04 -1.67480147e+00] [-6.38954589e-03 -1.47454357e-04 9.99979576e-01 1.07912482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.27, Y:-1.67, Z:0.11 [[ 9.98330189e-01 5.75834530e-02 4.58036183e-03 2.32700677e+01] [-5.75832807e-02 9.98340692e-01 -1.69593320e-04 -1.67385524e+00] [-4.58252737e-03 -9.44421301e-05 9.99989496e-01 1.07981479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.30, Y:-1.67, Z:0.11 [[ 9.98513019e-01 5.44460095e-02 2.71706498e-03 2.33003825e+01] [-5.44459381e-02 9.98516715e-01 -1.00304567e-04 -1.67261141e+00] [-2.71849598e-03 -4.77777362e-05 9.99996304e-01 1.08593225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.832320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.33, Y:-1.67, Z:0.11 [[ 9.98834810e-01 4.81399521e-02 3.40098594e-03 2.33300665e+01] [-4.81398056e-02 9.98840600e-01 -1.24983636e-04 -1.67201161e+00] [-3.40305954e-03 -3.88847952e-05 9.99994209e-01 1.05933686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.36, Y:-1.67, Z:0.11 [[ 9.98956121e-01 4.53715981e-02 5.29966237e-03 2.33608771e+01] [-4.53712005e-02 9.98970178e-01 -1.95287718e-04 -1.67337597e+00] [-5.30306517e-03 -4.53681822e-05 9.99985938e-01 1.05301256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.39, Y:-1.67, Z:0.11 [[ 9.99146867e-01 4.04387650e-02 8.38119894e-03 2.33919057e+01] [-4.04375896e-02 9.99182018e-01 -3.09729183e-04 -1.67265003e+00] [-8.38686833e-03 -2.94505397e-05 9.99964829e-01 1.05131081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.922320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.42, Y:-1.67, Z:0.11 [[ 9.99195544e-01 3.92380895e-02 8.28475452e-03 2.34243881e+01] [-3.92368878e-02 9.99229889e-01 -3.07595957e-04 -1.67098539e+00] [-8.29044382e-03 -1.77194743e-05 9.99965634e-01 1.06536066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.46, Y:-1.67, Z:0.11 [[ 9.99255876e-01 3.78005945e-02 7.66878567e-03 2.34569066e+01] [-3.77995143e-02 9.99285302e-01 -2.85792553e-04 -1.66971192e+00] [-7.67410793e-03 -4.29648612e-06 9.99970554e-01 1.07608159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.49, Y:-1.68, Z:0.11 [[ 9.99459325e-01 3.26398343e-02 3.96208660e-03 2.34890221e+01] [-3.26395020e-02 9.99467178e-01 -1.48510981e-04 -1.67627169e+00] [-3.96482289e-03 1.91101514e-05 9.99992140e-01 1.08497045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.012320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.52, Y:-1.69, Z:0.11 [[ 9.99674629e-01 2.52488273e-02 3.62384381e-03 2.35202079e+01] [-2.52484999e-02 9.99681197e-01 -1.36067415e-04 -1.68969856e+00] [-3.62612406e-03 4.45265223e-05 9.99993425e-01 1.09093422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.55, Y:-1.69, Z:0.11 [[ 9.99746414e-01 2.22180736e-02 3.66941419e-03 2.35523494e+01] [-2.22177152e-02 9.99753147e-01 -1.38407341e-04 -1.69341390e+00] [-3.67158352e-03 5.68462430e-05 9.99993258e-01 1.09914836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.58, Y:-1.70, Z:0.11 [[ 9.99799140e-01 1.95778390e-02 4.28815191e-03 2.35845452e+01] [-1.95773235e-02 9.99808333e-01 -1.62173931e-04 -1.69552837e+00] [-4.29050503e-03 7.81908198e-05 9.99990793e-01 1.10607540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.102320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.62, Y:-1.70, Z:0.11 [[ 9.99827945e-01 1.79737167e-02 4.58541131e-03 2.36169135e+01] [-1.79731078e-02 9.99838456e-01 -1.73954384e-04 -1.69952705e+00] [-4.58779717e-03 9.15103619e-05 9.99989472e-01 1.09719506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.132320588 meters Centerline goodness [0,1] 0.9999509033778476 Centerline is valid? [True, True] Translation: X:23.65, Y:-1.71, Z:0.11 [[ 9.99827408e-01 1.70472774e-02 7.38544751e-03 2.36488278e+01] [-1.70456687e-02 9.99854673e-01 -2.80723527e-04 -1.71284861e+00] [-7.38915977e-03 1.54785185e-04 9.99972688e-01 1.09217574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.68, Y:-1.72, Z:0.11 [[ 9.99811263e-01 1.58162986e-02 1.12820016e-02 2.36802415e+01] [-1.58124538e-02 9.99874883e-01 -4.29910281e-04 -1.72479337e+00] [-1.12873896e-02 2.51433011e-04 9.99936264e-01 1.07318654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.192320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.71, Y:-1.73, Z:0.10 [[ 9.99838816e-01 1.37665904e-02 1.15249202e-02 2.37124568e+01] [-1.37624256e-02 9.99905196e-01 -4.40605143e-04 -1.73080070e+00] [-1.15298933e-02 2.81923267e-04 9.99933489e-01 1.04205116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.74, Y:-1.74, Z:0.10 [[ 9.99892191e-01 1.15387728e-02 9.08094779e-03 2.37447341e+01] [-1.15360838e-02 9.99933396e-01 -3.48440218e-04 -1.73854674e+00] [-9.08436353e-03 2.43644079e-04 9.99958707e-01 1.01869940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.78, Y:-1.75, Z:0.10 [[ 9.99939460e-01 8.77796775e-03 6.63504150e-03 2.37770019e+01] [-8.77646489e-03 9.99961453e-01 -2.55586877e-04 -1.74743205e+00] [-6.63702928e-03 1.97339195e-04 9.99977955e-01 1.01619114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.282320587999997 meters Centerline goodness [0,1] 0.9999508067689886 Centerline is valid? [True, True] Translation: X:23.81, Y:-1.76, Z:0.11 [[ 9.99989656e-01 3.39053475e-03 3.03176225e-03 2.38085527e+01] [-3.39019408e-03 9.99994246e-01 -1.17497853e-04 -1.76098987e+00] [-3.03214319e-03 1.07218375e-04 9.99995397e-01 1.06428972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.312320588 meters Centerline goodness [0,1] 0.999950768018905 Centerline is valid? [True, True] Translation: X:23.84, Y:-1.77, Z:0.11 [[ 9.99979236e-01 3.56441917e-03 5.36871918e-03 2.38402645e+01] [-3.56335235e-03 9.99993630e-01 -2.08262438e-04 -1.77288700e+00] [-5.36942731e-03 1.89127476e-04 9.99985567e-01 1.06689052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.342320588 meters Centerline goodness [0,1] 0.9999508237029752 Centerline is valid? [True, True] Translation: X:23.87, Y:-1.78, Z:0.11 [[ 9.99953765e-01 5.61266097e-03 7.80808966e-03 2.38721103e+01] [-5.61046140e-03 9.99984215e-01 -3.03579377e-04 -1.77928454e+00] [-7.80967030e-03 2.59758356e-04 9.99969470e-01 1.06310584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.372320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.90, Y:-1.78, Z:0.11 [[ 9.99930519e-01 8.06868107e-03 8.59375539e-03 2.39040093e+01] [-8.06609845e-03 9.99967412e-01 -3.35140101e-04 -1.78348437e+00] [-8.59617948e-03 2.65798738e-04 9.99963017e-01 1.05635203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.94, Y:-1.79, Z:0.11 [[ 9.99921325e-01 1.09975567e-02 6.03297359e-03 2.39357420e+01] [-1.09963314e-02 9.99939511e-01 -2.36235308e-04 -1.78620606e+00] [-6.03520667e-03 1.69876146e-04 9.99981774e-01 1.05481135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.97, Y:-1.80, Z:0.10 [[ 9.99796094e-01 2.01815855e-02 6.87861095e-04 2.39669682e+01] [-2.01815714e-02 9.99796331e-01 -2.74880510e-05 -1.79653007e+00] [-6.88275752e-04 1.36003282e-05 9.99999763e-01 1.04924480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.00, Y:-1.81, Z:0.11 [[ 9.99571154e-01 2.82815068e-02 7.59369110e-03 2.39972382e+01] [-2.82800574e-02 9.99599995e-01 -2.98197339e-04 -1.81441708e+00] [-7.59908705e-03 8.33194380e-05 9.99971123e-01 1.05568057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.03, Y:-1.82, Z:0.11 [[ 9.99400486e-01 3.30588955e-02 1.02848382e-02 2.40298488e+01] [-3.30564625e-02 9.99453403e-01 -4.06513080e-04 -1.81932192e+00] [-1.02926554e-02 6.62890006e-05 9.99947027e-01 1.08500988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.06, Y:-1.82, Z:0.11 [[ 9.99240704e-01 3.77390248e-02 9.68403919e-03 2.40617969e+01] [-3.77370775e-02 9.99287629e-01 -3.83797617e-04 -1.81929785e+00] [-9.69162471e-03 1.80588634e-05 9.99953035e-01 1.10638487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.09, Y:-1.82, Z:0.11 [[ 9.99045429e-01 4.29356201e-02 8.04758505e-03 2.40936223e+01] [-4.29344342e-02 9.99077841e-01 -3.20148934e-04 -1.81840623e+00] [-8.05390969e-03 -2.56751814e-05 9.99967566e-01 1.10877439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.582320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.13, Y:-1.82, Z:0.11 [[ 9.98592245e-01 5.28237991e-02 4.81390790e-03 2.41254551e+01] [-5.28234851e-02 9.98603847e-01 -1.92427121e-04 -1.82401424e+00] [-4.81735168e-03 -6.21311619e-05 9.99988395e-01 1.06573552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.16, Y:-1.83, Z:0.11 [[ 9.98378528e-01 5.66803576e-02 5.25849919e-03 2.41574413e+01] [-5.66800333e-02 9.98392372e-01 -2.10810402e-04 -1.82913360e+00] [-5.26199429e-03 -8.75833294e-05 9.99986152e-01 1.05596253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.19, Y:-1.83, Z:0.11 [[ 9.98029944e-01 6.23433106e-02 7.03869648e-03 2.41891798e+01] [-6.23428681e-02 9.98054752e-01 -2.82475866e-04 -1.82919627e+00] [-7.04261495e-03 -1.56893154e-04 9.99975188e-01 1.06524671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.672320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.22, Y:-1.83, Z:0.11 [[ 9.98017772e-01 6.25378629e-02 7.03862172e-03 2.42216620e+01] [-6.25374121e-02 9.98042580e-01 -2.84336383e-04 -1.83044785e+00] [-7.04262597e-03 -1.56404423e-04 9.99975188e-01 1.06688533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.25, Y:-1.83, Z:0.11 [[ 9.97798957e-01 6.59536710e-02 6.88151627e-03 2.42538768e+01] [-6.59533173e-02 9.97822671e-01 -2.78564508e-04 -1.82938270e+00] [-6.88490530e-03 -1.75907451e-04 9.99976283e-01 1.07164755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.732320588 meters Centerline goodness [0,1] 0.9999508285391159 Centerline is valid? [True, True] Translation: X:24.29, Y:-1.83, Z:0.11 [[ 9.97477287e-01 7.05522709e-02 7.83829396e-03 2.42857023e+01] [-7.05519499e-02 9.97508056e-01 -3.17794207e-04 -1.82771600e+00] [-7.84118247e-03 -2.36014419e-04 9.99969230e-01 1.08868567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.762320587999998 meters Centerline goodness [0,1] 0.9999015893322836 Centerline is valid? [True, True] Translation: X:24.32, Y:-1.83, Z:0.11 [[ 9.97431664e-01 7.09104757e-02 1.00886588e-02 2.43181870e+01] [-7.09099492e-02 9.97482637e-01 -4.10329978e-04 -1.82608454e+00] [-1.00923587e-02 -3.06110171e-04 9.99949024e-01 1.09692051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.35, Y:-1.82, Z:0.11 [[ 9.97510839e-01 6.95884895e-02 1.13828132e-02 2.43504200e+01] [-6.95877176e-02 9.97575728e-01 -4.64339787e-04 -1.82389266e+00] [-1.13875309e-02 -3.28920021e-04 9.99935106e-01 1.09789435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.38, Y:-1.82, Z:0.11 [[ 9.97730057e-01 6.70529704e-02 6.21548644e-03 2.43831678e+01] [-6.70526800e-02 9.97749404e-01 -2.55337633e-04 -1.82141150e+00] [-6.21861904e-03 -1.62006992e-04 9.99980651e-01 1.09194255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.852320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.42, Y:-1.82, Z:0.11 [[ 9.97883774e-01 6.49529130e-02 3.01525158e-03 2.44153601e+01] [-6.49528333e-02 9.97888327e-01 -1.24451776e-04 -1.82137425e+00] [-3.01696786e-03 -7.16607258e-05 9.99995446e-01 1.08735390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.45, Y:-1.82, Z:0.11 [[ 9.98029933e-01 6.27257040e-02 -1.31867862e-03 2.44476685e+01] [-6.27256879e-02 9.98030804e-01 5.36545496e-05 -1.82045873e+00] [ 1.31944740e-03 2.91661771e-05 9.99999129e-01 1.08838870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.48, Y:-1.82, Z:0.11 [[ 9.98154698e-01 6.06608053e-02 -2.73241791e-03 2.44788183e+01] [-6.06607248e-02 9.98158436e-01 1.12391370e-04 -1.81887768e+00] [ 2.73420374e-03 5.35664776e-05 9.99996261e-01 1.09710763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.942320587999998 meters Centerline goodness [0,1] 0.9999507631708517 Centerline is valid? [True, True] Translation: X:24.51, Y:-1.82, Z:0.11 [[ 9.98337055e-01 5.74491416e-02 4.76671754e-03 2.45090069e+01] [-5.74488573e-02 9.98348431e-01 -1.96641761e-04 -1.81591437e+00] [-4.77014188e-03 -7.75277195e-05 9.99988620e-01 1.12324381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.54, Y:-1.82, Z:0.11 [[ 9.98442215e-01 5.52994462e-02 7.42396164e-03 2.45415775e+01] [-5.52986850e-02 9.98469810e-01 -3.07928276e-04 -1.81598012e+00] [-7.42962983e-03 -1.03086726e-04 9.99972395e-01 1.13806837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.57, Y:-1.82, Z:0.11 [[ 9.98570695e-01 5.28768973e-02 7.78462971e-03 2.45739441e+01] [-5.28759787e-02 9.98601034e-01 -3.23904595e-04 -1.81546162e+00] [-7.79086635e-03 -8.81782779e-05 9.99969647e-01 1.14673685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.032320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.61, Y:-1.81, Z:0.11 [[ 9.98660109e-01 5.13700008e-02 6.25382254e-03 2.46063572e+01] [-5.13693723e-02 9.98679688e-01 -2.61185302e-04 -1.81405802e+00] [-6.25898264e-03 -6.04195964e-05 9.99980411e-01 1.12869245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.64, Y:-1.81, Z:0.11 [[ 9.98753632e-01 4.97182096e-02 4.39118487e-03 2.46383524e+01] [-4.97178802e-02 9.98763284e-01 -1.84195903e-04 -1.81324124e+00] [-4.39491211e-03 -3.43540763e-05 9.99990342e-01 1.08535248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.67, Y:-1.82, Z:0.11 [[ 9.98745160e-01 4.96428729e-02 6.60984288e-03 2.46705767e+01] [-4.96421214e-02 9.98767031e-01 -2.77825083e-04 -1.81649971e+00] [-6.61548519e-03 -5.06501656e-05 9.99978116e-01 1.08030871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.122320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.70, Y:-1.82, Z:0.11 [[ 9.98718479e-01 4.99361560e-02 8.23288646e-03 2.47023596e+01] [-4.99349922e-02 9.98752410e-01 -3.46985286e-04 -1.81999409e+00] [-8.23994230e-03 -6.45685039e-05 9.99966049e-01 1.10137219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.73, Y:-1.82, Z:0.11 [[ 9.98700055e-01 5.01059191e-02 9.35935819e-03 2.47347119e+01] [-5.01044115e-02 9.98743907e-01 -3.95637855e-04 -1.82243528e+00] [-9.36742577e-03 -7.38215869e-05 9.99956122e-01 1.12620151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.77, Y:-1.82, Z:0.12 [[ 9.98757542e-01 4.94732930e-02 5.98037749e-03 2.47667396e+01] [-4.94726598e-02 9.98775446e-01 -2.53865360e-04 -1.82229189e+00] [-5.98561375e-03 -4.23152379e-05 9.99982085e-01 1.15302787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.80, Y:-1.82, Z:0.11 [[ 9.98686294e-01 5.09580756e-02 5.38145669e-03 2.47996181e+01] [-5.09575762e-02 9.98700792e-01 -2.29957744e-04 -1.82294161e+00] [-5.38618327e-03 -4.45703426e-05 9.99985493e-01 1.14174853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.83, Y:-1.82, Z:0.11 [[ 9.98538199e-01 5.36255057e-02 6.76542492e-03 2.48318489e+01] [-5.36247756e-02 9.98561115e-01 -2.89390770e-04 -1.82368706e+00] [-6.77120897e-03 -7.38266547e-05 9.99977072e-01 1.12969345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.86, Y:-1.82, Z:0.11 [[ 9.98451839e-01 5.51454263e-02 7.27376908e-03 2.48640940e+01] [-5.51446160e-02 9.98478329e-01 -3.12061148e-04 -1.82414953e+00] [-7.27990955e-03 -8.95311764e-05 9.99973497e-01 1.13444045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.90, Y:-1.82, Z:0.11 [[ 9.98316706e-01 5.76404310e-02 6.42919720e-03 2.48967298e+01] [-5.76398436e-02 9.98337404e-01 -2.76772023e-04 -1.82360900e+00] [-6.43446130e-03 -9.42717867e-05 9.99979294e-01 1.14379877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.332320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.93, Y:-1.82, Z:0.12 [[ 9.98158184e-01 6.03720335e-02 5.95468438e-03 2.49289963e+01] [-6.03715732e-02 9.98175940e-01 -2.57190280e-04 -1.82182972e+00] [-5.95934978e-03 -1.02777081e-04 9.99982238e-01 1.15707412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.96, Y:-1.82, Z:0.12 [[ 9.97851557e-01 6.53958853e-02 3.95588531e-03 2.49610915e+01] [-6.53957186e-02 9.97859394e-01 -1.71609381e-04 -1.81706346e+00] [-3.95863987e-03 -8.74572746e-05 9.99992161e-01 1.16624016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.99, Y:-1.82, Z:0.12 [[ 9.97756670e-01 6.67796043e-02 4.70228129e-03 2.49934334e+01] [-6.67793818e-02 9.97767745e-01 -2.04480139e-04 -1.81757642e+00] [-4.70543970e-03 -1.09994015e-04 9.99988923e-01 1.17292208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.422320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.03, Y:-1.82, Z:0.12 [[ 9.97773489e-01 6.64957734e-02 5.13576808e-03 2.50253511e+01] [-6.64955011e-02 9.97786700e-01 -2.23944240e-04 -1.81944678e+00] [-5.13929243e-03 -1.18059846e-04 9.99986787e-01 1.17994663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.06, Y:-1.82, Z:0.12 [[ 9.97876902e-01 6.46439481e-02 7.92774973e-03 2.50572351e+01] [-6.46432353e-02 9.97908379e-01 -3.46388564e-04 -1.82162944e+00] [-7.93355980e-03 -1.66822244e-04 9.99968515e-01 1.17918596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.09, Y:-1.82, Z:0.12 [[ 9.98375142e-01 5.63324723e-02 8.58655564e-03 2.50894984e+01] [-5.63313092e-02 9.98412060e-01 -3.77444152e-04 -1.81955921e+00] [-8.59418307e-03 -1.06861062e-04 9.99963064e-01 1.15994423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.512320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.12, Y:-1.82, Z:0.12 [[ 9.98613897e-01 5.22784641e-02 6.10295151e-03 2.51219599e+01] [-5.22777963e-02 9.98632545e-01 -2.69005358e-04 -1.81627942e+00] [-6.10866919e-03 -5.04163674e-05 9.99981341e-01 1.15225170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.15, Y:-1.81, Z:0.11 [[ 9.98779951e-01 4.92004986e-02 4.23335201e-03 2.51539098e+01] [-4.92001463e-02 9.98788922e-01 -1.87375588e-04 -1.81367186e+00] [-4.23744406e-03 -2.11345576e-05 9.99991022e-01 1.13881972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.19, Y:-1.81, Z:0.12 [[ 9.99084984e-01 4.27604903e-02 8.56988136e-04 2.51866523e+01] [-4.27604730e-02 9.99085352e-01 -3.86024426e-05 -1.81026368e+00] [-8.57854953e-04 1.92190275e-06 9.99999632e-01 1.15166043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.602320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.22, Y:-1.81, Z:0.12 [[ 9.99201354e-01 3.98788129e-02 2.51696209e-03 2.52178866e+01] [-3.98786577e-02 9.99204524e-01 -1.11846967e-04 -1.80905095e+00] [-2.51942023e-03 1.13845713e-05 9.99996826e-01 1.16496665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.25, Y:-1.81, Z:0.12 [[ 9.99228502e-01 3.90149816e-02 4.49792559e-03 2.52495602e+01] [-3.90144769e-02 9.99238625e-01 -1.99913278e-04 -1.80762339e+00] [-4.50230060e-03 2.42748315e-05 9.99989864e-01 1.17169621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.28, Y:-1.81, Z:0.11 [[ 9.99199876e-01 3.91725838e-02 8.06950628e-03 2.52819304e+01] [-3.91709555e-02 9.99232459e-01 -3.59791423e-04 -1.80809463e+00] [-8.07740656e-03 4.34132741e-05 9.99967376e-01 1.14934466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.692320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.31, Y:-1.81, Z:0.11 [[ 9.99202659e-01 3.93541587e-02 6.73020038e-03 2.53143655e+01] [-3.93530233e-02 9.99225324e-01 -3.01091229e-04 -1.81236611e+00] [-6.73683585e-03 3.59974244e-05 9.99977307e-01 1.13471614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.35, Y:-1.82, Z:0.11 [[ 9.99192066e-01 3.99848543e-02 4.05305475e-03 2.53462346e+01] [-3.99844444e-02 9.99200286e-01 -1.82129962e-04 -1.81647660e+00] [-4.05709590e-03 1.99236712e-05 9.99991770e-01 1.13812569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.38, Y:-1.82, Z:0.12 [[ 9.99157960e-01 4.09030938e-02 3.21072298e-03 2.53782903e+01] [-4.09028394e-02 9.99163118e-01 -1.44855745e-04 -1.81561696e+00] [-3.21396103e-03 1.34060847e-05 9.99994835e-01 1.15124149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.782320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.41, Y:-1.82, Z:0.12 [[ 9.99100395e-01 4.22830792e-02 3.24673546e-03 2.54105129e+01] [-4.22828251e-02 9.99105671e-01 -1.46899452e-04 -1.81567219e+00] [-3.25004318e-03 9.48615268e-06 9.99994719e-01 1.15844635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.44, Y:-1.82, Z:0.12 [[ 9.99047173e-01 4.36067440e-02 1.78837962e-03 2.54414761e+01] [-4.36066684e-02 9.99048774e-01 -8.12328477e-05 -1.81717902e+00] [-1.79022077e-03 3.17016976e-06 9.99998398e-01 1.15964231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.47, Y:-1.82, Z:0.11 [[ 9.99025818e-01 4.41278742e-02 -3.81667713e-04 2.54726670e+01] [-4.41278709e-02 9.99025891e-01 1.69106688e-05 -1.82088495e+00] [ 3.82042159e-04 -5.20111386e-08 9.99999927e-01 1.14957519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.872320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.50, Y:-1.83, Z:0.11 [[ 9.99053216e-01 4.34993836e-02 6.89770109e-04 2.55031322e+01] [-4.34993724e-02 9.99053454e-01 -3.11827618e-05 -1.82711593e+00] [-6.90473640e-04 1.14867154e-06 9.99999762e-01 1.13700023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.53, Y:-1.83, Z:0.11 [[ 9.99093481e-01 4.24656610e-02 2.98046417e-03 2.55344908e+01] [-4.24654464e-02 9.99097927e-01 -1.35274612e-04 -1.82760087e+00] [-2.98352010e-03 8.58524116e-06 9.99995549e-01 1.14560257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.57, Y:-1.83, Z:0.12 [[ 9.99105247e-01 4.18869653e-02 5.84696471e-03 2.55668757e+01] [-4.18861249e-02 9.99122356e-01 -2.66171188e-04 -1.82661684e+00] [-5.85298225e-03 2.10263370e-05 9.99982871e-01 1.15056374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.60, Y:-1.83, Z:0.11 [[ 9.98967915e-01 4.44131848e-02 9.51698447e-03 2.55990704e+01] [-4.44110647e-02 9.99013248e-01 -4.34088951e-04 -1.82530353e+00] [-9.52687284e-03 1.09815210e-05 9.99954618e-01 1.12754992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.63, Y:-1.83, Z:0.11 [[ 9.98878830e-01 4.65457620e-02 8.63565863e-03 2.56309038e+01] [-4.65440857e-02 9.98916159e-01 -3.95090227e-04 -1.82790983e+00] [-8.64468872e-03 -7.29157223e-06 9.99962634e-01 1.12252355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.66, Y:-1.83, Z:0.11 [[ 9.98745002e-01 4.96934118e-02 6.24383703e-03 2.56627295e+01] [-4.96925883e-02 9.98764519e-01 -2.87062454e-04 -1.83073475e+00] [-6.25038800e-03 -2.35702314e-05 9.99980466e-01 1.12159626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.69, Y:-1.83, Z:0.11 [[ 9.98626037e-01 5.22945244e-02 3.36472685e-03 2.56944124e+01] [-5.22942977e-02 9.98631705e-01 -1.55379703e-04 -1.83313083e+00] [-3.36824842e-03 -2.07898110e-05 9.99994327e-01 1.12955353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.082320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.73, Y:-1.84, Z:0.12 [[ 9.98530676e-01 5.41433232e-02 2.23378718e-03 2.57262785e+01] [-5.41432267e-02 9.98533174e-01 -1.03689373e-04 -1.83501273e+00] [-2.23612469e-03 -1.74074260e-05 9.99997500e-01 1.15074654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.76, Y:-1.84, Z:0.12 [[ 9.98496977e-01 5.46951685e-02 3.49658439e-03 2.57576379e+01] [-5.46949372e-02 9.98503098e-01 -1.61812907e-04 -1.83747531e+00] [-3.50020073e-03 -2.96757652e-05 9.99993874e-01 1.16899076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.79, Y:-1.84, Z:0.12 [[ 9.98453280e-01 5.53866516e-02 4.83379773e-03 2.57898559e+01] [-5.53862134e-02 9.98464980e-01 -2.24570694e-04 -1.83982545e+00] [-4.83881597e-03 -4.35024063e-05 9.99988292e-01 1.18171803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.172320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.82, Y:-1.84, Z:0.12 [[ 9.98386710e-01 5.63783092e-02 6.74272471e-03 2.58220242e+01] [-5.63774749e-02 9.98409476e-01 -3.13900948e-04 -1.84013777e+00] [-6.74969745e-03 -6.67432584e-05 9.99977218e-01 1.18482868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.85, Y:-1.83, Z:0.12 [[ 9.98315492e-01 5.73391784e-02 8.85419530e-03 2.58542980e+01] [-5.73377688e-02 9.98354751e-01 -4.13177070e-04 -1.83115351e+00] [-8.86331918e-03 -9.51987332e-05 9.99960715e-01 1.17040205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.89, Y:-1.83, Z:0.12 [[ 9.98238543e-01 5.86537330e-02 8.91908265e-03 2.58864879e+01] [-5.86523446e-02 9.98278382e-01 -4.17387388e-04 -1.82847972e+00] [-8.92820873e-03 -1.06472931e-04 9.99960137e-01 1.16330308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.262320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.92, Y:-1.83, Z:0.12 [[ 9.98181539e-01 5.98686715e-02 7.02544796e-03 2.59186184e+01] [-5.98678324e-02 9.98206258e-01 -3.29862781e-04 -1.82875095e+00] [-7.03259457e-03 -9.13354028e-05 9.99975267e-01 1.16480965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.95, Y:-1.83, Z:0.12 [[ 9.98061517e-01 6.19684996e-02 5.75447951e-03 2.59507377e+01] [-6.19679663e-02 9.98078102e-01 -2.71099614e-04 -1.83132761e+00] [-5.76021962e-03 -8.60192999e-05 9.99983406e-01 1.16745678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.98, Y:-1.83, Z:0.12 [[ 9.97878150e-01 6.50787678e-02 1.98802586e-03 2.59823862e+01] [-6.50787094e-02 9.97880129e-01 -9.41320660e-05 -1.83275192e+00] [-1.98993750e-03 -3.54458254e-05 9.99998019e-01 1.18166793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.352320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.01, Y:-1.83, Z:0.12 [[ 9.97824664e-01 6.59199781e-02 7.04185574e-04 2.60132033e+01] [-6.59199711e-02 9.97824913e-01 -3.31624134e-05 -1.83195642e+00] [-7.04839975e-04 -1.33296186e-05 9.99999752e-01 1.18834997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.04, Y:-1.83, Z:0.12 [[ 9.97787296e-01 6.64772507e-02 1.13458909e-03 2.60442592e+01] [-6.64772329e-02 9.97787941e-01 -5.34315296e-05 -1.83048003e+00] [-1.13563129e-03 -2.21110415e-05 9.99999355e-01 1.18576367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.08, Y:-1.83, Z:0.12 [[ 9.97809503e-01 6.60919906e-02 2.83621240e-03 2.60750098e+01] [-6.60918779e-02 9.97813533e-01 -1.33566565e-04 -1.82993279e+00] [-2.83883880e-03 -5.41766159e-05 9.99995969e-01 1.18937302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.442320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.11, Y:-1.83, Z:0.12 [[ 9.97766006e-01 6.63395429e-02 7.87796876e-03 2.61065130e+01] [-6.63386738e-02 9.97797095e-01 -3.71861361e-04 -1.83121567e+00] [-7.88528345e-03 -1.51583375e-04 9.99968899e-01 1.18300674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.14, Y:-1.83, Z:0.12 [[ 9.97702167e-01 6.72329508e-02 8.37357082e-03 2.61381907e+01] [-6.72319921e-02 9.97737291e-01 -3.96250053e-04 -1.83225765e+00] [-8.38126493e-03 -1.67632311e-04 9.99964863e-01 1.18898279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.17, Y:-1.83, Z:0.12 [[ 9.97654455e-01 6.78452300e-02 9.08916770e-03 2.61708668e+01] [-6.78441137e-02 9.97695840e-01 -4.31446897e-04 -1.83088230e+00] [-9.09749643e-03 -1.86211608e-04 9.99958600e-01 1.19193179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.532320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.20, Y:-1.82, Z:0.12 [[ 9.97791781e-01 6.57449724e-02 9.44244525e-03 2.62030241e+01] [-6.57436620e-02 9.97836444e-01 -4.49446572e-04 -1.82415408e+00] [-9.45156485e-03 -1.72326833e-04 9.99955318e-01 1.20021077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.23, Y:-1.83, Z:0.12 [[ 9.97783013e-01 6.58779131e-02 9.44238525e-03 2.62346737e+01] [-6.58765967e-02 9.97827676e-01 -4.50706285e-04 -1.82562745e+00] [-9.45156492e-03 -1.72325130e-04 9.99955318e-01 1.20180741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.27, Y:-1.83, Z:0.12 [[ 9.97889107e-01 6.44464531e-02 7.99906020e-03 2.62669647e+01] [-6.44454530e-02 9.97921158e-01 -3.82987118e-04 -1.82638608e+00] [-8.00711358e-03 -1.33324385e-04 9.99967934e-01 1.20380260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.622320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.30, Y:-1.83, Z:0.12 [[ 9.97979135e-01 6.32471784e-02 6.11886853e-03 2.62991522e+01] [-6.32465647e-02 9.97997889e-01 -2.93938745e-04 -1.82991978e+00] [-6.12520867e-03 -9.36526794e-05 9.99981236e-01 1.20599075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.33, Y:-1.83, Z:0.12 [[ 9.98159956e-01 6.00345848e-02 8.51763767e-03 2.63315062e+01] [-6.00332710e-02 9.98196292e-01 -4.10068749e-04 -1.83366905e+00] [-8.52689265e-03 -1.02027446e-04 9.99963640e-01 1.19629908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.36, Y:-1.83, Z:0.12 [[ 9.98765869e-01 4.80617710e-02 1.25222211e-02 2.63635338e+01] [-4.80579721e-02 9.98844365e-01 -6.04272319e-04 -1.83220215e+00] [-1.25367924e-02 1.73401212e-06 9.99921411e-01 1.21151234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.712320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.40, Y:-1.83, Z:0.12 [[ 9.99048128e-01 4.08060005e-02 1.54177973e-02 2.63951644e+01] [-4.07993590e-02 9.99167082e-01 -7.45188620e-04 -1.83265415e+00] [-1.54353637e-02 1.15443047e-04 9.99880861e-01 1.20437451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.43, Y:-1.84, Z:0.12 [[ 9.99273571e-01 3.51715935e-02 1.46727551e-02 2.64267189e+01] [-3.51649407e-02 9.99381269e-01 -7.11242161e-04 -1.83722415e+00] [-1.46886921e-02 1.94758933e-04 9.99892096e-01 1.20299060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.46, Y:-1.84, Z:0.12 [[ 9.99422128e-01 3.07932151e-02 1.43940136e-02 2.64588536e+01] [-3.07863319e-02 9.99525744e-01 -6.99593350e-04 -1.84315203e+00] [-1.44087298e-02 2.56050196e-04 9.99896156e-01 1.17562329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.49, Y:-1.85, Z:0.12 [[ 9.99590563e-01 2.71417620e-02 9.05709316e-03 2.64908926e+01] [-2.71388745e-02 9.99631575e-01 -4.41580459e-04 -1.84696377e+00] [-9.06574158e-03 1.95600344e-04 9.99958886e-01 1.16281131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.832320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.52, Y:-1.85, Z:0.12 [[ 9.99607806e-01 2.76189920e-02 4.62885807e-03 2.65228541e+01] [-2.76182387e-02 9.99618518e-01 -2.26594251e-04 -1.84675438e+00] [-4.63335055e-03 9.86644744e-05 9.99989261e-01 1.16352821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.55, Y:-1.85, Z:0.12 [[ 9.99568614e-01 2.93696403e-02 1.04468525e-04 2.65545458e+01] [-2.93696399e-02 9.99568619e-01 -5.75719899e-06 -1.85489558e+00] [-1.04592546e-04 2.68651245e-06 9.99999995e-01 1.15765568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.58, Y:-1.86, Z:0.12 [[ 9.99577367e-01 2.89782334e-02 2.31279397e-03 2.65845890e+01] [-2.89780490e-02 9.99580042e-01 -1.13190575e-04 -1.86335468e+00] [-2.31510276e-03 4.61224803e-05 9.99997319e-01 1.17499734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.922320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.62, Y:-1.87, Z:0.12 [[ 9.99588579e-01 2.82031404e-02 5.22072608e-03 2.66156943e+01] [-2.82021869e-02 9.99602206e-01 -2.56166313e-04 -1.86954912e+00] [-5.22587400e-03 1.08825028e-04 9.99986339e-01 1.19476750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.65, Y:-1.87, Z:0.12 [[ 9.99620192e-01 2.69133234e-02 5.92823954e-03 2.66480782e+01] [-2.69120652e-02 9.99637762e-01 -2.91924058e-04 -1.87278421e+00] [-5.93394876e-03 1.32272014e-04 9.99982385e-01 1.20869691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.68, Y:-1.88, Z:0.12 [[ 9.99712951e-01 2.35068274e-02 4.63090999e-03 2.66797958e+01] [-2.35060197e-02 9.99723669e-01 -2.28760673e-04 -1.87865588e+00] [-4.63500776e-03 1.19840746e-04 9.99989251e-01 1.17425421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.012320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.71, Y:-1.88, Z:0.12 [[ 9.99715691e-01 2.31045410e-02 5.89208920e-03 2.67113371e+01] [-2.31032232e-02 9.99733042e-01 -2.91633926e-04 -1.88464455e+00] [-5.89725433e-03 1.55424760e-04 9.99982599e-01 1.15034379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.74, Y:-1.89, Z:0.11 [[ 9.99669088e-01 2.39667705e-02 9.34385414e-03 2.67430295e+01] [-2.39634864e-02 9.99712727e-01 -4.63295919e-04 -1.89133469e+00] [-9.35227361e-03 2.39231288e-04 9.99956238e-01 1.14794564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.78, Y:-1.90, Z:0.12 [[ 9.99622142e-01 2.47451740e-02 1.19686696e-02 2.67750479e+01] [-2.47398249e-02 9.99693747e-01 -5.94801727e-04 -1.89738383e+00] [-1.19797227e-02 2.98474186e-04 9.99928196e-01 1.15568912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.102320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.81, Y:-1.91, Z:0.12 [[ 9.99597306e-01 2.68651931e-02 9.13716456e-03 2.68062987e+01] [-2.68621520e-02 9.99639044e-01 -4.55406060e-04 -1.90808320e+00] [-9.14610101e-03 2.09778767e-04 9.99958152e-01 1.17603036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.84, Y:-1.92, Z:0.12 [[ 9.99565336e-01 2.89968746e-02 5.32177820e-03 2.68382529e+01] [-2.89958664e-02 9.99579496e-01 -2.66526765e-04 -1.91683604e+00] [-5.32726882e-03 1.12101345e-04 9.99985804e-01 1.17241637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.87, Y:-1.92, Z:0.12 [[ 9.99452296e-01 3.28356563e-02 4.11441696e-03 2.68696956e+01] [-3.28350838e-02 9.99460762e-01 -2.06633482e-04 -1.92469187e+00] [-4.11898326e-03 7.14230826e-05 9.99991514e-01 1.16897760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.192320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.90, Y:-1.93, Z:0.12 [[ 9.99048082e-01 4.25710856e-02 9.52014234e-03 2.69015092e+01] [-4.25684585e-02 9.99093438e-01 -4.78515533e-04 -1.93084642e+00] [-9.53188267e-03 7.28022416e-05 9.99954568e-01 1.19331187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.93, Y:-1.93, Z:0.12 [[ 9.98808764e-01 4.72726843e-02 1.20973333e-02 2.69332257e+01] [-4.72687692e-02 9.98882021e-01 -6.09513622e-04 -1.93344514e+00] [-1.21126221e-02 3.69614898e-05 9.99926639e-01 1.20727156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.97, Y:-1.94, Z:0.12 [[ 9.98579379e-01 5.18875474e-02 1.21205286e-02 2.69660827e+01] [-5.18839230e-02 9.98652934e-01 -6.13495045e-04 -1.93712863e+00] [-1.21360342e-02 -1.62370720e-05 9.99926355e-01 1.21246607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.282320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.00, Y:-1.95, Z:0.12 [[ 9.98252614e-01 5.76355006e-02 1.30333319e-02 2.69980266e+01] [-5.76317819e-02 9.98337689e-01 -6.61042940e-04 -1.94695231e+00] [-1.30497660e-02 -9.12462999e-05 9.99914844e-01 1.17491706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.03, Y:-1.95, Z:0.12 [[ 9.98171863e-01 5.84004786e-02 1.55664791e-02 2.70301277e+01] [-5.83952360e-02 9.98293228e-01 -7.91493349e-04 -1.95057046e+00] [-1.55861343e-02 -1.18961829e-04 9.99878522e-01 1.15469454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.06, Y:-1.95, Z:0.12 [[ 9.98086741e-01 5.91875004e-02 1.78800883e-02 2.70625972e+01] [-5.91806690e-02 9.98246872e-01 -9.11413231e-04 -1.95091647e+00] [-1.79026865e-02 -1.48486127e-04 9.99839723e-01 1.15738316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.372320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.10, Y:-1.95, Z:0.12 [[ 9.97879353e-01 6.32013993e-02 1.55685776e-02 2.70954700e+01] [-6.31965480e-02 9.98000777e-01 -8.03869791e-04 -1.94721362e+00] [-1.55882582e-02 -1.81715294e-04 9.99878479e-01 1.18335978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.13, Y:-1.95, Z:0.12 [[ 9.97845114e-01 6.43170927e-02 1.29784488e-02 2.71279572e+01] [-6.43138057e-02 9.97929499e-01 -6.70899802e-04 -1.95130056e+00] [-1.29947272e-02 -1.65239345e-04 9.99915551e-01 1.17612818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.16, Y:-1.96, Z:0.12 [[ 9.97820548e-01 6.53226082e-02 9.33331722e-03 2.71601499e+01] [-6.53209400e-02 9.97864190e-01 -4.83780785e-04 -1.95807117e+00] [-9.34498485e-03 -1.26934647e-04 9.99956327e-01 1.17772976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.462320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.19, Y:-1.97, Z:0.12 [[ 9.97875993e-01 6.47478451e-02 7.15672738e-03 2.71917537e+01] [-6.47468416e-02 9.97901653e-01 -3.72071666e-04 -1.96598976e+00] [-7.16580092e-03 -9.20941106e-05 9.99974321e-01 1.17791121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.23, Y:-1.97, Z:0.12 [[ 9.97840525e-01 6.52749033e-02 7.31253358e-03 2.72251892e+01] [-6.52738565e-02 9.97867315e-01 -3.81969203e-04 -1.96737466e+00] [-7.32187125e-03 -9.61729177e-05 9.99973190e-01 1.18947966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.26, Y:-1.97, Z:0.12 [[ 9.97741284e-01 6.66399380e-02 8.45273268e-03 2.72573621e+01] [-6.66385831e-02 9.97777081e-01 -4.42149844e-04 -1.96928202e+00] [-8.46340778e-03 -1.22126976e-04 9.99964177e-01 1.19979597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.29, Y:-1.97, Z:0.12 [[ 9.97444682e-01 7.09632829e-02 8.26548625e-03 2.72895633e+01] [-7.09621265e-02 9.97478916e-01 -4.33463267e-04 -1.97212383e+00] [-8.27540824e-03 -1.54180851e-04 9.99965746e-01 1.20009321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.582320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.32, Y:-1.97, Z:0.12 [[ 9.97267891e-01 7.32312184e-02 9.69239419e-03 2.73220434e+01] [-7.32297243e-02 9.97314969e-01 -5.09430755e-04 -1.97204194e+00] [-9.70367605e-03 -2.01732420e-04 9.99952898e-01 1.18687351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.35, Y:-1.97, Z:0.12 [[ 9.97089417e-01 7.53770907e-02 1.14450053e-02 2.73537636e+01] [-7.53751391e-02 9.97155066e-01 -6.02379582e-04 -1.97186530e+00] [-1.14578506e-02 -2.62042560e-04 9.99934322e-01 1.18458945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.39, Y:-1.97, Z:0.12 [[ 9.96868636e-01 7.80268364e-02 1.28349602e-02 2.73854056e+01] [-7.80245116e-02 9.96951207e-01 -6.82538217e-04 -1.97431350e+00] [-1.28490853e-02 -3.21040556e-04 9.99917396e-01 1.18062518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.672320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.42, Y:-1.98, Z:0.12 [[ 9.96813779e-01 7.90842777e-02 1.03906764e-02 2.74174331e+01] [-7.90828088e-02 9.96867897e-01 -5.52817800e-04 -1.97882636e+00] [-1.04018509e-02 -2.70667475e-04 9.99945863e-01 1.20839688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.45, Y:-1.98, Z:0.12 [[ 9.96958429e-01 7.75383910e-02 7.85423092e-03 2.74501728e+01] [-7.75374827e-02 9.96989349e-01 -4.20543915e-04 -1.97818319e+00] [-7.86319287e-03 -1.89732493e-04 9.99969067e-01 1.20672583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.48, Y:-1.98, Z:0.12 [[ 9.97136831e-01 7.54218427e-02 5.44844629e-03 2.74826920e+01] [-7.54213713e-02 9.97151709e-01 -2.92220931e-04 -1.97593664e+00] [-5.45496737e-03 -1.19545038e-04 9.99985114e-01 1.19472297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.762320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.51, Y:-1.98, Z:0.12 [[ 9.97230680e-01 7.42329756e-02 4.52065768e-03 2.75146944e+01] [-7.42326357e-02 9.97240922e-01 -2.43166806e-04 -1.97571240e+00] [-4.52623583e-03 -9.30869353e-05 9.99989752e-01 1.16892437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.55, Y:-1.98, Z:0.12 [[ 9.97406997e-01 7.17927807e-02 5.00787414e-03 2.75467697e+01] [-7.17923299e-02 9.97419565e-01 -2.69963170e-04 -1.97816912e+00] [-5.01433305e-03 -9.02637977e-05 9.99987424e-01 1.18309884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.58, Y:-1.98, Z:0.12 [[ 9.97481528e-01 7.05560283e-02 7.24217807e-03 2.75801659e+01] [-7.05550421e-02 9.97507811e-01 -3.91892378e-04 -1.97706748e+00] [-7.25177957e-03 -1.20066772e-04 9.99973698e-01 1.20362946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.852320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.61, Y:-1.97, Z:0.12 [[ 9.97512209e-01 7.01289449e-02 7.16414080e-03 2.76122827e+01] [-7.01279642e-02 9.97537928e-01 -3.88308792e-04 -1.97422332e+00] [-7.17373386e-03 -1.15063849e-04 9.99974262e-01 1.22213058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.64, Y:-1.97, Z:0.12 [[ 9.97555373e-01 6.95092168e-02 7.19352822e-03 2.76447689e+01] [-6.95082022e-02 9.97581303e-01 -3.91259151e-04 -1.97161770e+00] [-7.20332537e-03 -1.09706546e-04 9.99974050e-01 1.21282443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.68, Y:-1.97, Z:0.12 [[ 9.97533354e-01 7.01595346e-02 2.20176146e-03 2.76766326e+01] [-7.01594395e-02 9.97535783e-01 -1.20476396e-04 -1.97460281e+00] [-2.20478841e-03 -3.42951270e-05 9.99997569e-01 1.19947187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.942320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.71, Y:-1.98, Z:0.12 [[ 9.97511207e-01 7.04938801e-02 1.41613522e-03 2.77092999e+01] [-7.04938405e-02 9.97512212e-01 -7.79041480e-05 -1.97518410e+00] [-1.41810394e-03 -2.21185495e-05 9.99998994e-01 1.20494045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.74, Y:-1.97, Z:0.12 [[ 9.97452723e-01 7.12949258e-02 2.25815191e-03 2.77417999e+01] [-7.12948274e-02 9.97455278e-01 -1.24130319e-04 -1.97181824e+00] [-2.26125540e-03 -3.71804258e-05 9.99997443e-01 1.21770334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.77, Y:-1.97, Z:0.12 [[ 9.97445532e-01 7.12984865e-02 4.35150827e-03 2.77738042e+01] [-7.12981214e-02 9.97455022e-01 -2.39163134e-04 -1.96766183e+00] [-4.35748575e-03 -7.17021654e-05 9.99990504e-01 1.21857477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.032320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.81, Y:-1.97, Z:0.12 [[ 9.97673757e-01 6.77859412e-02 7.22079754e-03 2.78062900e+01] [-6.77848402e-02 9.97699883e-01 -3.97381276e-04 -1.97101950e+00] [-7.23112573e-03 -9.30037362e-05 9.99973851e-01 1.22375632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.84, Y:-1.98, Z:0.12 [[ 9.97839949e-01 6.49575510e-02 9.79554579e-03 2.78393853e+01] [-6.49553680e-02 9.97888023e-01 -5.41175117e-04 -1.97692455e+00] [-9.81001124e-03 -9.62671311e-05 9.99951876e-01 1.21626388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.87, Y:-1.98, Z:0.12 [[ 9.98145547e-01 6.00843233e-02 9.76423458e-03 2.78715853e+01] [-6.00819114e-02 9.98193304e-01 -5.40419393e-04 -1.97844510e+00] [-9.77906431e-03 -4.72366665e-05 9.99952183e-01 1.22381790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.122320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.90, Y:-1.97, Z:0.12 [[ 9.98709648e-01 5.02777474e-02 7.15452703e-03 2.79045224e+01] [-5.02761924e-02 9.98735274e-01 -3.97148350e-04 -1.97258096e+00] [-7.16544624e-03 3.69335108e-05 9.99974327e-01 1.23917988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.152320588 meters Centerline goodness [0,1] 0.9999508768482586 Centerline is valid? [True, True] Translation: X:27.94, Y:-1.97, Z:0.12 [[ 9.98952812e-01 4.53234098e-02 6.25042866e-03 2.79369653e+01] [-4.53221203e-02 9.98972364e-01 -3.47869582e-04 -1.97396456e+00] [-6.25977213e-03 6.42226169e-05 9.99980405e-01 1.24306933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.97, Y:-1.98, Z:0.12 [[ 9.99174543e-01 4.01227346e-02 6.35599534e-03 2.79685174e+01] [-4.01212908e-02 9.99194754e-01 -3.54556536e-04 -1.97859710e+00] [-6.36510298e-03 9.92531270e-05 9.99979738e-01 1.23977192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.212320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.00, Y:-1.99, Z:0.12 [[ 9.99411687e-01 3.29690253e-02 9.45112154e-03 2.80003102e+01] [-3.29655045e-02 9.99456351e-01 -5.28112558e-04 -1.98633352e+00] [-9.46339480e-03 2.16240873e-04 9.99955198e-01 1.21953121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.03, Y:-1.99, Z:0.12 [[ 9.99417644e-01 3.19665307e-02 1.19378840e-02 2.80326306e+01] [-3.19608257e-02 9.99488899e-01 -6.68414841e-04 -1.99117947e+00] [-1.19531495e-02 2.86480955e-04 9.99928518e-01 1.22094042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.06, Y:-2.00, Z:0.12 [[ 9.99372390e-01 3.24266379e-02 1.42597301e-02 2.80645563e+01] [-3.24185202e-02 9.99474061e-01 -8.00117932e-04 -1.99678686e+00] [-1.42781755e-02 3.37336419e-04 9.99898005e-01 1.22685574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.10, Y:-2.00, Z:0.12 [[ 9.99299582e-01 3.40520286e-02 1.55178628e-02 2.80965304e+01] [-3.40425811e-02 9.99420002e-01 -8.72639695e-04 -2.00227234e+00] [-1.55385776e-02 3.43760381e-04 9.99879210e-01 1.23418832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.332320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.13, Y:-2.01, Z:0.12 [[ 9.99175300e-01 3.90257535e-02 1.12120449e-02 2.81278431e+01] [-3.90211280e-02 9.99238186e-01 -6.31091768e-04 -2.00771696e+00] [-1.12281322e-02 1.93064668e-04 9.99936944e-01 1.23114666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.16, Y:-2.01, Z:0.12 [[ 9.99144524e-01 4.06318652e-02 7.69880107e-03 2.81601770e+01] [-4.06297210e-02 9.99174177e-01 -4.34773573e-04 -2.01145961e+00] [-7.71010889e-03 1.21601495e-04 9.99970269e-01 1.23759483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.19, Y:-2.02, Z:0.12 [[ 9.99089970e-01 4.22114025e-02 6.11792671e-03 2.81924395e+01] [-4.22100723e-02 9.99108698e-01 -3.46440371e-04 -2.01745192e+00] [-6.12709752e-03 8.78869716e-05 9.99981225e-01 1.23436140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.422320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.22, Y:-2.03, Z:0.12 [[ 9.99112755e-01 4.12857537e-02 8.31802330e-03 2.82241638e+01] [-4.12832555e-02 9.99147372e-01 -4.71896949e-04 -2.03017449e+00] [-8.33041374e-03 1.28083180e-04 9.99965293e-01 1.22312571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.26, Y:-2.04, Z:0.12 [[ 9.99162227e-01 3.97529608e-02 9.72348587e-03 2.82559217e+01] [-3.97494629e-02 9.99209525e-01 -5.52797732e-04 -2.03683157e+00] [-9.73777504e-03 1.65831272e-04 9.99952573e-01 1.22841532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.29, Y:-2.04, Z:0.12 [[ 9.99154254e-01 3.99528972e-02 9.72335548e-03 2.82883731e+01] [-3.99493865e-02 9.99201550e-01 -5.55088727e-04 -2.03862545e+00] [-9.73776927e-03 1.66177176e-04 9.99952573e-01 1.23005385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.512320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.32, Y:-2.04, Z:0.12 [[ 9.99222051e-01 3.77309014e-02 1.14748476e-02 2.83200257e+01] [-3.77258541e-02 9.99287911e-01 -6.56074591e-04 -2.04333084e+00] [-1.14914308e-02 2.22665772e-04 9.99933947e-01 1.21821240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.35, Y:-2.05, Z:0.12 [[ 9.99265833e-01 3.61954015e-02 1.25573611e-02 2.83522418e+01] [-3.61892162e-02 9.99344697e-01 -7.19516959e-04 -2.04756187e+00] [-1.25751754e-02 2.64547657e-04 9.99920894e-01 1.21963349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.38, Y:-2.06, Z:0.12 [[ 9.99366452e-01 3.43527382e-02 9.30507447e-03 2.83836276e+01] [-3.43492493e-02 9.99409747e-01 -5.34548813e-04 -2.05608268e+00] [-9.31794534e-03 2.14587827e-04 9.99956564e-01 1.22598739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.602320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.42, Y:-2.06, Z:0.12 [[ 9.99344986e-01 3.54782707e-02 7.13383259e-03 2.84158180e+01] [-3.54762409e-02 9.99370436e-01 -4.10916169e-04 -2.06201380e+00] [-7.14391998e-03 1.57565450e-04 9.99974469e-01 1.23198189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.45, Y:-2.07, Z:0.12 [[ 9.99006825e-01 4.44186893e-02 3.51321735e-03 2.84473748e+01] [-4.44182494e-02 9.99013002e-01 -2.03181495e-04 -2.06902856e+00] [-3.51877487e-03 4.69287363e-05 9.99993808e-01 1.23606478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.48, Y:-2.07, Z:0.12 [[ 9.98652842e-01 5.17839169e-02 3.30554634e-03 2.84796585e+01] [-5.17835660e-02 9.98658313e-01 -1.91681671e-04 -2.07236410e+00] [-3.31103736e-03 2.02504689e-05 9.99994518e-01 1.22486204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.692320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.51, Y:-2.08, Z:0.12 [[ 9.98145518e-01 6.08171575e-02 2.60735642e-03 2.85119764e+01] [-6.08169688e-02 9.98148923e-01 -1.51696859e-04 -2.07717547e+00] [-2.61175578e-03 -7.15597420e-06 9.99996589e-01 1.22680941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.54, Y:-2.08, Z:0.12 [[ 9.97526292e-01 7.01632656e-02 4.29096821e-03 2.85440250e+01] [-7.01628402e-02 9.97535520e-01 -2.49765339e-04 -2.08173001e+00] [-4.29791756e-03 -5.19190243e-05 9.99990763e-01 1.23084931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.57, Y:-2.09, Z:0.12 [[ 9.96175569e-01 8.68734831e-02 9.33990245e-03 2.85741441e+01] [-8.68722105e-02 9.96219316e-01 -5.42635503e-04 -2.08595940e+00] [-9.35173186e-03 -2.70817741e-04 9.99956235e-01 1.24747362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.782320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.61, Y:-2.09, Z:0.13 [[ 9.95690077e-01 9.23655570e-02 8.35913136e-03 2.86061537e+01] [-9.23647179e-02 9.95725123e-01 -4.87196497e-04 -2.08724060e+00] [-8.36839728e-03 -2.86992092e-04 9.99964943e-01 1.25447333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.64, Y:-2.09, Z:0.13 [[ 9.95385810e-01 9.57114475e-02 6.81233644e-03 2.86383453e+01] [-9.57109619e-02 9.95409088e-01 -3.98012844e-04 -2.08821958e+00] [-6.81915599e-03 -2.55838935e-04 9.99976717e-01 1.25436413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.67, Y:-2.09, Z:0.13 [[ 9.95242198e-01 9.73201513e-02 4.66424601e-03 2.86701901e+01] [-9.73199252e-02 9.95253112e-01 -2.75950203e-04 -2.08615572e+00] [-4.66896087e-03 -1.79286787e-04 9.99989084e-01 1.25476448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.872320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.70, Y:-2.08, Z:0.13 [[ 9.95255912e-01 9.70697556e-02 6.56746511e-03 2.87034311e+01] [-9.70693062e-02 9.95277549e-01 -3.87894366e-04 -2.07604627e+00] [-6.57410339e-03 -2.51445121e-04 9.99978359e-01 1.25686930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.74, Y:-2.07, Z:0.13 [[ 9.95415170e-01 9.53578769e-02 7.45084121e-03 2.87362502e+01] [-9.53572470e-02 9.95443018e-01 -4.40552951e-04 -2.07290989e+00] [-7.45889806e-03 -2.71958615e-04 9.99972145e-01 1.26854351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.77, Y:-2.07, Z:0.13 [[ 9.95613676e-01 9.33395943e-02 6.41309093e-03 2.87688571e+01] [-9.33390801e-02 9.95634306e-01 -3.80093898e-04 -2.07257363e+00] [-6.42057115e-03 -2.20165325e-04 9.99979364e-01 1.26312670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.962320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.80, Y:-2.07, Z:0.13 [[ 9.95979617e-01 8.93499642e-02 6.41769541e-03 2.88009021e+01] [-8.93493612e-02 9.96000274e-01 -3.81181806e-04 -2.07088292e+00] [-6.42608497e-03 -1.93767676e-04 9.99979334e-01 1.25081742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.83, Y:-2.07, Z:0.13 [[ 9.96061371e-01 8.81681763e-02 9.38711051e-03 2.88338247e+01] [-8.81668166e-02 9.96105566e-01 -5.59381369e-04 -2.06881952e+00] [-9.39987267e-03 -2.70453478e-04 9.99955784e-01 1.25075733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.87, Y:-2.07, Z:0.13 [[ 9.96146841e-01 8.68971829e-02 1.18469831e-02 2.88668804e+01] [-8.68949032e-02 9.96217233e-01 -7.08012275e-04 -2.06674283e+00] [-1.18636929e-02 -3.24158254e-04 9.99929571e-01 1.26685592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.90, Y:-2.07, Z:0.13 [[ 9.96310986e-01 8.48167086e-02 1.30592819e-02 2.88995705e+01] [-8.48137358e-02 9.96396517e-01 -7.82294074e-04 -2.06732256e+00] [-1.30785746e-02 -3.28198303e-04 9.99914418e-01 1.27876555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.082320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.93, Y:-2.07, Z:0.13 [[ 9.96983187e-01 7.68031311e-02 1.12162066e-02 2.89312347e+01] [-7.68004141e-02 9.97046259e-01 -6.73394965e-04 -2.07113241e+00] [-1.12347957e-02 -1.90045855e-04 9.99936870e-01 1.27465155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.96, Y:-2.07, Z:0.13 [[ 9.97331017e-01 7.23032128e-02 1.01532425e-02 2.89636735e+01] [-7.23007388e-02 9.97382690e-01 -6.10982235e-04 -2.07230896e+00] [-1.01708442e-02 -1.24735397e-04 9.99948268e-01 1.26466353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.00, Y:-2.07, Z:0.13 [[ 9.97603675e-01 6.86388486e-02 8.69572228e-03 2.89956259e+01] [-6.86368838e-02 9.97641570e-01 -5.24526753e-04 -2.07235771e+00] [-8.71121694e-03 -7.35774634e-05 9.99962054e-01 1.26066367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.172320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.03, Y:-2.07, Z:0.13 [[ 9.97903905e-01 6.41994769e-02 8.13782060e-03 2.90282460e+01] [-6.41975991e-02 9.97937085e-01 -4.92031257e-04 -2.07264586e+00] [-8.15262111e-03 -3.14286316e-05 9.99966766e-01 1.25391766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.06, Y:-2.08, Z:0.13 [[ 9.98291337e-01 5.82930642e-02 4.04053032e-03 2.90600697e+01] [-5.82925492e-02 9.98299513e-01 -2.45206338e-04 -2.07664094e+00] [-4.04795328e-03 9.25455045e-06 9.99991807e-01 1.26487371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.09, Y:-2.08, Z:0.13 [[ 9.98300176e-01 5.81320150e-02 4.17464350e-03 2.90926458e+01] [-5.81314588e-02 9.98308904e-01 -2.54532412e-04 -2.08082248e+00] [-4.18238026e-03 1.14216350e-05 9.99991254e-01 1.26956868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.262320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.13, Y:-2.08, Z:0.13 [[ 9.98271228e-01 5.85453061e-02 5.19641116e-03 2.91253834e+01] [-5.85444458e-02 9.98284752e-01 -3.17649331e-04 -2.08435937e+00] [-5.20609491e-03 1.28791762e-05 9.99986448e-01 1.28375678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.16, Y:-2.09, Z:0.13 [[ 9.98257039e-01 5.87143272e-02 5.95925798e-03 2.91582091e+01] [-5.87131923e-02 9.98274826e-01 -3.65352543e-04 -2.08740848e+00] [-5.97042865e-03 1.48286884e-05 9.99982177e-01 1.30342840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.19, Y:-2.09, Z:0.13 [[ 9.98312599e-01 5.76654231e-02 6.83036705e-03 2.91906098e+01] [-5.76639047e-02 9.98335965e-01 -4.19199320e-04 -2.09250517e+00] [-6.84317439e-03 2.46263279e-05 9.99976585e-01 1.29433991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.352320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.22, Y:-2.10, Z:0.13 [[ 9.98413111e-01 5.57421572e-02 8.00451812e-03 2.92222607e+01] [-5.57400022e-02 9.98445196e-01 -4.92226583e-04 -2.09780817e+00] [-8.01951044e-03 4.52736161e-05 9.99967842e-01 1.28627285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.25, Y:-2.10, Z:0.13 [[ 9.98663365e-01 5.05424396e-02 1.08140779e-02 2.92544934e+01] [-5.05381884e-02 9.98721907e-01 -6.66201193e-04 -2.10414790e+00] [-1.08339280e-02 1.18786818e-04 9.99941304e-01 1.27431881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.412320588 meters Centerline goodness [0,1] 0.9999508913224967 Centerline is valid? [True, True] Translation: X:29.29, Y:-2.11, Z:0.13 [[ 9.98721094e-01 4.98395445e-02 8.49681474e-03 2.92866252e+01] [-4.98368837e-02 9.98757233e-01 -5.24728499e-04 -2.10924275e+00] [-8.51240741e-03 1.00602654e-04 9.99963764e-01 1.26628372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.442320587999998 meters Centerline goodness [0,1] 0.9999508575359969 Centerline is valid? [True, True] Translation: X:29.32, Y:-2.12, Z:0.13 [[ 9.98765859e-01 4.95090061e-02 3.95194725e-03 2.93181822e+01] [-4.95084244e-02 9.98773676e-01 -2.44949812e-04 -2.11538112e+00] [-3.95922810e-03 4.89928279e-05 9.99992161e-01 1.25891617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.35, Y:-2.12, Z:0.13 [[ 9.98761367e-01 4.97520756e-02 -6.80577629e-04 2.93497361e+01] [-4.97520589e-02 9.98761599e-01 4.14858674e-05 -2.12160598e+00] [ 6.81798809e-04 -7.57434333e-06 9.99999768e-01 1.26313337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.502320588 meters Centerline goodness [0,1] 0.9999508478741705 Centerline is valid? [True, True] Translation: X:29.38, Y:-2.13, Z:0.13 [[ 9.98644749e-01 5.20079136e-02 -1.96034437e-03 2.93813120e+01] [-5.20077762e-02 9.98646673e-01 1.21016765e-04 -2.12628505e+00] [ 1.96398522e-03 -1.88996049e-05 9.99998071e-01 1.26745131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.532320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.41, Y:-2.13, Z:0.13 [[ 9.98504061e-01 5.46416988e-02 1.98099584e-03 2.94132209e+01] [-5.46415604e-02 9.98506026e-01 -1.23945102e-04 -2.13058359e+00] [-1.98480886e-03 1.55149833e-05 9.99998030e-01 1.27386257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.44, Y:-2.14, Z:0.13 [[ 9.98251502e-01 5.87531317e-02 6.48131004e-03 2.94444466e+01] [-5.87517442e-02 9.98272542e-01 -4.04433969e-04 -2.13822094e+00] [-6.49387561e-03 2.29385475e-05 9.99978914e-01 1.28625109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.48, Y:-2.15, Z:0.13 [[ 9.97721236e-01 6.68015315e-02 9.48102226e-03 2.94752208e+01] [-6.67988966e-02 9.97766282e-01 -5.94662400e-04 -2.15374790e+00] [-9.49956869e-03 -4.00145205e-05 9.99954877e-01 1.30005355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.622320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.51, Y:-2.16, Z:0.13 [[ 9.97440553e-01 7.12294599e-02 6.22147089e-03 2.95075289e+01] [-7.12284075e-02 9.97459955e-01 -3.90851851e-04 -2.15814679e+00] [-6.23350824e-03 -5.32939770e-05 9.99980570e-01 1.30291937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.54, Y:-2.16, Z:0.13 [[ 9.97073233e-01 7.62850361e-02 5.05582224e-03 2.95391305e+01] [-7.62843870e-02 9.97086049e-01 -3.21401276e-04 -2.16031701e+00] [-5.06560793e-03 -6.52196912e-05 9.99987168e-01 1.28498236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.57, Y:-2.17, Z:0.13 [[ 9.96370577e-01 8.49504960e-02 5.39319531e-03 2.95704563e+01] [-8.49498727e-02 9.96385167e-01 -3.44951705e-04 -2.16894649e+00] [-5.40300362e-03 -1.14451525e-04 9.99985397e-01 1.26017095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.712320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.60, Y:-2.17, Z:0.13 [[ 9.96003311e-01 8.90596108e-02 6.76678433e-03 2.96020594e+01] [-8.90587323e-02 9.96026283e-01 -4.31645551e-04 -2.17390816e+00] [-6.77833723e-03 -1.72720836e-04 9.99977012e-01 1.28194747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.63, Y:-2.17, Z:0.13 [[ 9.95692370e-01 9.21961418e-02 9.82725657e-03 2.96338602e+01] [-9.21943904e-02 9.95740827e-01 -6.32048665e-04 -2.17371586e+00] [-9.84367304e-03 -2.76691896e-04 9.99951512e-01 1.29891278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.67, Y:-2.17, Z:0.13 [[ 9.95300712e-01 9.61793559e-02 1.12260885e-02 2.96656796e+01] [-9.61772748e-02 9.95363956e-01 -7.26355064e-04 -2.17151574e+00] [-1.12439042e-02 -3.56752887e-04 9.99936722e-01 1.31517635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.802320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.70, Y:-2.17, Z:0.13 [[ 9.94918546e-01 9.99150639e-02 1.24123825e-02 2.96978275e+01] [-9.99127457e-02 9.94995874e-01 -8.08279589e-04 -2.17053017e+00] [-1.24310287e-02 -4.35982866e-04 9.99922637e-01 1.32133984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.832320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.73, Y:-2.18, Z:0.13 [[ 9.94469999e-01 1.04440579e-01 1.10266686e-02 2.97295444e+01] [-1.04439026e-01 9.94531032e-01 -7.18117781e-04 -2.17578313e+00] [-1.10413647e-02 -4.37467938e-04 9.99938947e-01 1.31455306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.76, Y:-2.18, Z:0.13 [[ 9.94392178e-01 1.05332780e-01 9.44470414e-03 2.97629533e+01] [-1.05331619e-01 9.94436958e-01 -6.21654594e-04 -2.17728068e+00] [-9.45764346e-03 -3.76657513e-04 9.99955205e-01 1.31739296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.80, Y:-2.17, Z:0.13 [[ 9.94302955e-01 1.06226444e-01 8.80771928e-03 2.97966088e+01] [-1.06225429e-01 9.94341901e-01 -5.84276495e-04 -2.17491232e+00] [-8.81994995e-03 -3.54655917e-04 9.99961041e-01 1.30859401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.922320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.83, Y:-2.16, Z:0.13 [[ 9.94195973e-01 1.07301633e-01 7.79268474e-03 2.98302696e+01] [-1.07300840e-01 9.94226462e-01 -5.21059043e-04 -2.15984553e+00] [-7.80360387e-03 -3.18126814e-04 9.99969501e-01 1.28825951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.86, Y:-2.15, Z:0.13 [[ 9.94041819e-01 1.08766055e-01 7.12790776e-03 2.98626305e+01] [-1.08765408e-01 9.94067330e-01 -4.79534132e-04 -2.15363335e+00] [-7.13777727e-03 -2.98592813e-04 9.99974481e-01 1.29030275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.90, Y:-2.15, Z:0.13 [[ 9.93780397e-01 1.11205957e-01 5.81009411e-03 2.98950355e+01] [-1.11205571e-01 9.93797348e-01 -3.90460789e-04 -2.15081611e+00] [-5.81747769e-03 -2.58082558e-04 9.99983045e-01 1.29961997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.012320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.93, Y:-2.15, Z:0.13 [[ 9.93610457e-01 1.12825722e-01 2.93533583e-03 2.99275542e+01] [-1.12825629e-01 9.93614784e-01 -1.97931185e-04 -2.14796306e+00] [-2.93892481e-03 -1.34514616e-04 9.99995672e-01 1.32687711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.96, Y:-2.15, Z:0.13 [[ 9.93800132e-01 1.11135651e-01 3.18822877e-03 2.99599483e+01] [-1.11135531e-01 9.93805236e-01 -2.15322400e-04 -2.14893392e+00] [-3.19240844e-03 -1.40338068e-04 9.99994894e-01 1.34717603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.99, Y:-2.15, Z:0.14 [[ 9.94032888e-01 1.08908496e-01 6.12838487e-03 2.99922681e+01] [-1.08908010e-01 9.94051746e-01 -4.14081096e-04 -2.15026697e+00] [-6.13702863e-03 -2.55819971e-04 9.99981136e-01 1.35315276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.102320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.02, Y:-2.14, Z:0.13 [[ 9.94642399e-01 1.02753627e-01 1.13221470e-02 3.00241723e+01] [-1.02751569e-01 9.94706756e-01 -7.64887849e-04 -2.14467439e+00] [-1.13408111e-02 -4.02578481e-04 9.99935610e-01 1.34308676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.06, Y:-2.14, Z:0.13 [[ 9.94948737e-01 9.97562544e-02 1.12116374e-02 3.00565474e+01] [-9.97539694e-02 9.95011840e-01 -7.64238056e-04 -2.13852968e+00] [-1.12319495e-02 -3.58027644e-04 9.99936856e-01 1.31810365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.09, Y:-2.13, Z:0.13 [[ 9.95255514e-01 9.68188781e-02 9.62117519e-03 3.00898066e+01] [-9.68170543e-02 9.95301978e-01 -6.56239084e-04 -2.13162363e+00] [-9.63951103e-03 -2.78368274e-04 9.99953500e-01 1.28869995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.192320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.12, Y:-2.13, Z:0.13 [[ 9.95571189e-01 9.38398288e-02 5.66513882e-03 3.01222407e+01] [-9.38391431e-02 9.95587297e-01 -3.87311047e-04 -2.12719999e+00] [-5.67648545e-03 -1.46016054e-04 9.99983878e-01 1.28434827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.15, Y:-2.13, Z:0.13 [[ 9.95623934e-01 9.33018793e-02 5.26709627e-03 3.01543941e+01] [-9.33012751e-02 9.95637857e-01 -3.60830463e-04 -2.13085015e+00] [-5.27778660e-03 -1.32175354e-04 9.99986064e-01 1.32416866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.19, Y:-2.13, Z:0.14 [[ 9.95641494e-01 9.29432499e-02 7.71799422e-03 3.01861246e+01] [-9.29419367e-02 9.95671390e-01 -5.29425958e-04 -2.13324403e+00] [-7.73379260e-03 -1.90206878e-04 9.99970076e-01 1.37982360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.282320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.22, Y:-2.13, Z:0.14 [[ 9.95865327e-01 9.04468955e-02 8.46229766e-03 3.02186173e+01] [-9.04452178e-02 9.95901262e-01 -5.81527009e-04 -2.13274852e+00] [-8.48021023e-03 -1.86251770e-04 9.99964025e-01 1.40392812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.25, Y:-2.13, Z:0.14 [[ 9.96514678e-01 8.30332047e-02 7.99896877e-03 3.02516261e+01] [-8.30314513e-02 9.96546775e-01 -5.51626326e-04 -2.12704921e+00] [-8.01714983e-03 -1.14462255e-04 9.99967856e-01 1.37051363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.28, Y:-2.13, Z:0.13 [[ 9.96854724e-01 7.86572919e-02 9.67936730e-03 3.02843479e+01] [-7.86545105e-02 9.96901711e-01 -6.68287783e-04 -2.12660787e+00] [-9.70194353e-03 -9.51400635e-05 9.99952931e-01 1.33321241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.372320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.32, Y:-2.13, Z:0.13 [[ 9.96838913e-01 7.88574297e-02 9.67920964e-03 3.03167781e+01] [-7.88546356e-02 9.96885900e-01 -6.70569371e-04 -2.12879327e+00] [-9.70194698e-03 -9.48009052e-05 9.99952931e-01 1.33485089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.35, Y:-2.13, Z:0.13 [[ 9.97174849e-01 7.42590999e-02 1.13095855e-02 3.03493876e+01] [-7.42549778e-02 9.97238980e-01 -7.84533955e-04 -2.12864865e+00] [-1.13366183e-02 -5.74754937e-05 9.99935737e-01 1.31109871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.38, Y:-2.13, Z:0.13 [[ 9.97657410e-01 6.71050434e-02 1.32892817e-02 3.03815045e+01] [-6.70986944e-02 9.97745916e-01 -9.23550742e-04 -2.13031448e+00] [-1.33213014e-02 2.96937908e-05 9.99911267e-01 1.32005407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.462320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.41, Y:-2.13, Z:0.13 [[ 9.97791966e-01 6.52055286e-02 1.26265896e-02 3.04139252e+01] [-6.51996081e-02 9.97871853e-01 -8.80398596e-04 -2.13489164e+00] [-1.26571252e-02 5.52059536e-05 9.99919894e-01 1.32320148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.45, Y:-2.14, Z:0.13 [[ 9.97943921e-01 6.33483566e-02 9.74254411e-03 3.04455318e+01] [-6.33447319e-02 9.97991474e-01 -6.80485760e-04 -2.13837836e+00] [-9.76608361e-03 6.19477823e-05 9.99952309e-01 1.33496542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.48, Y:-2.14, Z:0.14 [[ 9.98124035e-01 6.11983691e-02 1.78055565e-03 3.04774740e+01] [-6.11982432e-02 9.98125623e-01 -1.25159700e-04 -2.13861580e+00] [-1.78487779e-03 1.59580265e-05 9.99998407e-01 1.35545883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.552320587999997 meters Centerline goodness [0,1] 0.9999508333743056 Centerline is valid? [True, True] Translation: X:30.51, Y:-2.14, Z:0.14 [[ 9.98154126e-01 6.07208627e-02 1.14810036e-03 3.05096594e+01] [-6.07208096e-02 9.98154786e-01 -8.10954057e-05 -2.14042374e+00] [-1.15090605e-03 1.12321306e-05 9.99999338e-01 1.35151760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.582320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.54, Y:-2.14, Z:0.14 [[ 9.98133570e-01 6.10500076e-02 1.50787081e-03 3.05419005e+01] [-6.10499163e-02 9.98134709e-01 -1.06494566e-04 -2.14441994e+00] [-1.51155969e-03 1.42404149e-05 9.99998857e-01 1.36723251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.57, Y:-2.15, Z:0.14 [[ 9.97993624e-01 6.32619981e-02 2.57811718e-03 3.05741961e+01] [-6.32617392e-02 9.97996954e-01 -1.81957110e-04 -2.14971853e+00] [-2.58446407e-03 1.84958588e-05 9.99996660e-01 1.37051945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.61, Y:-2.16, Z:0.14 [[ 9.97486334e-01 7.06368792e-02 5.60759568e-03 3.06058128e+01] [-7.06357678e-02 9.97502096e-01 -3.96245503e-04 -2.15640644e+00] [-5.62157799e-03 -8.47351665e-07 9.99984199e-01 1.35722651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.672320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.64, Y:-2.16, Z:0.13 [[ 9.97168984e-01 7.48288563e-02 7.39326471e-03 3.06375203e+01] [-7.48270359e-02 9.97196391e-01 -5.22919718e-04 -2.15882853e+00] [-7.41166637e-03 -3.17767598e-05 9.99972533e-01 1.33453024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.67, Y:-2.16, Z:0.13 [[ 9.97024336e-01 7.67767035e-02 6.91463053e-03 3.06705173e+01] [-7.67751456e-02 9.97048312e-01 -4.90857836e-04 -2.16030753e+00] [-6.93190714e-03 -4.14745573e-05 9.99975973e-01 1.32896469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.70, Y:-2.16, Z:0.13 [[ 9.96927378e-01 7.80983629e-02 6.03720961e-03 3.07033422e+01] [-7.80971911e-02 9.96945657e-01 -4.29951806e-04 -2.16263881e+00] [-6.05234844e-03 -4.28583864e-05 9.99981683e-01 1.30711105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.762320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.74, Y:-2.17, Z:0.13 [[ 9.97061075e-01 7.65680296e-02 2.55932045e-03 3.07351304e+01] [-7.65678108e-02 9.97064359e-01 -1.83541347e-04 -2.16736633e+00] [-2.56586061e-03 -1.29596319e-05 9.99996708e-01 1.32542948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.77, Y:-2.17, Z:0.13 [[ 9.97104580e-01 7.59865139e-02 2.91655806e-03 3.07670306e+01] [-7.59862277e-02 9.97108845e-01 -2.08959780e-04 -2.17242421e+00] [-2.92400396e-03 -1.32634908e-05 9.99995725e-01 1.34801559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.80, Y:-2.18, Z:0.14 [[ 9.97169060e-01 7.51016770e-02 3.68828304e-03 3.07993735e+01] [-7.51012121e-02 9.97175881e-01 -2.64567719e-04 -2.17638898e+00] [-3.69773637e-03 -1.31757834e-05 9.99993163e-01 1.37020839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.852320587999998 meters Centerline goodness [0,1] 0.9999509130178676 Centerline is valid? [True, True] Translation: X:30.83, Y:-2.18, Z:0.14 [[ 9.96949421e-01 7.74426084e-02 9.72085372e-03 3.08317173e+01] [-7.74394886e-02 9.96996810e-01 -6.97492195e-04 -2.17906758e+00] [-9.74567577e-03 -5.74135014e-05 9.99952508e-01 1.38439149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.86, Y:-2.18, Z:0.14 [[ 9.96653316e-01 8.07390888e-02 1.27815324e-02 3.08637371e+01] [-8.07339472e-02 9.96735264e-01 -9.18575963e-04 -2.18042355e+00] [-1.28139690e-02 -1.16401780e-04 9.99917891e-01 1.38052360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.90, Y:-2.18, Z:0.14 [[ 9.96142101e-01 8.62619890e-02 1.61178343e-02 3.08953644e+01] [-8.62544022e-02 9.96272461e-01 -1.16658036e-03 -2.18186771e+00] [-1.61583860e-02 -2.28154359e-04 9.99869419e-01 1.36107280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.942320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.93, Y:-2.18, Z:0.13 [[ 9.95620922e-01 9.16279702e-02 1.85282024e-02 3.09272591e+01] [-9.16187247e-02 9.95793246e-01 -1.34901115e-03 -2.18265920e+00] [-1.85738660e-02 -3.54426557e-04 9.99827428e-01 1.34099193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.96, Y:-2.18, Z:0.13 [[ 9.94576754e-01 1.02758726e-01 1.60537859e-02 3.09589568e+01] [-1.02753123e-01 9.94706195e-01 -1.17567858e-03 -2.18180794e+00] [-1.60896115e-02 -4.80274051e-04 9.99870438e-01 1.33965198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.99, Y:-2.18, Z:0.13 [[ 9.94116315e-01 1.07633332e-01 1.21580821e-02 3.09912304e+01] [-1.07630409e-01 9.94190571e-01 -8.96366068e-04 -2.18262935e+00] [-1.21839294e-02 -4.17487219e-04 9.99925686e-01 1.34840423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.032320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.02, Y:-2.18, Z:0.14 [[ 9.93809453e-01 1.10839683e-01 7.57200562e-03 3.10234935e+01] [-1.10838638e-01 9.93838258e-01 -5.58863472e-04 -2.18418599e+00] [-7.58729313e-03 -2.83866987e-04 9.99971176e-01 1.37655021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.06, Y:-2.19, Z:0.14 [[ 9.93583938e-01 1.13030958e-01 3.86785081e-03 3.10556130e+01] [-1.13030699e-01 9.93591455e-01 -2.86206053e-04 -2.18807336e+00] [-3.87541366e-03 -1.52816144e-04 9.99992479e-01 1.38965061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.09, Y:-2.19, Z:0.14 [[ 9.93449279e-01 1.14096748e-01 6.36098360e-03 3.10873660e+01] [-1.14096059e-01 9.93469610e-01 -4.72248943e-04 -2.18878968e+00] [-6.37332596e-03 -2.56607791e-04 9.99979657e-01 1.40049251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.122320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.12, Y:-2.19, Z:0.14 [[ 9.93404304e-01 1.14170434e-01 1.06302017e-02 3.11200251e+01] [-1.14168514e-01 9.93461085e-01 -7.89256462e-04 -2.18905271e+00] [-1.06508014e-02 -4.29583564e-04 9.99943186e-01 1.39003067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.15, Y:-2.18, Z:0.14 [[ 9.93035503e-01 1.17030721e-01 1.35757294e-02 3.11528972e+01] [-1.17027836e-01 9.93128122e-01 -1.00946816e-03 -2.18438032e+00] [-1.36005774e-02 -5.86300505e-04 9.99907336e-01 1.38594969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.19, Y:-2.18, Z:0.14 [[ 9.92744307e-01 1.19577231e-01 1.26501878e-02 3.11856642e+01] [-1.19574912e-01 9.92824734e-01 -9.42239169e-04 -2.18192558e+00] [-1.26720897e-02 -5.77242525e-04 9.99919539e-01 1.38437998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.212320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.22, Y:-2.18, Z:0.14 [[ 9.92378114e-01 1.22947285e-01 8.34532902e-03 3.12179800e+01] [-1.22946384e-01 9.92413119e-01 -6.22826553e-04 -2.17978914e+00] [-8.35858884e-03 -4.07948590e-04 9.99964983e-01 1.38988393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.25, Y:-2.18, Z:0.14 [[ 9.92220555e-01 1.24395318e-01 4.91671345e-03 3.12502279e+01] [-1.24395019e-01 9.92232707e-01 -3.67795433e-04 -2.17751602e+00] [-4.92427593e-03 -2.46680475e-04 9.99987845e-01 1.39220460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.28, Y:-2.17, Z:0.14 [[ 9.92359046e-01 1.23308491e-01 4.30589843e-03 3.12830234e+01] [-1.23308248e-01 9.92368365e-01 -3.23000362e-04 -2.17093762e+00] [-4.31286607e-03 -2.10420460e-04 9.99990677e-01 1.40391615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.302320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.32, Y:-2.17, Z:0.14 [[ 9.92690530e-01 1.20460842e-01 7.39579309e-03 3.13152286e+01] [-1.20460043e-01 9.92718021e-01 -5.55017351e-04 -2.17041586e+00] [-7.40879494e-03 -3.39937085e-04 9.99972497e-01 1.42553325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.332320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.35, Y:-2.17, Z:0.14 [[ 9.93160290e-01 1.16153192e-01 1.18774925e-02 3.13479606e+01] [-1.16150804e-01 9.93231188e-01 -8.92983465e-04 -2.17018103e+00] [-1.19008189e-02 -4.92704589e-04 9.99929061e-01 1.43953669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.38, Y:-2.17, Z:0.14 [[ 9.93764225e-01 1.10737556e-01 1.30330133e-02 3.13800956e+01] [-1.10734197e-01 9.93849573e-01 -9.81293548e-04 -2.16960952e+00] [-1.30615208e-02 -4.68025851e-04 9.99914585e-01 1.44469635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.41, Y:-2.17, Z:0.14 [[ 9.94950928e-01 9.96874378e-02 1.16218032e-02 3.14114271e+01] [-9.96840115e-02 9.95018760e-01 -8.75157689e-04 -2.16581805e+00] [-1.16511544e-02 -2.87769012e-04 9.99932082e-01 1.39069721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.422320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.44, Y:-2.16, Z:0.14 [[ 9.95341261e-01 9.58080158e-02 1.07980238e-02 3.14440719e+01] [-9.58048092e-02 9.95399806e-01 -8.15037434e-04 -2.16456102e+00] [-1.08264379e-02 -2.23262220e-04 9.99941367e-01 1.36007607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.48, Y:-2.16, Z:0.14 [[ 9.95540240e-01 9.38825848e-02 9.25694512e-03 3.14769129e+01] [-9.38801282e-02 9.95583262e-01 -7.00519255e-04 -2.16359838e+00] [-9.28182618e-03 -1.71648087e-04 9.99956908e-01 1.35495802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.51, Y:-2.16, Z:0.14 [[ 9.95773590e-01 9.15715257e-02 7.04361786e-03 3.15093527e+01] [-9.15700387e-02 9.95798495e-01 -5.34005444e-04 -2.16115078e+00] [-7.06292376e-03 -1.13235841e-04 9.99975051e-01 1.38521887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.512320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.54, Y:-2.16, Z:0.14 [[ 9.95907363e-01 9.02467042e-02 4.90477967e-03 3.15417086e+01] [-9.02459628e-02 9.95919438e-01 -3.72720546e-04 -2.16195357e+00] [-4.91840221e-03 -7.14414276e-05 9.99987902e-01 1.40525920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.57, Y:-2.16, Z:0.14 [[ 9.96096188e-01 8.80994903e-02 5.55548674e-03 3.15743158e+01] [-8.80985021e-02 9.96111678e-01 -4.22836781e-04 -2.16265963e+00] [-5.57113693e-03 -6.82439545e-05 9.99984479e-01 1.40475523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.61, Y:-2.16, Z:0.14 [[ 9.96369193e-01 8.45357811e-02 1.01061323e-02 3.16059336e+01] [-8.45323243e-02 9.96420440e-01 -7.69492993e-04 -2.16466812e+00] [-1.01350065e-02 -8.75957425e-05 9.99948636e-01 1.40803752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.602320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.64, Y:-2.17, Z:0.14 [[ 9.96336325e-01 8.47737963e-02 1.12840958e-02 3.16381787e+01] [-8.47694836e-02 9.96400218e-01 -8.60801390e-04 -2.16722969e+00] [-1.13164489e-02 -9.88992817e-05 9.99935962e-01 1.41186031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.67, Y:-2.17, Z:0.14 [[ 9.96306143e-01 8.48721043e-02 1.30688511e-02 3.16702798e+01] [-8.48663062e-02 9.96391847e-01 -9.98596928e-04 -2.16697471e+00] [-1.31064497e-02 -1.14196862e-04 9.99914100e-01 1.41276563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.70, Y:-2.16, Z:0.14 [[ 9.96221012e-01 8.62106269e-02 1.05556786e-02 3.17034368e+01] [-8.62069033e-02 9.96276928e-01 -8.08097652e-04 -2.15852783e+00] [-1.05860456e-02 -1.04928501e-04 9.99943961e-01 1.39624433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.692320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.74, Y:-2.16, Z:0.14 [[ 9.96226700e-01 8.62395084e-02 9.75242235e-03 3.17358576e+01] [-8.62363181e-02 9.96274429e-01 -7.47958432e-04 -2.15762671e+00] [-9.78059258e-03 -9.58768362e-05 9.99952164e-01 1.38102064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.77, Y:-2.16, Z:0.14 [[ 9.96304696e-01 8.53487329e-02 9.62007405e-03 3.17682080e+01] [-8.53455746e-02 9.96351136e-01 -7.39107485e-04 -2.16210213e+00] [-9.64805359e-03 -8.46544882e-05 9.99953453e-01 1.37881963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.80, Y:-2.17, Z:0.14 [[ 9.96385299e-01 8.43203994e-02 1.03153536e-02 3.17999889e+01] [-8.43166989e-02 9.96438691e-01 -7.93874409e-04 -2.16944242e+00] [-1.03455572e-02 -7.87517719e-05 9.99946480e-01 1.38507448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.782320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.83, Y:-2.18, Z:0.14 [[ 9.96843996e-01 7.87629678e-02 9.92181422e-03 3.18313265e+01] [-7.87592552e-02 9.96893372e-01 -7.64964487e-04 -2.17755880e+00] [-9.95124170e-03 -1.88844417e-05 9.99950485e-01 1.39800292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.86, Y:-2.18, Z:0.14 [[ 9.97164942e-01 7.46120876e-02 9.75263553e-03 3.18639835e+01] [-7.46082793e-02 9.97212633e-01 -7.54239334e-04 -2.17929988e+00] [-9.78172673e-03 2.44736666e-05 9.99952157e-01 1.38962517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.90, Y:-2.18, Z:0.14 [[ 9.97416423e-01 7.11829417e-02 9.66790104e-03 3.18959880e+01] [-7.11790288e-02 9.97463275e-01 -7.48659941e-04 -2.18085117e+00] [-9.69666805e-03 5.85739141e-05 9.99952984e-01 1.37939964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.872320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.93, Y:-2.18, Z:0.14 [[ 9.97510947e-01 6.96546479e-02 1.09608372e-02 3.19279196e+01] [-6.96495055e-02 9.97571162e-01 -8.50645487e-04 -2.18339412e+00] [-1.09934665e-02 8.51112924e-05 9.99939566e-01 1.38630383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.96, Y:-2.18, Z:0.14 [[ 9.97433083e-01 7.02433398e-02 1.38966757e-02 3.19603866e+01] [-7.02351100e-02 9.97529881e-01 -1.07998093e-03 -2.18344705e+00] [-1.39382107e-02 1.01174160e-04 9.99902853e-01 1.40889923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.99, Y:-2.19, Z:0.14 [[ 9.97289758e-01 7.21706784e-02 1.43014598e-02 3.19928547e+01] [-7.21621154e-02 9.97392293e-01 -1.11456005e-03 -2.18598014e+00] [-1.43446044e-02 7.95157266e-05 9.99897108e-01 1.41730546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.962320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.02, Y:-2.19, Z:0.14 [[ 9.97189246e-01 7.36920409e-02 1.35311260e-02 3.20247830e+01] [-7.36844951e-02 9.97281044e-01 -1.05603525e-03 -2.19133099e+00] [-1.35721569e-02 5.60328055e-05 9.99907892e-01 1.40700067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.06, Y:-2.20, Z:0.14 [[ 9.97147288e-01 7.44906939e-02 1.21828926e-02 3.20569343e+01] [-7.44845944e-02 9.97221708e-01 -9.54270263e-04 -2.19945475e+00] [-1.22201292e-02 4.41101912e-05 9.99925330e-01 1.38329840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.09, Y:-2.21, Z:0.13 [[ 9.97320785e-01 7.20459274e-02 1.26742439e-02 3.20884921e+01] [-7.20391142e-02 9.97401313e-01 -9.93878663e-04 -2.21434527e+00] [-1.27129124e-02 7.81745474e-05 9.99919185e-01 1.33834487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.052320587999997 meters Centerline goodness [0,1] 0.9999507122085859 Centerline is valid? [True, True] Translation: X:32.12, Y:-2.22, Z:0.13 [[ 9.97412564e-01 7.06442824e-02 1.33252612e-02 3.21202482e+01] [-7.06366032e-02 9.97501566e-01 -1.04664869e-03 -2.22187673e+00] [-1.33659087e-02 1.02689365e-04 9.99910667e-01 1.34695896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.082320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.15, Y:-2.23, Z:0.14 [[ 9.97504681e-01 6.89966140e-02 1.49625657e-02 3.21517096e+01] [-6.89867178e-02 9.97616884e-01 -1.17714724e-03 -2.22728580e+00] [-1.50081273e-02 1.41991584e-04 9.99887362e-01 1.36493996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.18, Y:-2.23, Z:0.14 [[ 9.97561800e-01 6.77196784e-02 1.68671513e-02 3.21838248e+01] [-6.77068836e-02 9.97704371e-01 -1.32912180e-03 -2.23033606e+00] [-1.69184383e-02 1.83858887e-04 9.99856856e-01 1.38500172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.22, Y:-2.23, Z:0.14 [[ 9.97549321e-01 6.85538881e-02 1.39899062e-02 3.22164462e+01] [-6.85451411e-02 9.97647405e-01 -1.10433962e-03 -2.23097570e+00] [-1.40327004e-02 1.42693146e-04 9.99901527e-01 1.41637125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.172320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.25, Y:-2.24, Z:0.14 [[ 9.97320583e-01 7.17802839e-02 1.41154591e-02 3.22481818e+01] [-7.17716759e-02 9.97420463e-01 -1.11610715e-03 -2.23503034e+00] [-1.41591622e-02 1.00026477e-04 9.99899749e-01 1.40930088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.28, Y:-2.24, Z:0.14 [[ 9.96941023e-01 7.68582163e-02 1.41919351e-02 3.22799719e+01] [-7.68500018e-02 9.97042032e-01 -1.12406747e-03 -2.24218766e+00] [-1.42363496e-02 2.99787358e-05 9.99898658e-01 1.39328670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.31, Y:-2.26, Z:0.14 [[ 9.96112770e-01 8.69761946e-02 1.39459960e-02 3.23112735e+01] [-8.69692268e-02 9.96210384e-01 -1.10646471e-03 -2.25711460e+00] [-1.39893821e-02 -1.10708865e-04 9.99902138e-01 1.36986200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.262320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.34, Y:-2.26, Z:0.14 [[ 9.95760470e-01 9.09315282e-02 1.38760063e-02 3.23425861e+01] [-9.09249881e-02 9.95857134e-01 -1.10278103e-03 -2.26457809e+00] [-1.39187974e-02 -1.63569952e-04 9.99903115e-01 1.37554693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.37, Y:-2.27, Z:0.14 [[ 9.95742055e-01 9.11330008e-02 1.38757555e-02 3.23749971e+01] [-9.11264363e-02 9.95838717e-01 -1.10593417e-03 -2.26710256e+00] [-1.39188016e-02 -1.63222984e-04 9.99903115e-01 1.37718560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.41, Y:-2.27, Z:0.14 [[ 9.95463863e-01 9.39296330e-02 1.51301775e-02 3.24066827e+01] [-9.39221265e-02 9.95578815e-01 -1.20751139e-03 -2.27376475e+00] [-1.51767053e-02 -2.19024496e-04 9.99884803e-01 1.38694905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.352320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.44, Y:-2.28, Z:0.14 [[ 9.95330500e-01 9.50849876e-02 1.66145072e-02 3.24384269e+01] [-9.50760610e-02 9.95469125e-01 -1.32812457e-03 -2.27945460e+00] [-1.66655137e-02 -2.57719015e-04 9.99861087e-01 1.39487692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.47, Y:-2.28, Z:0.14 [[ 9.95159073e-01 9.69721023e-02 1.59634101e-02 3.24716867e+01] [-9.69639377e-02 9.95287064e-01 -1.28647773e-03 -2.28338052e+00] [-1.60129280e-02 -2.67625113e-04 9.99871749e-01 1.40354598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.50, Y:-2.29, Z:0.14 [[ 9.94967931e-01 9.93218168e-02 1.31906092e-02 3.25038015e+01] [-9.93163654e-02 9.95055333e-01 -1.06930922e-03 -2.28641394e+00] [-1.32315917e-02 -2.46114980e-04 9.99912428e-01 1.39203038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.442320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.54, Y:-2.29, Z:0.14 [[ 9.94729774e-01 1.02016653e-01 1.02605339e-02 3.25367570e+01] [-1.02013485e-01 9.94782667e-01 -8.33008601e-04 -2.29016058e+00] [-1.02919820e-02 -2.18094365e-04 9.99947012e-01 1.38048256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.57, Y:-2.29, Z:0.14 [[ 9.94292997e-01 1.06334852e-01 8.62180643e-03 3.25682199e+01] [-1.06332773e-01 9.94330353e-01 -7.00464815e-04 -2.29329832e+00] [-8.64740765e-03 -2.20313322e-04 9.99962586e-01 1.38080333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.60, Y:-2.29, Z:0.14 [[ 9.93224880e-01 1.15931193e-01 8.01846832e-03 3.25999719e+01] [-1.15929704e-01 9.93257207e-01 -6.51823273e-04 -2.29129079e+00] [-8.03996810e-03 -2.82171566e-04 9.99967639e-01 1.41246770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.532320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.63, Y:-2.29, Z:0.14 [[ 9.92832417e-01 1.19132978e-01 9.54598077e-03 3.26319108e+01] [-1.19131006e-01 9.92878240e-01 -7.76997207e-04 -2.28923882e+00] [-9.57056258e-03 -3.65794278e-04 9.99954134e-01 1.41396131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.66, Y:-2.29, Z:0.14 [[ 9.92590903e-01 1.21131358e-01 9.51278424e-03 3.26636514e+01] [-1.21129483e-01 9.92636413e-01 -7.75198842e-04 -2.28953206e+00] [-9.53663691e-03 -3.82823316e-04 9.99954452e-01 1.41169251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.70, Y:-2.29, Z:0.14 [[ 9.92641915e-01 1.20622659e-01 1.05926044e-02 3.26957177e+01] [-1.20620290e-01 9.92698342e-01 -8.64633705e-04 -2.29189797e+00] [-1.06195553e-02 -4.19411356e-04 9.99943523e-01 1.40494740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.622320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.73, Y:-2.29, Z:0.14 [[ 9.92774911e-01 1.19400108e-01 1.18991763e-02 3.27282888e+01] [-1.19397013e-01 9.92846114e-01 -9.72699593e-04 -2.29266088e+00] [-1.19301914e-02 -4.55054363e-04 9.99928729e-01 1.41578786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.76, Y:-2.28, Z:0.14 [[ 9.93096138e-01 1.16366248e-01 1.47971788e-02 3.27618042e+01] [-1.16361100e-01 9.93206236e-01 -1.21131942e-03 -2.28070563e+00] [-1.48376070e-02 -5.18859378e-04 9.99889782e-01 1.42395787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.79, Y:-2.27, Z:0.14 [[ 9.93268099e-01 1.14874447e-01 1.49112154e-02 3.27943769e+01] [-1.14869023e-01 9.93379894e-01 -1.22255087e-03 -2.27475141e+00] [-1.49529414e-02 -4.98515964e-04 9.99888074e-01 1.41594331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.712320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.83, Y:-2.27, Z:0.14 [[ 9.93478081e-01 1.13256073e-01 1.32047051e-02 3.28266895e+01] [-1.13251654e-01 9.93565744e-01 -1.08440678e-03 -2.27174395e+00] [-1.32425583e-02 -4.18120318e-04 9.99912226e-01 1.41093650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.86, Y:-2.27, Z:0.14 [[ 9.93804143e-01 1.10454837e-01 1.23715323e-02 3.28587050e+01] [-1.10450720e-01 9.93881081e-01 -1.01762171e-03 -2.27017756e+00] [-1.24082331e-02 -3.55127978e-04 9.99922952e-01 1.40136655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.89, Y:-2.26, Z:0.14 [[ 9.94592512e-01 1.03273493e-01 1.09690459e-02 3.28905579e+01] [-1.03269815e-01 9.94652970e-01 -9.02745619e-04 -2.26404140e+00] [-1.10036237e-02 -2.34907300e-04 9.99939431e-01 1.41501306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802320587999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.92, Y:-2.26, Z:0.14 [[ 9.94992990e-01 9.93245031e-02 1.11172118e-02 3.29232373e+01] [-9.93204427e-02 9.95055077e-01 -9.18116388e-04 -2.26037249e+00] [-1.11534295e-02 -1.90647024e-04 9.99937780e-01 1.42676321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.832320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.96, Y:-2.26, Z:0.14 [[ 9.95515241e-01 9.37454062e-02 1.26965915e-02 3.29562578e+01] [-9.37396337e-02 9.95596192e-01 -1.05031062e-03 -2.25720919e+00] [-1.27391399e-02 -1.44573605e-04 9.99918843e-01 1.42393092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.99, Y:-2.26, Z:0.14 [[ 9.96033347e-01 8.79741553e-02 1.33461488e-02 3.29890013e+01] [-8.79672377e-02 9.96122755e-01 -1.10561797e-03 -2.25544603e+00] [-1.33916683e-02 -7.27914750e-05 9.99910325e-01 1.41832705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.02, Y:-2.25, Z:0.14 [[ 9.96985995e-01 7.65617317e-02 1.25389851e-02 3.30212125e+01] [-7.65547005e-02 9.97064840e-01 -1.04047832e-03 -2.25409464e+00] [-1.25818419e-02 7.74240704e-05 9.99920842e-01 1.40234246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.922320587999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.05, Y:-2.26, Z:0.14 [[ 9.97359274e-01 7.19554488e-02 9.84340720e-03 3.30541409e+01] [-7.19508676e-02 9.97407841e-01 -8.19200649e-04 -2.25534600e+00] [-9.87683747e-03 1.08795676e-04 9.99951217e-01 1.41090625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.09, Y:-2.26, Z:0.14 [[ 9.97704686e-01 6.71057344e-02 9.06533053e-03 3.30867172e+01] [-6.71016404e-02 9.97745859e-01 -7.55364231e-04 -2.25658460e+00] [-9.09558527e-03 1.45331884e-04 9.99958624e-01 1.40686205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.12, Y:-2.26, Z:0.14 [[ 9.98100721e-01 6.04107862e-02 1.20617859e-02 3.31185258e+01] [-6.04030333e-02 9.98173562e-01 -1.00636084e-03 -2.25906260e+00] [-1.21005508e-02 2.75881027e-04 9.99926748e-01 1.39624990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.012320588 meters Centerline goodness [0,1] 0.9999507752891952 Centerline is valid? [True, True] Translation: X:33.15, Y:-2.26, Z:0.14 [[ 9.98135270e-01 5.96746573e-02 1.28420070e-02 3.31504734e+01] [-5.96657880e-02 9.98217833e-01 -1.07301432e-03 -2.26311942e+00] [-1.28831521e-02 3.04784973e-04 9.99916962e-01 1.40127185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.18, Y:-2.27, Z:0.14 [[ 9.98177895e-01 5.88510110e-02 1.33209645e-02 3.31829792e+01] [-5.88413721e-02 9.98266723e-01 -1.11469942e-03 -2.26546109e+00] [-1.33634768e-02 3.28844489e-04 9.99910651e-01 1.40214707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.072320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.22, Y:-2.27, Z:0.14 [[ 9.98215452e-01 5.87962035e-02 1.04363563e-02 3.32155056e+01] [-5.87902692e-02 9.98269973e-01 -8.74757298e-04 -2.26740186e+00] [-1.04697336e-02 2.59640053e-04 9.99945157e-01 1.40517108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.102320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.25, Y:-2.27, Z:0.14 [[ 9.98277992e-01 5.82609067e-02 6.83500702e-03 3.32477682e+01] [-5.82583415e-02 9.98301375e-01 -5.73973531e-04 -2.27028714e+00] [-6.85683713e-03 1.74788971e-04 9.99976476e-01 1.40089470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.28, Y:-2.28, Z:0.14 [[ 9.98292301e-01 5.82915592e-02 3.81788027e-03 3.32790772e+01] [-5.82907561e-02 9.98299597e-01 -3.21365868e-04 -2.28034933e+00] [-3.83012125e-03 9.82699445e-05 9.99992660e-01 1.38942956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.31, Y:-2.29, Z:0.14 [[ 9.98209719e-01 5.94074300e-02 6.93643311e-03 3.33102341e+01] [-5.94048036e-02 9.98233804e-01 -5.84240015e-04 -2.28826055e+00] [-6.95889021e-03 1.71136615e-04 9.99975772e-01 1.39377625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.34, Y:-2.29, Z:0.14 [[ 9.98184547e-01 5.91936697e-02 1.11229645e-02 3.33420016e+01] [-5.91868914e-02 9.98246479e-01 -9.37881113e-04 -2.29369284e+00] [-1.11589767e-02 2.77844743e-04 9.99937698e-01 1.40825252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.37, Y:-2.30, Z:0.14 [[ 9.98050604e-01 6.10540197e-02 1.29382699e-02 3.33736026e+01] [-6.10449844e-02 9.98134418e-01 -1.09248653e-03 -2.29638248e+00] [-1.29808332e-02 3.00540359e-04 9.99915700e-01 1.43035842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.41, Y:-2.30, Z:0.14 [[ 9.97737495e-01 6.59311241e-02 1.31521086e-02 3.34059884e+01] [-6.59221742e-02 9.97824147e-01 -1.11333279e-03 -2.30075598e+00] [-1.31968948e-02 2.43798273e-04 9.99912887e-01 1.42037041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.282320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.44, Y:-2.31, Z:0.14 [[ 9.97551377e-01 6.89292068e-02 1.18328147e-02 3.34378656e+01] [-6.89221577e-02 9.97621537e-01 -1.00296917e-03 -2.30812214e+00] [-1.18738046e-02 1.84970158e-04 9.99929487e-01 1.40210573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.312320588000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.47, Y:-2.32, Z:0.14 [[ 9.97352147e-01 7.17805018e-02 1.16728333e-02 3.34690651e+01] [-7.17738191e-02 9.97420441e-01 -9.90948660e-04 -2.31564215e+00] [-1.17138533e-02 1.50520946e-04 9.99931379e-01 1.38675745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.50, Y:-2.32, Z:0.14 [[ 9.97050399e-01 7.58378635e-02 1.17949135e-02 3.35011906e+01] [-7.58313059e-02 9.97120157e-01 -1.00285550e-03 -2.32197495e+00] [-1.18370004e-02 1.05473789e-04 9.99929935e-01 1.38844678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.53, Y:-2.33, Z:0.14 [[ 9.96285828e-01 8.54946791e-02 1.02571356e-02 3.35325897e+01] [-8.54902109e-02 9.96338627e-01 -8.74086633e-04 -2.32826105e+00] [-1.02943102e-02 -6.04456534e-06 9.99947012e-01 1.41360949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.57, Y:-2.33, Z:0.14 [[ 9.95936876e-01 8.95323135e-02 9.68009386e-03 3.35651077e+01] [-8.95285030e-02 9.95983917e-01 -8.27129329e-04 -2.33273618e+00] [-9.71527260e-03 -4.28757125e-05 9.99952805e-01 1.42273727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.60, Y:-2.34, Z:0.14 [[ 9.95634272e-01 9.27951929e-02 1.00721996e-02 3.35971882e+01] [-9.27912243e-02 9.95685214e-01 -8.61631872e-04 -2.33763581e+00] [-1.01086955e-02 -7.67415087e-05 9.99948903e-01 1.42546018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.462320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.63, Y:-2.34, Z:0.14 [[ 9.95378734e-01 9.54588073e-02 1.04303013e-02 3.36295962e+01] [-9.54546833e-02 9.95433375e-01 -8.93639907e-04 -2.34142728e+00] [-1.04679758e-02 -1.06110946e-04 9.99945204e-01 1.42357616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.492320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.66, Y:-2.34, Z:0.14 [[ 9.94876761e-01 1.00479521e-01 1.11398948e-02 3.36619749e+01] [-1.00475115e-01 9.94939113e-01 -9.55901349e-04 -2.34386297e+00] [-1.11795656e-02 -1.68278168e-04 9.99937493e-01 1.42112185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.69, Y:-2.35, Z:0.14 [[ 9.94592144e-01 1.03406987e-01 9.66758755e-03 3.36942371e+01] [-1.03403794e-01 9.94639113e-01 -8.30964122e-04 -2.34807868e+00] [-9.70168820e-03 -1.73194842e-04 9.99952923e-01 1.41990675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.73, Y:-2.35, Z:0.14 [[ 9.94386764e-01 1.05243822e-01 1.08950614e-02 3.37262885e+01] [-1.05239861e-01 9.94446425e-01 -9.37814667e-04 -2.35249138e+00] [-1.09332541e-02 -2.14044257e-04 9.99940207e-01 1.42351635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.76, Y:-2.36, Z:0.14 [[ 9.94237706e-01 1.06366344e-01 1.33260777e-02 3.37577042e+01] [-1.06360469e-01 9.94326971e-01 -1.15085536e-03 -2.35651651e+00] [-1.33728908e-02 -2.73144078e-04 9.99910542e-01 1.42208117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.79, Y:-2.36, Z:0.14 [[ 9.94242552e-01 1.05960616e-01 1.59404047e-02 3.37897312e+01] [-1.05952137e-01 9.94370276e-01 -1.37789252e-03 -2.35963827e+00] [-1.59966669e-02 -3.18960567e-04 9.99871994e-01 1.42061645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.642320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.82, Y:-2.36, Z:0.14 [[ 9.94633495e-01 1.02310590e-01 1.53868252e-02 3.38215339e+01] [-1.02302220e-01 9.94752472e-01 -1.33213833e-03 -2.36451487e+00] [-1.54423743e-02 -2.49116978e-04 9.99880728e-01 1.41518133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.672320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.85, Y:-2.37, Z:0.14 [[ 9.94951657e-01 9.92094188e-02 1.51225423e-02 3.38531328e+01] [-9.92009454e-02 9.95066557e-01 -1.31127762e-03 -2.36805818e+00] [-1.51780272e-02 -1.95512653e-04 9.99884788e-01 1.41517354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.88, Y:-2.37, Z:0.14 [[ 9.95139518e-01 9.69661389e-02 1.71729001e-02 3.38848805e+01] [-9.69548394e-02 9.95287665e-01 -1.49129497e-03 -2.37000579e+00] [-1.72365808e-02 -1.80949217e-04 9.99851423e-01 1.41227384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.92, Y:-2.37, Z:0.14 [[ 9.95485051e-01 9.23173443e-02 2.20685783e-02 3.39171474e+01] [-9.22974784e-02 9.95729628e-01 -1.91924027e-03 -2.36803919e+00] [-2.21515164e-02 -1.26299131e-04 9.99754617e-01 1.40409880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.95, Y:-2.37, Z:0.14 [[ 9.95542086e-01 9.15184705e-02 2.28106270e-02 3.39503073e+01] [-9.14967123e-02 9.95803374e-01 -1.99792763e-03 -2.37282861e+00] [-2.28977467e-02 -9.80763348e-05 9.99737807e-01 1.38890662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.98, Y:-2.38, Z:0.14 [[ 9.95510066e-01 9.18218397e-02 2.29882130e-02 3.39827825e+01] [-9.17995420e-02 9.95775447e-01 -2.02562215e-03 -2.38014593e+00] [-2.30770945e-02 -9.37801889e-05 9.99733684e-01 1.37768650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.822320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.01, Y:-2.39, Z:0.14 [[ 9.95518023e-01 9.22981471e-02 2.06135268e-02 3.40146708e+01] [-9.22801222e-02 9.95731412e-01 -1.82596094e-03 -2.38603036e+00] [-2.06940689e-02 -8.44417423e-05 9.99785851e-01 1.37935004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.852320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.05, Y:-2.39, Z:0.14 [[ 9.95282404e-01 9.51803742e-02 1.88051153e-02 3.40472084e+01] [-9.51657167e-02 9.95460035e-01 -1.67482545e-03 -2.38770697e+00] [-1.88791513e-02 -1.22677978e-04 9.99821765e-01 1.37341847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.08, Y:-2.39, Z:0.14 [[ 9.95033815e-01 9.76886060e-02 1.90956577e-02 3.40799332e+01] [-9.76737517e-02 9.95217016e-01 -1.71123822e-03 -2.39055751e+00] [-1.91714920e-02 -1.62404636e-04 9.99816197e-01 1.37940583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.11, Y:-2.39, Z:0.14 [[ 9.94954316e-01 9.85108760e-02 1.90135709e-02 3.41125237e+01] [-9.84961022e-02 9.95135960e-01 -1.71420232e-03 -2.39488572e+00] [-1.90899557e-02 -1.67209621e-04 9.99817756e-01 1.39974733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.14, Y:-2.40, Z:0.14 [[ 9.94870641e-01 9.91644437e-02 1.99705216e-02 3.41448898e+01] [-9.91480647e-02 9.95071043e-01 -1.81106329e-03 -2.39967014e+00] [-2.00516809e-02 -1.78264876e-04 9.99798929e-01 1.40592344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.18, Y:-2.40, Z:0.14 [[ 9.94958211e-01 9.79196696e-02 2.16770791e-02 3.41771081e+01] [-9.78998651e-02 9.95194310e-01 -1.97550737e-03 -2.40284057e+00] [-2.17663468e-02 -1.56635841e-04 9.99763073e-01 1.39771826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.21, Y:-2.40, Z:0.14 [[ 9.95012849e-01 9.68765335e-02 2.37564194e-02 3.42091384e+01] [-9.68521871e-02 9.95296397e-01 -2.17600677e-03 -2.40431511e+00] [-2.38554827e-02 -1.35706481e-04 9.99715408e-01 1.37033542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.032320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.24, Y:-2.41, Z:0.14 [[ 9.95105391e-01 9.57173105e-02 2.45653605e-02 3.42415669e+01] [-9.56907396e-02 9.95408552e-01 -2.25759351e-03 -2.40676247e+00] [-2.46686607e-02 -1.04134039e-04 9.99695677e-01 1.35521853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.062320588000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.27, Y:-2.41, Z:0.13 [[ 9.95263477e-01 9.38055981e-02 2.55170603e-02 3.42739987e+01] [-9.37759271e-02 9.95590532e-01 -2.35959688e-03 -2.40983993e+00] [-2.56258870e-02 -4.44653861e-05 9.99671602e-01 1.34501935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.31, Y:-2.41, Z:0.14 [[ 9.95802513e-01 8.86761440e-02 2.26693018e-02 3.43056201e+01] [-8.86511580e-02 9.96060507e-01 -2.10677378e-03 -2.41337199e+00] [-2.27668168e-02 8.82707675e-05 9.99740799e-01 1.35046657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.34, Y:-2.42, Z:0.14 [[ 9.96067001e-01 8.66062382e-02 1.87053038e-02 3.43379153e+01] [-8.65886922e-02 9.96242613e-01 -1.74742443e-03 -2.41663401e+00] [-1.87863586e-02 1.20884013e-04 9.99823513e-01 1.36213947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.37, Y:-2.42, Z:0.14 [[ 9.96142380e-01 8.62942238e-02 1.59268978e-02 3.43694839e+01] [-8.62813412e-02 9.96269689e-01 -1.49552173e-03 -2.42134654e+00] [-1.59965404e-02 1.15558474e-04 9.99872040e-01 1.36690767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.40, Y:-2.43, Z:0.14 [[ 9.96219821e-01 8.56121327e-02 1.47183886e-02 3.44008592e+01] [-8.56010495e-02 9.96328535e-01 -1.38252498e-03 -2.42857317e+00] [-1.47827115e-02 1.17389273e-04 9.99890723e-01 1.36653069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.212320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.43, Y:-2.43, Z:0.14 [[ 9.96202803e-01 8.58099798e-02 1.47180821e-02 3.44332315e+01] [-8.57988700e-02 9.96311514e-01 -1.38578563e-03 -2.43155874e+00] [-1.47827089e-02 1.17728719e-04 9.99890723e-01 1.36816934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.242320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.47, Y:-2.44, Z:0.14 [[ 9.96237873e-01 8.54874301e-02 1.42126920e-02 3.44651875e+01] [-8.54769963e-02 9.96339242e-01 -1.34108240e-03 -2.43997445e+00] [-1.42753085e-02 1.21178853e-04 9.99898095e-01 1.36152221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.50, Y:-2.45, Z:0.14 [[ 9.96316413e-01 8.37228768e-02 1.85495350e-02 3.44962847e+01] [-8.37047636e-02 9.96489058e-01 -1.75211291e-03 -2.44926553e+00] [-1.86311006e-02 1.92974402e-04 9.99826407e-01 1.35201732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.53, Y:-2.45, Z:0.14 [[ 9.96220357e-01 8.40001195e-02 2.21129181e-02 3.45284778e+01] [-8.39741855e-02 9.96465717e-01 -2.10041240e-03 -2.45393727e+00] [-2.22111997e-02 2.35559305e-04 9.99753273e-01 1.35231207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.56, Y:-2.46, Z:0.14 [[ 9.95929299e-01 8.64544540e-02 2.55040787e-02 3.45603243e+01] [-8.64204668e-02 9.96255780e-01 -2.43390815e-03 -2.46043083e+00] [-2.56190081e-02 2.19926052e-04 9.99671755e-01 1.35997756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.59, Y:-2.47, Z:0.14 [[ 9.95601086e-01 8.97114574e-02 2.70246400e-02 3.45923404e+01] [-8.96741578e-02 9.95967786e-01 -2.59143552e-03 -2.46720904e+00] [-2.71481523e-02 1.56624190e-04 9.99631409e-01 1.37371193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.392320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.62, Y:-2.48, Z:0.14 [[ 9.95439051e-01 9.23886827e-02 2.37787273e-02 3.46243540e+01] [-9.23605030e-02 9.95723016e-01 -2.28298435e-03 -2.47533816e+00] [-2.38879480e-02 7.63565617e-05 9.99714639e-01 1.37075671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.422320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.66, Y:-2.48, Z:0.14 [[ 9.95514146e-01 9.25841290e-02 1.94875531e-02 3.46559011e+01] [-9.25650275e-02 9.95704863e-01 -1.88187518e-03 -2.48021858e+00] [-1.95780832e-02 6.95674727e-05 9.99808329e-01 1.35064656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.69, Y:-2.49, Z:0.13 [[ 9.95476515e-01 9.30398974e-02 1.92376084e-02 3.46876453e+01] [-9.30213343e-02 9.95662379e-01 -1.85947981e-03 -2.48800312e+00] [-1.93271688e-02 6.15604804e-05 9.99813211e-01 1.32655131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.72, Y:-2.51, Z:0.13 [[ 9.95521525e-01 9.26053971e-02 1.90035262e-02 3.47192730e+01] [-9.25869689e-02 9.95702884e-01 -1.84915853e-03 -2.50508656e+00] [-1.90931079e-02 8.13982314e-05 9.99817707e-01 1.32141606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.75, Y:-2.51, Z:0.13 [[ 9.95481450e-01 9.31386272e-02 1.84899865e-02 3.47513811e+01] [-9.31210867e-02 9.95653147e-01 -1.80924574e-03 -2.51238887e+00] [-1.85781239e-02 7.92629355e-05 9.99827409e-01 1.34751316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.78, Y:-2.52, Z:0.14 [[ 9.95304722e-01 9.50165422e-02 1.84490264e-02 3.47844404e+01] [-9.49992155e-02 9.95475692e-01 -1.81528778e-03 -2.51669177e+00] [-1.85380397e-02 5.41214656e-05 9.99828154e-01 1.35566509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.572320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.82, Y:-2.52, Z:0.14 [[ 9.94977672e-01 9.86191259e-02 1.71376839e-02 3.48161588e+01] [-9.86045718e-02 9.95125252e-01 -1.69423666e-03 -2.52059996e+00] [-1.72212261e-02 -4.12633560e-06 9.99851704e-01 1.35837377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.602320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.85, Y:-2.53, Z:0.14 [[ 9.94603976e-01 1.02783745e-01 1.40866356e-02 3.48479157e+01] [-1.02774230e-01 9.94703724e-01 -1.39966762e-03 -2.52627744e+00] [-1.41558919e-02 -5.56281337e-05 9.99899799e-01 1.35957718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.88, Y:-2.54, Z:0.13 [[ 9.93440651e-01 1.13829675e-01 1.08847586e-02 3.48790069e+01] [-1.13824594e-01 9.93500267e-01 -1.08711798e-03 -2.53845236e+00] [-1.09377569e-02 -1.58966036e-04 9.99940168e-01 1.33355862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.91, Y:-2.54, Z:0.13 [[ 9.92647306e-01 1.20651375e-01 9.72480325e-03 3.49103914e+01] [-1.20647607e-01 9.92694920e-01 -9.75391063e-04 -2.54362829e+00] [-9.77144505e-03 -2.05054926e-04 9.99952237e-01 1.32265464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.94, Y:-2.55, Z:0.13 [[ 9.91918546e-01 1.26497228e-01 9.80052976e-03 3.49423599e+01] [-1.26493687e-01 9.91966925e-01 -9.82769516e-04 -2.54738757e+00] [-9.84611899e-03 -2.64877837e-04 9.99951491e-01 1.32581219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.97, Y:-2.55, Z:0.13 [[ 9.91196678e-01 1.31924918e-01 1.11786500e-02 3.49739612e+01] [-1.31920590e-01 9.91259647e-01 -1.12689244e-03 -2.55075534e+00] [-1.12296098e-02 -3.57722062e-04 9.99936882e-01 1.33440749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.01, Y:-2.55, Z:0.14 [[ 9.90530778e-01 1.36965237e-01 9.44994927e-03 3.50057342e+01] [-1.36962332e-01 9.90575794e-01 -9.57026778e-04 -2.55280793e+00] [-9.49197041e-03 -3.46322607e-04 9.99954890e-01 1.36497860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.782320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.04, Y:-2.56, Z:0.14 [[ 9.90231423e-01 1.39174618e-01 8.49434330e-03 3.50372270e+01] [-1.39172321e-01 9.90267802e-01 -8.63814939e-04 -2.55555721e+00] [-8.53189578e-03 -3.26800775e-04 9.99963549e-01 1.36404538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.812320588000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.07, Y:-2.56, Z:0.14 [[ 9.90089990e-01 1.40167396e-01 8.65516581e-03 3.50700408e+01] [-1.40165008e-01 9.90127763e-01 -8.84952140e-04 -2.55949253e+00] [-8.69376140e-03 -3.36969127e-04 9.99962152e-01 1.35277225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.10, Y:-2.56, Z:0.13 [[ 9.89858728e-01 1.41778068e-01 8.87007393e-03 3.51014866e+01] [-1.41775618e-01 9.89898404e-01 -9.07612949e-04 -2.56386813e+00] [-8.90915164e-03 -3.59151609e-04 9.99960248e-01 1.34321007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.13, Y:-2.56, Z:0.13 [[ 9.89379351e-01 1.45061233e-01 9.25951951e-03 3.51334883e+01] [-1.45058661e-01 9.89422598e-01 -9.52299623e-04 -2.56400780e+00] [-9.29971960e-03 -4.00987923e-04 9.99956676e-01 1.34632902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.17, Y:-2.56, Z:0.14 [[ 9.89208131e-01 1.46313223e-01 7.72752160e-03 3.51666342e+01] [-1.46311434e-01 9.89238255e-01 -7.99262012e-04 -2.55984517e+00] [-7.76130258e-03 -3.39988289e-04 9.99969823e-01 1.36395972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.20, Y:-2.55, Z:0.14 [[ 9.89165242e-01 1.46672277e-01 6.27438201e-03 3.51996328e+01] [-1.46671109e-01 9.89185102e-01 -6.48355795e-04 -2.55498093e+00] [-6.30162103e-03 -2.78939551e-04 9.99980106e-01 1.38155424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.962320588000004 meters Centerline goodness [0,1] 0.999950821284548 Centerline is valid? [True, True] Translation: X:35.23, Y:-2.55, Z:0.14 [[ 9.89121116e-01 1.46997307e-01 5.58648107e-03 3.52333007e+01] [-1.46996378e-01 9.89136861e-01 -5.78701788e-04 -2.55337105e+00] [-5.61086195e-03 -2.48786325e-04 9.99984228e-01 1.38694419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.992320588000005 meters Centerline goodness [0,1] 0.999950799507995 Centerline is valid? [True, True] Translation: X:35.27, Y:-2.56, Z:0.14 [[ 9.89259580e-01 1.45988576e-01 7.26768239e-03 3.52652270e+01] [-1.45986975e-01 9.89286225e-01 -7.53154119e-04 -2.55572182e+00] [-7.29976997e-03 -3.15922039e-04 9.99973306e-01 1.38809822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.30, Y:-2.56, Z:0.14 [[ 9.89904467e-01 1.41173013e-01 1.26224868e-02 3.52970420e+01] [-1.41167779e-01 9.89984820e-01 -1.30918494e-03 -2.55783461e+00] [-1.26808919e-02 -4.85920409e-04 9.99919476e-01 1.39384882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.33, Y:-2.56, Z:0.14 [[ 9.90449416e-01 1.37152451e-01 1.41123568e-02 3.53297285e+01] [-1.37145392e-01 9.90549836e-01 -1.47137314e-03 -2.55605139e+00] [-1.41807952e-02 -4.78124042e-04 9.99899333e-01 1.38010682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.36, Y:-2.55, Z:0.13 [[ 9.91107842e-01 1.32131255e-01 1.57027734e-02 3.53627239e+01] [-1.32121779e-01 9.91232129e-01 -1.64390018e-03 -2.55291880e+00] [-1.57823041e-02 -4.45395989e-04 9.99875352e-01 1.34885189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.39, Y:-2.55, Z:0.13 [[ 9.91944040e-01 1.25745049e-01 1.53363565e-02 3.53942126e+01] [-1.25735260e-01 9.92062533e-01 -1.60469976e-03 -2.55194061e+00] [-1.54164077e-02 -3.36548401e-04 9.99881103e-01 1.33171714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.142320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.43, Y:-2.55, Z:0.13 [[ 9.92782035e-01 1.19193343e-01 1.32957705e-02 3.54260303e+01] [-1.19185377e-01 9.92871042e-01 -1.39270227e-03 -2.55385392e+00] [-1.33669863e-02 -2.02011629e-04 9.99910637e-01 1.33386796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.172320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.46, Y:-2.56, Z:0.14 [[ 9.93841970e-01 1.10381131e-01 9.70283485e-03 3.54572930e+01] [-1.10376458e-01 9.93889331e-01 -1.01746834e-03 -2.55770088e+00] [-9.75585334e-03 -5.97618054e-05 9.99952409e-01 1.37978730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.49, Y:-2.56, Z:0.14 [[ 9.94094238e-01 1.08248447e-01 7.67598168e-03 3.54890000e+01] [-1.08245448e-01 9.94123872e-01 -8.06253971e-04 -2.55918059e+00] [-7.71815237e-03 -2.93976494e-05 9.99970214e-01 1.41101278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.52, Y:-2.56, Z:0.14 [[ 9.94478925e-01 1.04738056e-01 6.45041935e-03 3.55213130e+01] [-1.04735859e-01 9.94499844e-01 -6.78527875e-04 -2.55901233e+00] [-6.48600873e-03 -8.08537398e-07 9.99978966e-01 1.39181965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.55, Y:-2.56, Z:0.14 [[ 9.94665885e-01 1.02824166e-01 8.18339814e-03 3.55527383e+01] [-1.02820559e-01 9.94699548e-01 -8.61317959e-04 -2.56289153e+00] [-8.22858673e-03 1.53020163e-05 9.99966144e-01 1.37746539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.58, Y:-2.57, Z:0.14 [[ 9.95017276e-01 9.91309173e-02 1.06621724e-02 3.55849454e+01] [-9.91245675e-02 9.95074398e-01 -1.12366181e-03 -2.56782360e+00] [-1.07210444e-02 6.11796934e-05 9.99942526e-01 1.36827111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.322320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.62, Y:-2.57, Z:0.14 [[ 9.95363923e-01 9.55309811e-02 1.11576629e-02 3.56163890e+01] [-9.55237847e-02 9.95426452e-01 -1.17734599e-03 -2.57360425e+00] [-1.12191058e-02 1.06065535e-04 9.99937058e-01 1.37400018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.352320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.65, Y:-2.58, Z:0.14 [[ 9.96035424e-01 8.81778609e-02 1.17515176e-02 3.56481996e+01] [-8.81693481e-02 9.96104726e-01 -1.24153254e-03 -2.58252774e+00] [-1.18152179e-02 2.00486738e-04 9.99930178e-01 1.36337657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.68, Y:-2.59, Z:0.14 [[ 9.96311001e-01 8.50200439e-02 1.16610825e-02 3.56797719e+01] [-8.50114276e-02 9.96379213e-01 -1.23349162e-03 -2.58831377e+00] [-1.17237317e-02 2.37616001e-04 9.99931246e-01 1.36858562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.71, Y:-2.59, Z:0.14 [[ 9.96503010e-01 8.30801345e-02 8.91302368e-03 3.57120657e+01] [-8.30750032e-02 9.96542849e-01 -9.45042091e-04 -2.59381835e+00] [-8.96072424e-03 2.01287817e-04 9.99959832e-01 1.37832899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.74, Y:-2.60, Z:0.14 [[ 9.96597001e-01 8.21756576e-02 6.44817475e-03 3.57442058e+01] [-8.21729431e-02 9.96617849e-01 -6.85231770e-04 -2.59961440e+00] [-6.48267543e-03 1.53034429e-04 9.99978976e-01 1.38550639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.78, Y:-2.61, Z:0.14 [[ 9.96640799e-01 8.18432350e-02 2.96695564e-03 3.57759709e+01] [-8.18426571e-02 9.96645213e-01 -3.15881824e-04 -2.60743479e+00] [-2.98285492e-03 7.19971805e-05 9.99995549e-01 1.38274197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.81, Y:-2.62, Z:0.14 [[ 9.96482504e-01 8.37819387e-02 1.79024633e-03 3.58064981e+01] [-8.37817301e-02 9.96484112e-01 -1.91317769e-04 -2.62295432e+00] [-1.79998100e-03 4.06548743e-05 9.99998379e-01 1.37373110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.532320588000005 meters Centerline goodness [0,1] 0.9999508575359969 Centerline is valid? [True, True] Translation: X:35.84, Y:-2.63, Z:0.14 [[ 9.96282469e-01 8.59660764e-02 5.57457015e-03 3.58378130e+01] [-8.59640946e-02 9.96298058e-01 -5.94597717e-04 -2.62941398e+00] [-5.60504865e-03 1.13174406e-04 9.99984285e-01 1.37960248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.562320588000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.87, Y:-2.63, Z:0.14 [[ 9.96043575e-01 8.84415532e-02 8.67683649e-03 3.58699978e+01] [-8.84368308e-02 9.96081356e-01 -9.27179158e-04 -2.63403389e+00] [-8.72483622e-03 1.56158923e-04 9.99961926e-01 1.38967305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.90, Y:-2.64, Z:0.14 [[ 9.95811988e-01 9.09412452e-02 9.39014888e-03 3.59022924e+01] [-9.09358176e-02 9.95856249e-01 -1.00425203e-03 -2.63876697e+00] [-9.44256637e-03 1.46145340e-04 9.99955407e-01 1.39652291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.93, Y:-2.65, Z:0.14 [[ 9.95621090e-01 9.33157972e-02 5.55045358e-03 3.59336752e+01] [-9.33139320e-02 9.95636558e-01 -5.94631898e-04 -2.64542573e+00] [-5.58172304e-03 7.40934104e-05 9.99984419e-01 1.38935484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.96, Y:-2.66, Z:0.14 [[ 9.95211741e-01 9.77282539e-02 1.66674533e-03 3.59642558e+01] [-9.77280907e-02 9.95213137e-01 -1.79267047e-04 -2.66173172e+00] [-1.67628631e-03 1.55208305e-05 9.99998595e-01 1.38710220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.00, Y:-2.67, Z:0.14 [[ 9.94937356e-01 1.00475830e-01 2.06529007e-03 3.59962111e+01] [-1.00475585e-01 9.94939499e-01 -2.22264725e-04 -2.66928863e+00] [-2.07717090e-03 1.36282489e-05 9.99997843e-01 1.40037528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.712320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.03, Y:-2.67, Z:0.14 [[ 9.94403851e-01 1.05594310e-01 3.28990994e-03 3.60275240e+01] [-1.05593716e-01 9.94409293e-01 -3.54100957e-04 -2.67459777e+00] [-3.30890806e-03 4.72553791e-06 9.99994526e-01 1.42062495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.742320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.06, Y:-2.68, Z:0.14 [[ 9.93273626e-01 1.15704819e-01 4.46082157e-03 3.60594002e+01] [-1.15703828e-01 9.93283642e-01 -4.80480493e-04 -2.67936918e+00] [-4.48645501e-03 -3.88855288e-05 9.99989935e-01 1.44814134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.09, Y:-2.68, Z:0.14 [[ 9.92715227e-01 1.20400382e-01 4.49737061e-03 3.60906610e+01] [-1.20399407e-01 9.92725413e-01 -4.87829463e-04 -2.68464913e+00] [-4.52338895e-03 -5.72050195e-05 9.99989768e-01 1.44055378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.802320588 meters Centerline goodness [0,1] 0.9999507704425737 Centerline is valid? [True, True] Translation: X:36.12, Y:-2.69, Z:0.14 [[ 9.92165980e-01 1.24873768e-01 3.63445881e-03 3.61225832e+01] [-1.24873164e-01 9.92172635e-01 -3.93622066e-04 -2.69030720e+00] [-3.65516364e-03 -6.33079463e-05 9.99993318e-01 1.43346358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.15, Y:-2.69, Z:0.14 [[ 9.91765352e-01 1.27977686e-01 4.81645233e-03 3.61545606e+01] [-1.27976659e-01 9.91777043e-01 -5.22045412e-04 -2.69460017e+00] [-4.84365701e-03 -9.86469276e-05 9.99988265e-01 1.41126063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.19, Y:-2.70, Z:0.14 [[ 9.90888588e-01 1.34522451e-01 6.59662135e-03 3.61859541e+01] [-1.34520659e-01 9.90910530e-01 -7.16645528e-04 -2.69808371e+00] [-6.63306648e-03 -1.77265978e-04 9.99977985e-01 1.41025281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.892320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.22, Y:-2.70, Z:0.14 [[ 9.90560985e-01 1.36902494e-01 6.82951814e-03 3.62173993e+01] [-1.36900604e-01 9.90584509e-01 -7.45676607e-04 -2.70102744e+00] [-6.86729986e-03 -1.96327004e-04 9.99976401e-01 1.42531574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.922320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.25, Y:-2.70, Z:0.14 [[ 9.90302367e-01 1.38734808e-01 7.34001454e-03 3.62497882e+01] [-1.38732651e-01 9.90329543e-01 -8.04643155e-04 -2.70249914e+00] [-7.38066526e-03 -2.21459655e-04 9.99972738e-01 1.44472326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.28, Y:-2.70, Z:0.14 [[ 9.90123106e-01 1.40032905e-01 6.85709890e-03 3.62826261e+01] [-1.40031026e-01 9.90146828e-01 -7.55668778e-04 -2.70234997e+00] [-6.89535321e-03 -2.12001479e-04 9.99976204e-01 1.44554477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.32, Y:-2.70, Z:0.14 [[ 9.90073714e-01 1.40427954e-01 5.83354997e-03 3.63160942e+01] [-1.40426582e-01 9.90090883e-01 -6.46131772e-04 -2.69991314e+00] [-5.86647961e-03 -1.79467400e-04 9.99982776e-01 1.44609546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.35, Y:-2.70, Z:0.14 [[ 9.89976595e-01 1.41151667e-01 4.74853210e-03 3.63493769e+01] [-1.41150767e-01 9.89987972e-01 -5.25781749e-04 -2.69885414e+00] [-4.77520463e-03 -1.49747323e-04 9.99988587e-01 1.43381873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.38, Y:-2.70, Z:0.14 [[ 9.90146305e-01 1.40013441e-01 2.55551914e-03 3.63820792e+01] [-1.40013175e-01 9.90149600e-01 -2.83402635e-04 -2.69946001e+00] [-2.57002643e-03 -7.71962760e-05 9.99996694e-01 1.41215480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.072320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.41, Y:-2.70, Z:0.14 [[ 9.90466688e-01 1.37718161e-01 3.07376763e-03 3.64140782e+01] [-1.37717765e-01 9.90471454e-01 -3.41146956e-04 -2.70417291e+00] [-3.09146123e-03 -8.54177142e-05 9.99995218e-01 1.41588832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.102320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.45, Y:-2.71, Z:0.14 [[ 9.90794669e-01 1.35289243e-01 4.76912227e-03 3.64461573e+01] [-1.35288260e-01 9.90806140e-01 -5.29574364e-04 -2.70926131e+00] [-4.79692134e-03 -1.20506797e-04 9.99988487e-01 1.42664022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.48, Y:-2.71, Z:0.14 [[ 9.90768666e-01 1.35479548e-01 4.76898456e-03 3.64784638e+01] [-1.35478561e-01 9.90780136e-01 -5.30814372e-04 -2.71279395e+00] [-4.79692966e-03 -1.20180921e-04 9.99988487e-01 1.42827882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.51, Y:-2.72, Z:0.15 [[ 9.91009870e-01 1.33450102e-01 9.51356051e-03 3.65113037e+01] [-1.33446074e-01 9.91055509e-01 -1.05980040e-03 -2.71674902e+00] [-9.56989702e-03 -2.19274650e-04 9.99954183e-01 1.45059015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.54, Y:-2.72, Z:0.15 [[ 9.90840477e-01 1.34773743e-01 8.43728116e-03 3.65444183e+01] [-1.34770571e-01 9.90876379e-01 -9.45960824e-04 -2.71718187e+00] [-8.48779328e-03 -1.99800926e-04 9.99963958e-01 1.45454741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.58, Y:-2.72, Z:0.14 [[ 9.90741337e-01 1.35624096e-01 6.14074841e-03 3.65772724e+01] [-1.35622413e-01 9.90760356e-01 -6.91607755e-04 -2.71635404e+00] [-6.17780876e-03 -1.47618724e-04 9.99980906e-01 1.44577070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.61, Y:-2.72, Z:0.14 [[ 9.90629955e-01 1.36538033e-01 3.10776327e-03 3.66098406e+01] [-1.36537606e-01 9.90634827e-01 -3.49924296e-04 -2.71665392e+00] [-3.12643650e-03 -7.76810682e-05 9.99995110e-01 1.44632003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.282320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.64, Y:-2.72, Z:0.15 [[ 9.90923574e-01 1.34418013e-01 1.50575913e-03 3.66413873e+01] [-1.34417910e-01 9.90924718e-01 -1.70074502e-04 -2.72019410e+00] [-1.51495502e-03 -3.38701617e-05 9.99998852e-01 1.45177324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.67, Y:-2.73, Z:0.15 [[ 9.91140972e-01 1.32712228e-01 5.19972931e-03 3.66727447e+01] [-1.32710977e-01 9.91154606e-01 -5.86395746e-04 -2.72583112e+00] [-5.23155754e-03 -1.08860309e-04 9.99986309e-01 1.45817337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.71, Y:-2.73, Z:0.15 [[ 9.91454667e-01 1.30130441e-01 9.14939188e-03 3.67050918e+01] [-1.30126443e-01 9.91496869e-01 -1.03345157e-03 -2.73124930e+00] [-9.20607691e-03 -1.65957442e-04 9.99957609e-01 1.47338388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.74, Y:-2.73, Z:0.15 [[ 9.91795568e-01 1.27441321e-01 1.00130762e-02 3.67368107e+01] [-1.27436337e-01 9.91846101e-01 -1.13679702e-03 -2.73488169e+00] [-1.00763055e-02 -1.48559511e-04 9.99949222e-01 1.48208137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.77, Y:-2.74, Z:0.15 [[ 9.92201489e-01 1.24290104e-01 9.39011679e-03 3.67691761e+01] [-1.24285537e-01 9.92245917e-01 -1.07058710e-03 -2.73704866e+00] [-9.45036842e-03 -1.04817597e-04 9.99955339e-01 1.47839004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.80, Y:-2.74, Z:0.15 [[ 9.92471572e-01 1.22170532e-01 8.63368967e-03 3.68012630e+01] [-1.22166593e-01 9.92509121e-01 -9.84040299e-04 -2.73907938e+00] [-8.68923647e-03 -7.81164336e-05 9.99962245e-01 1.47432956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.462320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.83, Y:-2.74, Z:0.15 [[ 9.92623367e-01 1.21042738e-01 6.89253025e-03 3.68337861e+01] [-1.21040194e-01 9.92647295e-01 -7.86644924e-04 -2.74029496e+00] [-6.93706917e-03 -5.34310656e-05 9.99975937e-01 1.45876238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.492320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.87, Y:-2.74, Z:0.15 [[ 9.92543168e-01 1.21772449e-01 5.43419790e-03 3.68662436e+01] [-1.21770873e-01 9.92558043e-01 -6.21082267e-04 -2.74329555e+00] [-5.46938754e-03 -4.52760627e-05 9.99985042e-01 1.46361538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.90, Y:-2.75, Z:0.15 [[ 9.92492424e-01 1.22230200e-01 4.30891105e-03 3.68981103e+01] [-1.22229210e-01 9.92501777e-01 -4.93187471e-04 -2.74700125e+00] [-4.33688427e-03 -3.71899663e-05 9.99990595e-01 1.47416238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.93, Y:-2.76, Z:0.15 [[ 9.92298926e-01 1.23802308e-01 3.97860330e-03 3.69304365e+01] [-1.23801472e-01 9.92306902e-01 -4.56590351e-04 -2.75558149e+00] [-4.00452246e-03 -3.94828315e-05 9.99991981e-01 1.48232291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.96, Y:-2.76, Z:0.15 [[ 9.92207875e-01 1.24535980e-01 3.78444150e-03 3.69631145e+01] [-1.24535226e-01 9.92215092e-01 -4.35109816e-04 -2.76047738e+00] [-3.80916680e-03 -3.95768907e-05 9.99992744e-01 1.49546822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.00, Y:-2.76, Z:0.15 [[ 9.92083617e-01 1.25537927e-01 3.21348690e-03 3.69965069e+01] [-1.25537386e-01 9.92088820e-01 -3.70274752e-04 -2.76289991e+00] [-3.23454795e-03 -3.60692298e-05 9.99994768e-01 1.49990096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.642320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.03, Y:-2.76, Z:0.15 [[ 9.91960401e-01 1.26520297e-01 2.67894172e-03 3.70300286e+01] [-1.26519923e-01 9.91964018e-01 -3.09400653e-04 -2.76395506e+00] [-2.69655925e-03 -3.20263037e-05 9.99996364e-01 1.50167626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.672320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.06, Y:-2.77, Z:0.15 [[ 9.91635471e-01 1.28930045e-01 6.01134204e-03 3.70622891e+01] [-1.28928210e-01 9.91653687e-01 -6.93444424e-04 -2.76757032e+00] [-6.05057532e-03 -8.73874790e-05 9.99981691e-01 1.47610617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.09, Y:-2.77, Z:0.15 [[ 9.91633296e-01 1.28964860e-01 5.60997388e-03 3.70944954e+01] [-1.28963254e-01 9.91649161e-01 -6.48645019e-04 -2.77401003e+00] [-5.64677830e-03 -8.02624878e-05 9.99984054e-01 1.47730173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.13, Y:-2.78, Z:0.15 [[ 9.91640305e-01 1.28913267e-01 5.55658194e-03 3.71268235e+01] [-1.28911684e-01 9.91655869e-01 -6.43606431e-04 -2.78067493e+00] [-5.59318651e-03 -7.80822598e-05 9.99984355e-01 1.48707648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.16, Y:-2.79, Z:0.15 [[ 9.91789451e-01 1.27777167e-01 5.16535951e-03 3.71582038e+01] [-1.27775782e-01 9.91802899e-01 -5.98706316e-04 -2.78589054e+00] [-5.19951953e-03 -6.62172409e-05 9.99986480e-01 1.50641064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.19, Y:-2.79, Z:0.15 [[ 9.91873784e-01 1.27174247e-01 3.62033820e-03 3.71900291e+01] [-1.27173560e-01 9.91880390e-01 -4.20312503e-04 -2.79057951e+00] [-3.64439539e-03 -4.35143448e-05 9.99993358e-01 1.52584171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.822320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.22, Y:-2.79, Z:0.15 [[ 9.91897044e-01 1.27024183e-01 2.26081883e-03 3.72218800e+01] [-1.27023913e-01 9.91899620e-01 -2.63026120e-04 -2.79473647e+00] [-2.27591601e-03 -2.62832235e-05 9.99997410e-01 1.53389072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.852320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.25, Y:-2.80, Z:0.15 [[ 9.91716153e-01 1.28405266e-01 3.34058110e-03 3.72537248e+01] [-1.28404685e-01 9.91721778e-01 -3.88777253e-04 -2.79824806e+00] [-3.36284808e-03 -4.33895813e-05 9.99994345e-01 1.53322910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.29, Y:-2.80, Z:0.15 [[ 9.91506950e-01 1.29870675e-01 6.89746660e-03 3.72858878e+01] [-1.29868232e-01 9.91530936e-01 -8.02929255e-04 -2.80101060e+00] [-6.94332848e-03 -9.96518536e-05 9.99975890e-01 1.52609602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.32, Y:-2.80, Z:0.15 [[ 9.91170856e-01 1.32310967e-01 8.61054546e-03 3.73180282e+01] [-1.32307242e-01 9.91208246e-01 -1.00332291e-03 -2.80488951e+00] [-8.66759429e-03 -1.44773098e-04 9.99962425e-01 1.52112204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.35, Y:-2.81, Z:0.15 [[ 9.90520831e-01 1.37094403e-01 8.57950605e-03 3.73497736e+01] [-1.37090837e-01 9.90557970e-01 -1.00523755e-03 -2.81317587e+00] [-8.63631054e-03 -1.80462929e-04 9.99962690e-01 1.52050873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.38, Y:-2.82, Z:0.15 [[ 9.90012494e-01 1.40822292e-01 6.65906007e-03 3.73816465e+01] [-1.40820204e-01 9.90034876e-01 -7.83689702e-04 -2.82056354e+00] [-6.70306269e-03 -1.61867602e-04 9.99977521e-01 1.52402768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.41, Y:-2.83, Z:0.15 [[ 9.89553931e-01 1.44062227e-01 5.39377054e-03 3.74134857e+01] [-1.44060890e-01 9.89568620e-01 -6.37595946e-04 -2.82613718e+00] [-5.42935956e-03 -1.46095809e-04 9.99985250e-01 1.53415472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.032320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.45, Y:-2.83, Z:0.15 [[ 9.88755950e-01 1.49514500e-01 2.66182934e-03 3.74455256e+01] [-1.49514188e-01 9.88759529e-01 -3.16924340e-04 -2.82788015e+00] [-2.67929391e-03 -8.46204247e-05 9.99996407e-01 1.54710883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.48, Y:-2.83, Z:0.16 [[ 9.88458131e-01 1.51478614e-01 2.18007231e-03 3.74777704e+01] [-1.51478412e-01 9.88460532e-01 -2.58670100e-04 -2.82881697e+00] [-2.19409842e-03 -7.45493273e-05 9.99997590e-01 1.55108827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.51, Y:-2.83, Z:0.16 [[ 9.88051356e-01 1.54093450e-01 3.11873780e-03 3.75099329e+01] [-1.54093048e-01 9.88056271e-01 -3.70160867e-04 -2.82915386e+00] [-3.13852781e-03 -1.14837869e-04 9.99995068e-01 1.55128658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.54, Y:-2.83, Z:0.15 [[ 9.87566983e-01 1.56993398e-01 8.03291356e-03 3.75421708e+01] [-1.56990828e-01 9.87599600e-01 -9.53437123e-04 -2.83006828e+00] [-8.08298555e-03 -3.19510731e-04 9.99967281e-01 1.53940928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.57, Y:-2.83, Z:0.15 [[ 9.87031303e-01 1.60301615e-01 8.52052901e-03 3.75741541e+01] [-1.60298803e-01 9.87068012e-01 -1.01638507e-03 -2.83180108e+00] [-8.57326980e-03 -3.62626723e-04 9.99963183e-01 1.54802024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.61, Y:-2.83, Z:0.15 [[ 9.86270536e-01 1.65103011e-01 3.38010589e-03 3.76056357e+01] [-1.65102593e-01 9.86276315e-01 -4.04113472e-04 -2.83464923e+00] [-3.40043874e-03 -1.59499038e-04 9.99994206e-01 1.54832040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.212320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.64, Y:-2.84, Z:0.16 [[ 9.85983585e-01 1.66840922e-01 -6.90161366e-04 3.76376726e+01] [-1.66840906e-01 9.85983826e-01 8.17698455e-05 -2.83668308e+00] [ 6.94130501e-04 3.45234220e-05 9.99999758e-01 1.56557506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.242320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.67, Y:-2.83, Z:0.16 [[ 9.85512233e-01 1.69583718e-01 2.64608426e-03 3.76708534e+01] [-1.69583477e-01 9.85515776e-01 -3.16799174e-04 -2.83181299e+00] [-2.66148176e-03 -1.36522706e-04 9.99996449e-01 1.57994260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.70, Y:-2.83, Z:0.16 [[ 9.85210903e-01 1.71215839e-01 6.67936676e-03 3.77030771e+01] [-1.71214342e-01 9.85233480e-01 -7.99560429e-04 -2.83089706e+00] [-6.71763316e-03 -3.55867729e-04 9.99977373e-01 1.58373063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.74, Y:-2.83, Z:0.16 [[ 9.85070269e-01 1.71924847e-01 8.85502847e-03 3.77350929e+01] [-1.71922203e-01 9.85109955e-01 -1.06462861e-03 -2.82998709e+00] [-8.90621281e-03 -4.73642011e-04 9.99960227e-01 1.59317226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.332320588 meters Centerline goodness [0,1] 0.999950741342791 Centerline is valid? [True, True] Translation: X:37.77, Y:-2.83, Z:0.16 [[ 9.84949122e-01 1.72548174e-01 1.01170720e-02 3.77670847e+01] [-1.72544743e-01 9.85000929e-01 -1.21761600e-03 -2.82942218e+00] [-1.01754227e-02 -5.46357779e-04 9.99948080e-01 1.59110520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.80, Y:-2.83, Z:0.16 [[ 9.84923493e-01 1.72755035e-01 9.02276580e-03 3.77994260e+01] [-1.72752270e-01 9.84964702e-01 -1.09079486e-03 -2.82746849e+00] [-9.07554613e-03 -4.84353790e-04 9.99958699e-01 1.58000590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.392320588000004 meters Centerline goodness [0,1] 0.9999507024895242 Centerline is valid? [True, True] Translation: X:37.83, Y:-2.82, Z:0.16 [[ 9.85468713e-01 1.69725465e-01 6.68446972e-03 3.78317196e+01] [-1.69723884e-01 9.85491325e-01 -8.07263351e-04 -2.82105330e+00] [-6.72450007e-03 -3.38981388e-04 9.99977333e-01 1.56636356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.422320588000005 meters Centerline goodness [0,1] 0.999950768018905 Centerline is valid? [True, True] Translation: X:37.86, Y:-2.82, Z:0.16 [[ 9.85933315e-01 1.66923356e-01 8.49062368e-03 3.78641403e+01] [-1.66920691e-01 9.85969791e-01 -1.02665576e-03 -2.82031587e+00] [-8.54287128e-03 -4.05046651e-04 9.99963427e-01 1.57120455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.90, Y:-2.82, Z:0.16 [[ 9.86476923e-01 1.63676585e-01 8.55895733e-03 3.78964468e+01] [-1.63673749e-01 9.86513979e-01 -1.03555495e-03 -2.81726293e+00] [-8.61302715e-03 -3.79325575e-04 9.99962835e-01 1.59685106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.93, Y:-2.81, Z:0.16 [[ 9.86951664e-01 1.60818370e-01 7.99149811e-03 3.79294036e+01] [-1.60815794e-01 9.86983963e-01 -9.68094565e-04 -2.81189631e+00] [-8.04316786e-03 -3.29696568e-04 9.99967599e-01 1.62134092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.96, Y:-2.81, Z:0.16 [[ 9.87367837e-01 1.58267180e-01 7.50030540e-03 3.79622191e+01] [-1.58264830e-01 9.87396281e-01 -9.09591488e-04 -2.80569199e+00] [-7.54973214e-03 -2.88933180e-04 9.99971459e-01 1.62188311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.00, Y:-2.80, Z:0.16 [[ 9.88393523e-01 1.51795639e-01 6.02730319e-03 3.79953971e+01] [-1.51793998e-01 9.88411881e-01 -7.31503275e-04 -2.79841144e+00] [-6.06849709e-03 -1.91895351e-04 9.99981568e-01 1.58196986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.572320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.03, Y:-2.80, Z:0.16 [[ 9.88945225e-01 1.48162112e-01 5.94394257e-03 3.80276935e+01] [-1.48160444e-01 9.88963074e-01 -7.22337810e-04 -2.80193442e+00] [-5.98536281e-03 -1.66304644e-04 9.99982074e-01 1.57398581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.602320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.06, Y:-2.80, Z:0.16 [[ 9.89608572e-01 1.43622900e-01 6.88022094e-03 3.80595893e+01] [-1.43620550e-01 9.89632476e-01 -8.36923037e-04 -2.80433249e+00] [-6.92909139e-03 -1.59914905e-04 9.99975981e-01 1.58113472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.09, Y:-2.80, Z:0.16 [[ 9.90270100e-01 1.38995193e-01 6.74285992e-03 3.80923433e+01] [-1.38992820e-01 9.90293048e-01 -8.21526836e-04 -2.80326240e+00] [-6.79159559e-03 -1.23675656e-04 9.99976929e-01 1.60717581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.12, Y:-2.80, Z:0.16 [[ 9.91495659e-01 1.30128325e-01 1.72521849e-03 3.81246233e+01] [-1.30128156e-01 9.91497160e-01 -2.10445461e-04 -2.79712355e+00] [-1.73793415e-03 -1.58437400e-05 9.99998490e-01 1.64742314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.16, Y:-2.80, Z:0.17 [[ 9.91896443e-01 1.27045870e-01 -8.90622713e-04 3.81555644e+01] [-1.27045824e-01 9.91896843e-01 1.08180695e-04 -2.79882715e+00] [ 8.97149768e-04 5.84585003e-06 9.99999598e-01 1.65123183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.19, Y:-2.80, Z:0.17 [[ 9.92141059e-01 1.25115533e-01 -1.49065158e-03 3.81861432e+01] [-1.25115401e-01 9.92142179e-01 1.81636395e-04 -2.80116242e+00] [ 1.50166384e-03 6.29454508e-06 9.99998872e-01 1.65475356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.22, Y:-2.80, Z:0.17 [[ 9.92172264e-01 1.24875505e-01 -5.54533679e-04 3.82164727e+01] [-1.24875487e-01 9.92172419e-01 6.75701148e-05 -2.80279903e+00] [ 5.58630873e-04 2.20646934e-06 9.99999844e-01 1.65591790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.782320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.25, Y:-2.80, Z:0.16 [[ 9.92185170e-01 1.24680987e-01 4.82072641e-03 3.82474028e+01] [-1.24679605e-01 9.92196881e-01 -5.87407131e-04 -2.80432239e+00] [-4.85634821e-03 -1.82296213e-05 9.99988208e-01 1.64289299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.28, Y:-2.81, Z:0.16 [[ 9.92315126e-01 1.23598448e-01 5.84078584e-03 3.82785109e+01] [-1.23596391e-01 9.92332315e-01 -7.13174204e-04 -2.81134993e+00] [-5.88414775e-03 -1.42065012e-05 9.99982688e-01 1.62940312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.31, Y:-2.82, Z:0.16 [[ 9.92555761e-01 1.21721466e-01 4.11655051e-03 3.83102342e+01] [-1.21720425e-01 9.92564298e-01 -5.03406819e-04 -2.81992634e+00] [-4.14721648e-03 -1.40893791e-06 9.99991400e-01 1.63136282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.34, Y:-2.83, Z:0.16 [[ 9.92757365e-01 1.20036469e-01 4.90506305e-03 3.83422735e+01] [-1.20034968e-01 9.92769483e-01 -6.00372662e-04 -2.82697496e+00] [-4.94166352e-03 7.24529457e-06 9.99987790e-01 1.62321749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.37, Y:-2.83, Z:0.16 [[ 9.93039634e-01 1.17679424e-01 4.88249250e-03 3.83741448e+01] [-1.17677905e-01 9.93051636e-01 -5.98267812e-04 -2.83063598e+00] [-4.91897098e-03 1.95421588e-05 9.99987902e-01 1.62523302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.41, Y:-2.83, Z:0.16 [[ 9.93370007e-01 1.14712930e-01 7.54808435e-03 3.84063653e+01] [-1.14709209e-01 9.93398682e-01 -9.25523839e-04 -2.83051905e+00] [-7.60442659e-03 5.35528352e-05 9.99971084e-01 1.63498392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.962320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.44, Y:-2.83, Z:0.16 [[ 9.93483535e-01 1.13624703e-01 8.93831294e-03 3.84383082e+01] [-1.13619431e-01 9.93523740e-01 -1.09707309e-03 -2.83467774e+00] [-9.00508070e-03 7.43580186e-05 9.99959451e-01 1.64465499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.992320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.47, Y:-2.84, Z:0.17 [[ 9.93523032e-01 1.13254005e-01 9.24747154e-03 3.84712912e+01] [-1.13248326e-01 9.93566064e-01 -1.13716082e-03 -2.84075201e+00] [-9.31676192e-03 8.25347926e-05 9.99956595e-01 1.65300002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.50, Y:-2.84, Z:0.17 [[ 9.93500506e-01 1.13451456e-01 9.24724394e-03 3.85035662e+01] [-1.13445768e-01 9.93543537e-01 -1.13901099e-03 -2.84466425e+00] [-9.31676191e-03 8.25473046e-05 9.99956595e-01 1.65463860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.54, Y:-2.85, Z:0.16 [[ 9.93619872e-01 1.12545766e-01 7.28008049e-03 3.85354237e+01] [-1.12542210e-01 9.93646539e-01 -8.97554471e-04 -2.85280122e+00] [-7.33484274e-03 7.25116086e-05 9.99973097e-01 1.63362824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.57, Y:-2.86, Z:0.16 [[ 9.93665229e-01 1.12154557e-01 7.12511901e-03 3.85676431e+01] [-1.12151128e-01 9.93690772e-01 -8.80218115e-04 -2.86091334e+00] [-7.17888548e-03 7.55519981e-05 9.99974229e-01 1.61143685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.60, Y:-2.87, Z:0.16 [[ 9.93795354e-01 1.10944345e-01 7.88326892e-03 3.85988385e+01] [-1.10940105e-01 9.93826616e-01 -9.74489582e-04 -2.86982304e+00] [-7.94271659e-03 9.38725371e-05 9.99968452e-01 1.60140988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.142320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.63, Y:-2.88, Z:0.16 [[ 9.93910186e-01 1.09879856e-01 8.30416847e-03 3.86305258e+01] [-1.09875101e-01 9.93944870e-01 -1.02801674e-03 -2.87833080e+00] [-8.36684398e-03 1.09334953e-04 9.99964991e-01 1.60633125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.172320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.66, Y:-2.88, Z:0.16 [[ 9.94094034e-01 1.08172056e-01 8.70966764e-03 3.86618707e+01] [-1.08166751e-01 9.94132179e-01 -1.07919082e-03 -2.88472403e+00] [-8.77529916e-03 1.30720702e-04 9.99961488e-01 1.63486825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.202320588 meters Centerline goodness [0,1] 0.9999508237029752 Centerline is valid? [True, True] Translation: X:38.69, Y:-2.89, Z:0.16 [[ 9.94039713e-01 1.08731365e-01 7.90811419e-03 3.86942647e+01] [-1.08727001e-01 9.94071163e-01 -9.80955980e-04 -2.88830060e+00] [-7.96788895e-03 1.15283660e-04 9.99968249e-01 1.64937026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.73, Y:-2.89, Z:0.17 [[ 9.93856102e-01 1.10451645e-01 7.10506169e-03 3.87266181e+01] [-1.10448156e-01 9.93881495e-01 -8.82765680e-04 -2.89292400e+00] [-7.15909225e-03 9.26010980e-05 9.99974369e-01 1.65550076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.76, Y:-2.90, Z:0.17 [[ 9.93492936e-01 1.13741964e-01 5.87806960e-03 3.87582487e+01] [-1.13739629e-01 9.93510323e-01 -7.31080118e-04 -2.89905601e+00] [-5.92307732e-03 5.77534779e-05 9.99982457e-01 1.65291286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.79, Y:-2.91, Z:0.17 [[ 9.93034072e-01 1.17663895e-01 6.20810567e-03 3.87899451e+01] [-1.17661362e-01 9.93053476e-01 -7.72934550e-04 -2.90726704e+00] [-6.25592741e-03 3.70961765e-05 9.99980431e-01 1.65526087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.322320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.82, Y:-2.92, Z:0.17 [[ 9.92547232e-01 1.21650872e-01 7.14550862e-03 3.88218425e+01] [-1.21647607e-01 9.92572952e-01 -8.91375932e-04 -2.91631114e+00] [-7.20087525e-03 1.54986898e-05 9.99974073e-01 1.65039233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.352320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.85, Y:-2.93, Z:0.17 [[ 9.91792690e-01 1.27304520e-01 1.18667037e-02 3.88528068e+01] [-1.27295906e-01 9.91863679e-01 -1.48147880e-03 -2.92704650e+00] [-1.19587513e-02 -4.12629497e-05 9.99928491e-01 1.65150155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.88, Y:-2.93, Z:0.16 [[ 9.91456889e-01 1.29847623e-01 1.23625006e-02 3.88841878e+01] [-1.29838453e-01 9.91533958e-01 -1.54488332e-03 -2.93205825e+00] [-1.24584386e-02 -7.34427430e-05 9.99922388e-01 1.64731752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.92, Y:-2.94, Z:0.16 [[ 9.91191697e-01 1.31869586e-01 1.22242784e-02 3.89170427e+01] [-1.31860739e-01 9.91267070e-01 -1.53048464e-03 -2.93634295e+00] [-1.23193490e-02 -9.48987152e-05 9.99924109e-01 1.64856554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.95, Y:-2.94, Z:0.16 [[ 9.89969817e-01 1.40768767e-01 1.19964901e-02 3.89486050e+01] [-1.40760883e-01 9.90042481e-01 -1.50324482e-03 -2.94413589e+00] [-1.20886447e-02 -2.00469534e-04 9.99926910e-01 1.64693182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.98, Y:-2.95, Z:0.17 [[ 9.89093446e-01 1.46868943e-01 1.11206736e-02 3.89801011e+01] [-1.46862536e-01 9.89155928e-01 -1.39499990e-03 -2.94941708e+00] [-1.12049623e-02 -2.53425067e-04 9.99937190e-01 1.65464663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.01, Y:-2.95, Z:0.17 [[ 9.88229854e-01 1.52511760e-01 1.19130098e-02 3.90120174e+01] [-1.52504799e-01 9.88301598e-01 -1.49589575e-03 -2.95193034e+00] [-1.20017883e-02 -3.38502327e-04 9.99927919e-01 1.65963548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.532320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.04, Y:-2.95, Z:0.17 [[ 9.87452656e-01 1.57487547e-01 1.16157082e-02 3.90440327e+01] [-1.57481255e-01 9.87520897e-01 -1.46007602e-03 -2.95258750e+00] [-1.17006983e-02 -3.87500355e-04 9.99931469e-01 1.66452773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.08, Y:-2.95, Z:0.17 [[ 9.86385649e-01 1.63805572e-01 1.45287659e-02 3.90752629e+01] [-1.63796415e-01 9.86492473e-01 -1.82605324e-03 -2.95142848e+00] [-1.46316359e-02 -5.78567060e-04 9.99892784e-01 1.65231229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.11, Y:-2.96, Z:0.17 [[ 9.86250376e-01 1.64601886e-01 1.47110305e-02 3.91074861e+01] [-1.64592552e-01 9.86359906e-01 -1.85127775e-03 -2.95524289e+00] [-1.48150945e-02 -5.95502667e-04 9.99890073e-01 1.65905693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.14, Y:-2.96, Z:0.17 [[ 9.86383700e-01 1.63746564e-01 1.53055122e-02 3.91401133e+01] [-1.63736319e-01 9.86502255e-01 -1.92862441e-03 -2.95761092e+00] [-1.54147279e-02 -6.03704536e-04 9.99881004e-01 1.66715449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.17, Y:-2.96, Z:0.17 [[ 9.86740367e-01 1.61562628e-01 1.55230872e-02 3.91729767e+01] [-1.61551690e-01 9.86862297e-01 -1.96428483e-03 -2.95663783e+00] [-1.56365045e-02 -5.69541838e-04 9.99877580e-01 1.67392074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.21, Y:-2.95, Z:0.17 [[ 9.87567271e-01 1.56542200e-01 1.43326217e-02 3.92054736e+01] [-1.56532359e-01 9.87671167e-01 -1.81286049e-03 -2.94690560e+00] [-1.44397064e-02 -4.53197392e-04 9.99895639e-01 1.65846803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.712320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.24, Y:-2.95, Z:0.17 [[ 9.87963368e-01 1.54025368e-01 1.43027587e-02 3.92376718e+01] [-1.54015273e-01 9.88066807e-01 -1.81126510e-03 -2.94621847e+00] [-1.44110619e-02 -4.13379710e-04 9.99896070e-01 1.65266538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.742320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.27, Y:-2.95, Z:0.17 [[ 9.88496873e-01 1.50684079e-01 1.29707762e-02 3.92701673e+01] [-1.50675465e-01 9.88581914e-01 -1.64436250e-03 -2.94788549e+00] [-1.30704540e-02 -3.28930545e-04 9.99914524e-01 1.66021192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.30, Y:-2.95, Z:0.17 [[ 9.89560060e-01 1.43857512e-01 8.71226392e-03 3.93023460e+01] [-1.43853350e-01 9.89598399e-01 -1.10587180e-03 -2.94763269e+00] [-8.78073039e-03 -1.58961783e-04 9.99961436e-01 1.66425440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.34, Y:-2.95, Z:0.17 [[ 9.89873087e-01 1.41768385e-01 7.27992654e-03 3.93351529e+01] [-1.41765405e-01 9.89899849e-01 -9.26304876e-04 -2.94862459e+00] [-7.33771893e-03 -1.15117471e-04 9.99973072e-01 1.66224520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.37, Y:-2.95, Z:0.17 [[ 9.90142468e-01 1.39796390e-01 8.65230877e-03 3.93672740e+01] [-1.39792102e-01 9.90180264e-01 -1.10144296e-03 -2.94820013e+00] [-8.72132313e-03 -1.18938978e-04 9.99961961e-01 1.65185399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.40, Y:-2.95, Z:0.17 [[ 9.90516677e-01 1.36951255e-01 1.10030376e-02 3.94002616e+01] [-1.36944129e-01 9.90577781e-01 -1.40200333e-03 -2.94675784e+00] [-1.10913707e-02 -1.18093724e-04 9.99938482e-01 1.65577152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.892320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.43, Y:-2.94, Z:0.17 [[ 9.91407591e-01 1.30193587e-01 1.26735338e-02 3.94338692e+01] [-1.30183559e-01 9.91488592e-01 -1.61651083e-03 -2.93857828e+00] [-1.27761235e-02 -4.72646244e-05 9.99918381e-01 1.69099295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.922320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.47, Y:-2.94, Z:0.17 [[ 9.91751338e-01 1.27753624e-01 1.04065136e-02 3.94658689e+01] [-1.27746713e-01 9.91805934e-01 -1.32887203e-03 -2.93876839e+00] [-1.04910101e-02 -1.14872866e-05 9.99944968e-01 1.70051006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.50, Y:-2.94, Z:0.17 [[ 9.91958662e-01 1.26139159e-01 1.03404659e-02 3.94978522e+01] [-1.26132233e-01 9.92012557e-01 -1.32184273e-03 -2.94167279e+00] [-1.04246082e-02 6.94729175e-06 9.99945662e-01 1.68353656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.53, Y:-2.95, Z:0.17 [[ 9.92187732e-01 1.24338815e-01 1.01667601e-02 3.95298663e+01] [-1.24332011e-01 9.92239819e-01 -1.30101865e-03 -2.94676293e+00] [-1.02496313e-02 2.68010246e-05 9.99947471e-01 1.66893075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.56, Y:-2.95, Z:0.17 [[ 9.92537423e-01 1.21080424e-01 1.44566762e-02 3.95612315e+01] [-1.21066297e-01 9.92642697e-01 -1.85164987e-03 -2.95368331e+00] [-1.45745126e-02 8.76155342e-05 9.99893782e-01 1.66073264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.59, Y:-2.96, Z:0.17 [[ 9.92768980e-01 1.19250962e-01 1.37462851e-02 3.95937816e+01] [-1.19237970e-01 9.92864138e-01 -1.76375093e-03 -2.95683797e+00] [-1.38585225e-02 1.11918081e-04 9.99903960e-01 1.68293171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.072320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.63, Y:-2.96, Z:0.17 [[ 9.92908315e-01 1.18184217e-01 1.28673270e-02 3.96273305e+01] [-1.18172710e-01 9.92991680e-01 -1.65362130e-03 -2.95833197e+00] [-1.29725806e-02 1.21327438e-04 9.99915845e-01 1.69900668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.102320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.66, Y:-2.96, Z:0.17 [[ 9.92882333e-01 1.18757449e-01 9.01894312e-03 3.96600937e+01] [-1.18751809e-01 9.92923291e-01 -1.16020139e-03 -2.95886959e+00] [-9.09290124e-03 8.09276529e-05 9.99958655e-01 1.71615123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.69, Y:-2.96, Z:0.17 [[ 9.92770613e-01 1.19762601e-01 7.96421105e-03 3.96921695e+01] [-1.19758226e-01 9.92802556e-01 -1.02567152e-03 -2.96152055e+00] [-8.02972617e-03 6.44767587e-05 9.99967759e-01 1.71119549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.72, Y:-2.96, Z:0.17 [[ 9.92506692e-01 1.21858475e-01 8.99881547e-03 3.97245501e+01] [-1.21852966e-01 9.92547485e-01 -1.16004862e-03 -2.96355446e+00] [-9.07311342e-03 5.48236593e-05 9.99958837e-01 1.69417753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.76, Y:-2.97, Z:0.17 [[ 9.92057559e-01 1.25391582e-01 9.93733900e-03 3.97564543e+01] [-1.25385028e-01 9.92107328e-01 -1.28228558e-03 -2.96548477e+00] [-1.00196947e-02 2.61075749e-05 9.99949801e-01 1.69095819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.79, Y:-2.97, Z:0.17 [[ 9.91571536e-01 1.29143413e-01 1.03859212e-02 3.97880146e+01] [-1.29136450e-01 9.91625927e-01 -1.34102375e-03 -2.96840655e+00] [-1.04721332e-02 -1.14800278e-05 9.99945166e-01 1.68881338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.82, Y:-2.97, Z:0.17 [[ 9.90833451e-01 1.34900944e-01 7.12793096e-03 3.98200551e+01] [-1.34897804e-01 9.90859088e-01 -9.21631304e-04 -2.97105778e+00] [-7.18710411e-03 -4.83591100e-05 9.99974171e-01 1.69761024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.282320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.85, Y:-2.97, Z:0.17 [[ 9.90670519e-01 1.36093271e-01 7.10949800e-03 3.98521242e+01] [-1.36090171e-01 9.90696027e-01 -9.20224747e-04 -2.97292330e+00] [-7.16858782e-03 -5.58932729e-05 9.99974304e-01 1.70447600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.88, Y:-2.97, Z:0.17 [[ 9.90409107e-01 1.37981773e-01 7.12959223e-03 3.98840644e+01] [-1.37978698e-01 9.90434766e-01 -9.23799151e-04 -2.97389339e+00] [-7.18886345e-03 -6.87927597e-05 9.99974157e-01 1.71914084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.92, Y:-2.98, Z:0.17 [[ 9.90276677e-01 1.38909764e-01 7.49541846e-03 3.99151762e+01] [-1.38906391e-01 9.90305039e-01 -9.71330235e-04 -2.97571225e+00] [-7.55767793e-03 -7.92758475e-05 9.99971437e-01 1.73335804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.95, Y:-2.98, Z:0.17 [[ 9.89854955e-01 1.41818338e-01 8.64446990e-03 3.99467213e+01] [-1.41813958e-01 9.89892694e-01 -1.12076349e-03 -2.97836521e+00] [-8.71604241e-03 -1.16513189e-04 9.99962008e-01 1.73574821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.98, Y:-2.98, Z:0.17 [[ 9.89711035e-01 1.42765195e-01 9.49556543e-03 3.99792967e+01] [-1.42759938e-01 9.89756576e-01 -1.23270760e-03 -2.98013652e+00] [-9.57428607e-03 -1.35562014e-04 9.99954156e-01 1.73383803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.01, Y:-2.98, Z:0.17 [[ 9.89501839e-01 1.44262937e-01 8.62058955e-03 4.00119282e+01] [-1.44258650e-01 9.89539381e-01 -1.12035266e-03 -2.97973047e+00] [-8.69203822e-03 -1.35003592e-04 9.99962214e-01 1.74047343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.462320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.04, Y:-2.98, Z:0.17 [[ 9.89303583e-01 1.45569916e-01 9.37124651e-03 4.00430708e+01] [-1.45564915e-01 9.89347954e-01 -1.21717182e-03 -2.97810307e+00] [-9.44860716e-03 -1.59972268e-04 9.99955348e-01 1.73011658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.492320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.08, Y:-2.97, Z:0.17 [[ 9.89143114e-01 1.46700234e-01 8.65684159e-03 4.00750673e+01] [-1.46696009e-01 9.89180983e-01 -1.12438229e-03 -2.97133542e+00] [-8.72813022e-03 -1.57749117e-04 9.99961897e-01 1.73366166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.11, Y:-2.97, Z:0.17 [[ 9.89205083e-01 1.46117632e-01 1.10879039e-02 4.01055220e+01] [-1.46110665e-01 9.89267203e-01 -1.44013757e-03 -2.97371659e+00] [-1.11793292e-02 -1.95469618e-04 9.99937490e-01 1.72929873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.14, Y:-2.98, Z:0.17 [[ 9.89521155e-01 1.44045012e-01 9.94576164e-03 4.01365553e+01] [-1.44039292e-01 9.89571125e-01 -1.29279462e-03 -2.97793945e+00] [-1.00282591e-02 -1.53332841e-04 9.99949704e-01 1.73277752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.17, Y:-2.98, Z:0.17 [[ 9.89847718e-01 1.41947507e-01 7.23887195e-03 4.01663501e+01] [-1.41944422e-01 9.89874182e-01 -9.40696922e-04 -2.98302300e+00] [-7.29910203e-03 -9.63707970e-05 9.99973357e-01 1.73937468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.20, Y:-2.98, Z:0.17 [[ 9.90634050e-01 1.36540064e-01 9.94673013e-04 4.01964218e+01] [-1.36540004e-01 9.90634550e-01 -1.29055705e-04 -2.98483319e+00] [-1.00297873e-03 -7.96568080e-06 9.99999497e-01 1.73340034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.642320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.23, Y:-2.99, Z:0.17 [[ 9.91188777e-01 1.32455242e-01 6.45496474e-04 4.02250499e+01] [-1.32455217e-01 9.91188987e-01 -8.11580063e-05 -2.98623480e+00] [-6.50558800e-04 -5.05647084e-06 9.99999788e-01 1.73492328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.672320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.25, Y:-2.99, Z:0.17 [[ 9.91693331e-01 1.28576881e-01 3.51036528e-03 4.02529390e+01] [-1.28576094e-01 9.91699544e-01 -4.49785374e-04 -2.98867465e+00] [-3.53905965e-03 -5.29990233e-06 9.99993737e-01 1.73327581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.28, Y:-2.99, Z:0.17 [[ 9.92230426e-01 1.24278046e-01 5.80940503e-03 4.02809638e+01] [-1.24275803e-01 9.92247432e-01 -7.47023736e-04 -2.99285490e+00] [-5.85720588e-03 1.92512053e-05 9.99982846e-01 1.73458727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.31, Y:-3.00, Z:0.17 [[ 9.92742163e-01 1.20014653e-01 7.71236475e-03 4.03088706e+01] [-1.20010608e-01 9.92772119e-01 -9.86904696e-04 -2.99903215e+00] [-7.77506372e-03 5.41763207e-05 9.99969772e-01 1.73838446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.34, Y:-3.01, Z:0.18 [[ 9.93188191e-01 1.15928087e-01 1.17429458e-02 4.03384384e+01] [-1.15918380e-01 9.93257600e-01 -1.50622049e-03 -3.00811156e+00] [-1.18383835e-02 1.34737139e-04 9.99929915e-01 1.75637753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.37, Y:-3.01, Z:0.18 [[ 9.93378149e-01 1.14283130e-01 1.17991452e-02 4.03701516e+01] [-1.14273187e-01 9.93448208e-01 -1.51561890e-03 -3.01261860e+00] [-1.18950493e-02 1.57256770e-04 9.99929239e-01 1.75847100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.822320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.40, Y:-3.02, Z:0.18 [[ 9.93411657e-01 1.14231165e-01 9.19351539e-03 4.04020898e+01] [-1.14225115e-01 9.93454189e-01 -1.18224761e-03 -3.01668358e+00] [-9.26838589e-03 1.24328203e-04 9.99957040e-01 1.75194497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.852320588000005 meters Centerline goodness [0,1] 0.9999507752891952 Centerline is valid? [True, True] Translation: X:40.43, Y:-3.02, Z:0.17 [[ 9.93412670e-01 1.14576406e-01 1.87457775e-03 4.04333528e+01] [-1.14576155e-01 9.93414438e-01 -2.41528540e-04 -3.02101490e+00] [-1.88990608e-03 2.51556018e-05 9.99998214e-01 1.73563189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.46, Y:-3.03, Z:0.17 [[ 9.93368168e-01 1.14976870e-01 -4.60706308e-05 4.04613912e+01] [-1.14976870e-01 9.93368169e-01 8.23809282e-06 -3.02671523e+00] [ 4.67122883e-05 -2.88640226e-06 9.99999999e-01 1.72253141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.49, Y:-3.03, Z:0.17 [[ 9.93427672e-01 1.14461606e-01 -4.60364090e-05 4.04885829e+01] [-1.14461606e-01 9.93427673e-01 8.51043151e-06 -3.03050593e+00] [ 4.67079603e-05 -3.18509687e-06 9.99999999e-01 1.72391656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.52, Y:-3.04, Z:0.17 [[ 9.93394993e-01 1.14744828e-01 1.09651914e-04 4.05152439e+01] [-1.14744828e-01 9.93394999e-01 -1.12976135e-05 -3.03870612e+00] [-1.10224006e-04 -1.35899733e-06 9.99999994e-01 1.72783761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.54, Y:-3.05, Z:0.17 [[ 9.93307449e-01 1.15473390e-01 2.49150085e-03 4.05419644e+01] [-1.15472969e-01 9.93310574e-01 -3.12701913e-04 -3.04842563e+00] [-2.51094289e-03 2.29081381e-05 9.99996847e-01 1.72792967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.57, Y:-3.06, Z:0.18 [[ 9.93246591e-01 1.15906205e-01 5.19243445e-03 4.05705022e+01] [-1.15904356e-01 9.93260162e-01 -6.56504241e-04 -3.05950350e+00] [-5.23353120e-03 5.02448262e-05 9.99986304e-01 1.76234189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.032320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.60, Y:-3.06, Z:0.18 [[ 9.93159628e-01 1.16615130e-01 5.90466073e-03 4.06008739e+01] [-1.16612750e-01 9.93177179e-01 -7.46928927e-04 -3.06395568e+00] [-5.95147750e-03 5.32609317e-05 9.99982288e-01 1.77088393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.63, Y:-3.07, Z:0.18 [[ 9.92910106e-01 1.18707979e-01 6.15931071e-03 4.06312935e+01] [-1.18705430e-01 9.92929209e-01 -7.79141690e-04 -3.06774672e+00] [-6.20824985e-03 4.24740309e-05 9.99980728e-01 1.76514045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.66, Y:-3.07, Z:0.17 [[ 9.92519232e-01 1.21947463e-01 5.86437166e-03 4.06614675e+01] [-1.21945208e-01 9.92536556e-01 -7.41832432e-04 -3.07214364e+00] [-5.91106784e-03 2.11509309e-05 9.99982529e-01 1.74857617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.69, Y:-3.08, Z:0.18 [[ 9.91501017e-01 1.30059876e-01 3.18771874e-03 4.06925567e+01] [-1.30059250e-01 9.91506141e-01 -4.03785988e-04 -3.07811280e+00] [-3.21315906e-03 -1.42380896e-05 9.99994838e-01 1.75316950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.72, Y:-3.08, Z:0.18 [[ 9.91060535e-01 1.33396134e-01 2.11814720e-03 4.07222606e+01] [-1.33395866e-01 9.91062799e-01 -2.67603676e-04 -3.08192541e+00] [-2.13491418e-03 -1.73406383e-05 9.99997721e-01 1.76765816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.75, Y:-3.09, Z:0.18 [[ 9.90534661e-01 1.37255032e-01 1.46367384e-03 4.07520158e+01] [-1.37254908e-01 9.90535742e-01 -1.84711117e-04 -3.08549404e+00] [-1.47517379e-03 -1.79336556e-05 9.99998912e-01 1.77876299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.212320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.78, Y:-3.09, Z:0.18 [[ 9.90104537e-01 1.40311201e-01 2.40260536e-03 4.07804339e+01] [-1.40310885e-01 9.90107451e-01 -3.00232735e-04 -3.09023263e+00] [-2.42096348e-03 -3.98498915e-05 9.99997069e-01 1.77786091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.242320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.81, Y:-3.09, Z:0.18 [[ 9.89635650e-01 1.43533192e-01 4.41618250e-03 4.08095062e+01] [-1.43532141e-01 9.89645500e-01 -5.55596178e-04 -3.09499975e+00] [-4.45020163e-03 -8.40263461e-05 9.99990094e-01 1.76858912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.84, Y:-3.10, Z:0.18 [[ 9.89212166e-01 1.46310829e-01 7.24103019e-03 4.08399796e+01] [-1.46308074e-01 9.89238655e-01 -9.11540696e-04 -3.09759944e+00] [-7.29647524e-03 -1.57714034e-04 9.99973368e-01 1.75538077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.87, Y:-3.10, Z:0.18 [[ 9.89141424e-01 1.46791747e-01 7.17118117e-03 4.08713019e+01] [-1.46789053e-01 9.89167406e-01 -9.03560118e-04 -3.09905910e+00] [-7.22613385e-03 -1.58902149e-04 9.99973879e-01 1.76186393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.90, Y:-3.10, Z:0.18 [[ 9.89183664e-01 1.46545772e-01 6.32583610e-03 4.09026144e+01] [-1.46543667e-01 9.89203881e-01 -7.97514537e-04 -3.10036592e+00] [-6.37441400e-03 -1.38122867e-04 9.99979674e-01 1.76865744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.93, Y:-3.10, Z:0.18 [[ 9.88904217e-01 1.48467172e-01 5.09387971e-03 4.09328630e+01] [-1.48465834e-01 9.88917329e-01 -6.41927974e-04 -3.10325149e+00] [-5.13273115e-03 -1.21461817e-04 9.99986820e-01 1.78346096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.392320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.96, Y:-3.10, Z:0.18 [[ 9.88615768e-01 1.50439954e-01 2.58534284e-03 4.09627890e+01] [-1.50439618e-01 9.88619146e-01 -3.25294295e-04 -3.10497330e+00] [-2.60485669e-03 -6.73469194e-05 9.99996605e-01 1.78280568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.422320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.99, Y:-3.11, Z:0.18 [[ 9.88508515e-01 1.51106169e-01 4.22396171e-03 4.09918996e+01] [-1.51105293e-01 9.88517532e-01 -5.27698683e-04 -3.10538231e+00] [-4.25519873e-03 -1.16628330e-04 9.99990940e-01 1.77733971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.02, Y:-3.10, Z:0.18 [[ 9.88507550e-01 1.50990558e-01 7.39422895e-03 4.10212525e+01] [-1.50987882e-01 9.88535184e-01 -9.22025782e-04 -3.10485426e+00] [-7.44867266e-03 -2.05009523e-04 9.99972237e-01 1.78315064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.05, Y:-3.11, Z:0.18 [[ 9.88465314e-01 1.51094156e-01 1.03382205e-02 4.10519938e+01] [-1.51088897e-01 9.88519335e-01 -1.29241751e-03 -3.10548435e+00] [-1.04148076e-02 -2.84480447e-04 9.99945724e-01 1.78718613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.08, Y:-3.11, Z:0.18 [[ 9.89137889e-01 1.46598497e-01 1.07292719e-02 4.10835902e+01] [-1.46592556e-01 9.89196048e-01 -1.34235329e-03 -3.10813074e+00] [-1.08101403e-02 -2.45058885e-04 9.99941539e-01 1.77433418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.11, Y:-3.11, Z:0.18 [[ 9.89722493e-01 1.42777035e-01 8.00662337e-03 4.11147847e+01] [-1.42773596e-01 9.89754866e-01 -1.00234507e-03 -3.11228040e+00] [-8.06770630e-03 -1.51090952e-04 9.99967444e-01 1.76101359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.572320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.15, Y:-3.12, Z:0.18 [[ 9.90218210e-01 1.39432223e-01 5.15292272e-03 4.11452386e+01] [-1.39430754e-01 9.90231614e-01 -6.44875311e-04 -3.11554185e+00] [-5.19250338e-03 -7.99086250e-05 9.99986516e-01 1.75313493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.602320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.17, Y:-3.12, Z:0.17 [[ 9.90764404e-01 1.35490822e-01 5.30403315e-03 4.11736286e+01] [-1.35489235e-01 9.90778599e-01 -6.58939910e-04 -3.11732007e+00] [-5.34440284e-03 -6.57851885e-05 9.99985716e-01 1.74735964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.20, Y:-3.12, Z:0.18 [[ 9.91433708e-01 1.30496366e-01 5.46813767e-03 4.12027502e+01] [-1.30494616e-01 9.91448787e-01 -6.77126541e-04 -3.12032947e+00] [-5.50974101e-03 -4.22364488e-05 9.99984820e-01 1.77643248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.23, Y:-3.13, Z:0.18 [[ 9.91720119e-01 1.28324002e-01 4.91487375e-03 4.12324924e+01] [-1.28322555e-01 9.91732297e-01 -6.09940587e-04 -3.12531054e+00] [-4.95250905e-03 -2.57988065e-05 9.99987736e-01 1.78904829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.26, Y:-3.13, Z:0.18 [[ 9.91838283e-01 1.27431942e-01 4.23316353e-03 4.12615624e+01] [-1.27430862e-01 9.91847317e-01 -5.25010098e-04 -3.13061213e+00] [-4.26555495e-03 -1.87105640e-05 9.99990902e-01 1.79725563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.29, Y:-3.14, Z:0.18 [[ 9.92100692e-01 1.25420687e-01 2.42250243e-03 4.12897609e+01] [-1.25420335e-01 9.92103649e-01 -2.97153983e-04 -3.13625979e+00] [-2.44064276e-03 -9.02439393e-06 9.99997022e-01 1.78732532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.32, Y:-3.14, Z:0.18 [[ 9.92289313e-01 1.23939948e-01 8.98826645e-04 4.13170742e+01] [-1.23939901e-01 9.92289720e-01 -1.07913907e-04 -3.14179148e+00] [-9.05271284e-04 -4.31866865e-06 9.99999590e-01 1.77508288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.782320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.34, Y:-3.15, Z:0.18 [[ 9.92546705e-01 1.21831778e-01 2.83847585e-03 4.13436935e+01] [-1.21831289e-01 9.92550763e-01 -3.45151254e-04 -3.15118318e+00] [-2.85938176e-03 -3.23643094e-06 9.99995912e-01 1.77426136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.37, Y:-3.16, Z:0.18 [[ 9.92689696e-01 1.20548849e-01 5.92809654e-03 4.13719417e+01] [-1.20546691e-01 9.92707396e-01 -7.21367291e-04 -3.15757075e+00] [-5.97182527e-03 1.48145620e-06 9.99982168e-01 1.79762104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.40, Y:-3.16, Z:0.18 [[ 9.92739435e-01 1.19992531e-01 8.37890829e-03 4.14022749e+01] [-1.19988171e-01 9.92774794e-01 -1.02290499e-03 -3.16274105e+00] [-8.44110991e-03 1.01082349e-05 9.99964373e-01 1.81848515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.43, Y:-3.17, Z:0.18 [[ 9.92524372e-01 1.21734138e-01 8.72759108e-03 4.14338637e+01] [-1.21729459e-01 9.92562743e-01 -1.06731821e-03 -3.16556799e+00] [-8.79261081e-03 -3.06560878e-06 9.99961344e-01 1.83371726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.47, Y:-3.17, Z:0.18 [[ 9.92176117e-01 1.24659077e-01 6.83139583e-03 4.14658801e+01] [-1.24656273e-01 9.92199634e-01 -8.36496776e-04 -3.16930603e+00] [-6.88238536e-03 -2.16242177e-05 9.99976316e-01 1.82377823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.50, Y:-3.17, Z:0.18 [[ 9.91919905e-01 1.26740629e-01 5.63169602e-03 4.14957376e+01] [-1.26738757e-01 9.91935891e-01 -6.89394454e-04 -3.17255326e+00] [-5.67365569e-03 -2.99300732e-05 9.99983904e-01 1.80657908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.962320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.53, Y:-3.18, Z:0.18 [[ 9.91724298e-01 1.28267541e-01 5.50957272e-03 4.15262102e+01] [-1.28265774e-01 9.91739601e-01 -6.74281341e-04 -3.17650220e+00] [-5.55054987e-03 -3.79884222e-05 9.99984595e-01 1.79146534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.992320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.56, Y:-3.18, Z:0.18 [[ 9.91293204e-01 1.31219397e-01 1.09203151e-02 4.15555431e+01] [-1.31212641e-01 9.91353347e-01 -1.33593426e-03 -3.18425018e+00] [-1.10011914e-02 -1.08580835e-04 9.99939479e-01 1.79674892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.59, Y:-3.19, Z:0.18 [[ 9.91111607e-01 1.32466378e-01 1.22654419e-02 4.15870269e+01] [-1.32457920e-01 9.91187490e-01 -1.50300724e-03 -3.18991032e+00] [-1.23564505e-02 -1.35006996e-04 9.99923647e-01 1.81897411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.62, Y:-3.19, Z:0.18 [[ 9.90923095e-01 1.33989011e-01 1.08795590e-02 4.16184633e+01] [-1.33982431e-01 9.90982808e-01 -1.33472161e-03 -3.19392908e+00] [-1.09602939e-02 -1.35063290e-04 9.99939925e-01 1.83594009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.65, Y:-3.20, Z:0.18 [[ 9.90893891e-01 1.34454610e-01 7.15926960e-03 4.16507801e+01] [-1.34451764e-01 9.90919749e-01 -8.79498566e-04 -3.19600297e+00] [-7.21251427e-03 -9.10866720e-05 9.99973985e-01 1.83284299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.68, Y:-3.20, Z:0.18 [[ 9.90837176e-01 1.35032699e-01 2.80381570e-03 4.16818701e+01] [-1.35032265e-01 9.90841142e-01 -3.44179055e-04 -3.19521937e+00] [-2.82461138e-03 -3.75801830e-05 9.99996010e-01 1.78145651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.142320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.71, Y:-3.20, Z:0.18 [[ 9.90779975e-01 1.35391766e-01 4.91023695e-03 4.17101588e+01] [-1.35390465e-01 9.90792140e-01 -5.98041464e-04 -3.19737774e+00] [-4.94599407e-03 -7.22717551e-05 9.99987766e-01 1.77921391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.172320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.74, Y:-3.20, Z:0.18 [[ 9.90676865e-01 1.36057350e-01 6.90984124e-03 4.17396157e+01] [-1.36054771e-01 9.90700957e-01 -8.44126525e-04 -3.19960246e+00] [-6.96043595e-03 -1.03860248e-04 9.99975770e-01 1.79642408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.77, Y:-3.20, Z:0.18 [[ 9.90445287e-01 1.37742990e-01 6.70835960e-03 4.17697303e+01] [-1.37740595e-01 9.90467999e-01 -8.19839218e-04 -3.20133788e+00] [-6.75734261e-03 -1.12007556e-04 9.99977163e-01 1.82997035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.80, Y:-3.20, Z:0.18 [[ 9.90170432e-01 1.39699081e-01 6.83237153e-03 4.17997532e+01] [-1.39696647e-01 9.90193996e-01 -8.34598603e-04 -3.20270988e+00] [-6.88196592e-03 -1.28064534e-04 9.99976311e-01 1.83350124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.83, Y:-3.20, Z:0.18 [[ 9.89965069e-01 1.41222999e-01 5.02254284e-03 4.18303133e+01] [-1.41221702e-01 9.89977805e-01 -6.13644702e-04 -3.20432627e+00] [-5.05886668e-03 -1.01805230e-04 9.99987199e-01 1.82987894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.86, Y:-3.21, Z:0.18 [[ 9.90136197e-01 1.39997893e-01 5.55883320e-03 4.18600910e+01] [-1.39996290e-01 9.90151796e-01 -6.78457955e-04 -3.20895967e+00] [-5.59907136e-03 -1.06450243e-04 9.99984319e-01 1.80804797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.322320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.89, Y:-3.21, Z:0.18 [[ 9.90452022e-01 1.37661356e-01 7.35817994e-03 4.18894577e+01] [-1.37658484e-01 9.90479347e-01 -8.97682882e-04 -3.21332220e+00] [-7.41170151e-03 -1.23804074e-04 9.99972525e-01 1.80447170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.352320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.92, Y:-3.21, Z:0.18 [[ 9.91030244e-01 1.33550871e-01 4.81873422e-03 4.19195860e+01] [-1.33549590e-01 9.91041957e-01 -5.88095964e-04 -3.21471894e+00] [-4.85410852e-03 -6.07190917e-05 9.99988217e-01 1.81713070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.95, Y:-3.21, Z:0.18 [[ 9.91496437e-01 1.30080862e-01 3.71290979e-03 4.19481618e+01] [-1.30080092e-01 9.91503388e-01 -4.49011563e-04 -3.21490171e+00] [-3.73977045e-03 -3.77822835e-05 9.99993006e-01 1.81399430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.98, Y:-3.22, Z:0.18 [[ 9.91980505e-01 1.26308531e-01 4.56431154e-03 4.19767335e+01] [-1.26307339e-01 9.91991005e-01 -5.49699938e-04 -3.21511616e+00] [-4.59718779e-03 -3.12144237e-05 9.99989432e-01 1.81246845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.01, Y:-3.22, Z:0.18 [[ 9.92444166e-01 1.22575610e-01 5.45865690e-03 4.20050129e+01] [-1.22573862e-01 9.92459178e-01 -6.54997850e-04 -3.21710203e+00] [-5.49778090e-03 -1.90398598e-05 9.99984887e-01 1.81170569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.03, Y:-3.23, Z:0.18 [[ 9.93222298e-01 1.16003116e-01 7.26247205e-03 4.20333167e+01] [-1.15999830e-01 9.93248849e-01 -8.73501658e-04 -3.22572241e+00] [-7.31477092e-03 2.51358030e-05 9.99973246e-01 1.82631233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.06, Y:-3.23, Z:0.18 [[ 9.93450271e-01 1.14045170e-01 7.08930980e-03 4.20628794e+01] [-1.14041985e-01 9.93475565e-01 -8.53286873e-04 -3.23302048e+00] [-7.14036931e-03 3.92191140e-05 9.99974506e-01 1.83101630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.532320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.09, Y:-3.24, Z:0.18 [[ 9.93522876e-01 1.13337514e-01 8.17946056e-03 4.20931728e+01] [-1.13333250e-01 9.93556544e-01 -9.84500116e-04 -3.23762576e+00] [-8.23833736e-03 5.11185384e-05 9.99966063e-01 1.81899628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.12, Y:-3.24, Z:0.18 [[ 9.93641133e-01 1.12310780e-01 7.97417750e-03 4.21244294e+01] [-1.12306687e-01 9.93673128e-01 -9.60647541e-04 -3.23830833e+00] [-8.03161697e-03 5.89854556e-05 9.99967744e-01 1.80265725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.16, Y:-3.24, Z:0.18 [[ 9.93378796e-01 1.14740264e-01 5.76544062e-03 4.21556431e+01] [-1.14738167e-01 9.93395526e-01 -6.94322902e-04 -3.23734093e+00] [-5.80702971e-03 2.82095600e-05 9.99983139e-01 1.80141674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.18, Y:-3.24, Z:0.18 [[ 9.93188377e-01 1.16410449e-01 5.04522907e-03 4.21846579e+01] [-1.16408867e-01 9.93201192e-01 -6.07258337e-04 -3.24295842e+00] [-5.08161874e-03 1.58125246e-05 9.99987088e-01 1.81110122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.21, Y:-3.25, Z:0.18 [[ 9.93011318e-01 1.17920555e-01 4.82333535e-03 4.22132877e+01] [-1.17919129e-01 9.93023032e-01 -5.80049694e-04 -3.24934635e+00] [-4.85808287e-03 7.23241027e-06 9.99988199e-01 1.84008521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.24, Y:-3.26, Z:0.19 [[ 9.92804434e-01 1.19622027e-01 5.47049296e-03 4.22426682e+01] [-1.19620220e-01 9.92819506e-01 -6.57553560e-04 -3.25528107e+00] [-5.50987001e-03 -1.55948031e-06 9.99984821e-01 1.85462155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.712320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.27, Y:-3.26, Z:0.19 [[ 9.92416053e-01 1.22645074e-01 8.28031361e-03 4.22721040e+01] [-1.22641038e-01 9.92450596e-01 -9.95354780e-04 -3.26201356e+00] [-8.33987753e-03 -2.77001898e-05 9.99965222e-01 1.85100100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.742320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.30, Y:-3.27, Z:0.18 [[ 9.92333592e-01 1.23160498e-01 1.02729311e-02 4.23028670e+01] [-1.23154301e-01 9.92386764e-01 -1.23612245e-03 -3.26869486e+00] [-1.03469623e-02 -3.85098196e-05 9.99946468e-01 1.83887354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.33, Y:-3.28, Z:0.18 [[ 9.92317987e-01 1.23252635e-01 1.06677675e-02 4.23349524e+01] [-1.23245938e-01 9.92375325e-01 -1.28538576e-03 -3.27516767e+00] [-1.07448564e-02 -3.92476051e-05 9.99942272e-01 1.84652318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.37, Y:-3.28, Z:0.18 [[ 9.92249822e-01 1.23954056e-01 8.69962218e-03 4.23663920e+01] [-1.23949618e-01 9.92287958e-01 -1.04953398e-03 -3.27941914e+00] [-8.76262432e-03 -3.69149428e-05 9.99961607e-01 1.84978394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.40, Y:-3.28, Z:0.19 [[ 9.92233396e-01 1.24085486e-01 8.69948320e-03 4.23978491e+01] [-1.24081043e-01 9.92271531e-01 -1.05068575e-03 -3.28317616e+00] [-8.76262436e-03 -3.69154587e-05 9.99961607e-01 1.85138029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.43, Y:-3.28, Z:0.19 [[ 9.91618899e-01 1.29004303e-01 7.06041962e-03 4.24299946e+01] [-1.29001499e-01 9.91644032e-01 -8.52981453e-04 -3.28144701e+00] [-7.11146126e-03 -6.49721860e-05 9.99974711e-01 1.85066807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.892320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.46, Y:-3.28, Z:0.19 [[ 9.91009047e-01 1.33487624e-01 9.06218708e-03 4.24607232e+01] [-1.33483197e-01 9.91050472e-01 -1.09439239e-03 -3.28215693e+00] [-9.12717262e-03 -1.25096940e-04 9.99958339e-01 1.85784940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.922320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.49, Y:-3.28, Z:0.19 [[ 9.90465176e-01 1.37314856e-01 1.11070258e-02 4.24916191e+01] [-1.37308439e-01 9.90527431e-01 -1.34187456e-03 -3.28416009e+00] [-1.11860730e-02 -1.96008345e-04 9.99937415e-01 1.86095741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.52, Y:-3.29, Z:0.19 [[ 9.89803843e-01 1.41992048e-01 1.12521674e-02 4.25234992e+01] [-1.41985741e-01 9.89867767e-01 -1.36144765e-03 -3.28953940e+00] [-1.13314725e-02 -2.50081205e-04 9.99935766e-01 1.86309520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.56, Y:-3.30, Z:0.19 [[ 9.89304024e-01 1.45444705e-01 1.11078972e-02 4.25552583e+01] [-1.45438760e-01 9.89366341e-01 -1.34549012e-03 -3.29700774e+00] [-1.11854741e-02 -2.84420006e-04 9.99937400e-01 1.85200420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.59, Y:-3.30, Z:0.19 [[ 9.88504159e-01 1.51010360e-01 7.44303959e-03 4.25873802e+01] [-1.51007839e-01 9.88532153e-01 -9.02765772e-04 -3.30146357e+00] [-7.49401093e-03 -2.31569602e-04 9.99971893e-01 1.85534982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.62, Y:-3.30, Z:0.19 [[ 9.88316255e-01 1.52227607e-01 7.59845661e-03 4.26187716e+01] [-1.52225020e-01 9.88345433e-01 -9.20939987e-04 -3.29859594e+00] [-7.65009237e-03 -2.46495254e-04 9.99970707e-01 1.87207946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.072320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.65, Y:-3.29, Z:0.19 [[ 9.88216275e-01 1.52738577e-01 9.97597526e-03 4.26493372e+01] [-1.52734156e-01 9.88266572e-01 -1.20811131e-03 -3.29472117e+00] [-1.00434481e-02 -3.29796897e-04 9.99949509e-01 1.88152057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.102320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.68, Y:-3.29, Z:0.19 [[ 9.88939630e-01 1.47894838e-01 1.12038335e-02 4.26802900e+01] [-1.47888946e-01 9.89003042e-01 -1.35717739e-03 -3.29352143e+00] [-1.12813449e-02 -3.14756615e-04 9.99936314e-01 1.89066889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.71, Y:-3.30, Z:0.19 [[ 9.89352125e-01 1.45125809e-01 1.09942427e-02 4.27107065e+01] [-1.45119952e-01 9.89413171e-01 -1.33285716e-03 -3.30111546e+00] [-1.10712805e-02 -2.76818904e-04 9.99938673e-01 1.87500747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.74, Y:-3.31, Z:0.19 [[ 9.89873402e-01 1.41699500e-01 8.47943074e-03 4.27414994e+01] [-1.41695884e-01 9.89909702e-01 -1.02862591e-03 -3.30820274e+00] [-8.53962653e-03 -1.83291008e-04 9.99963520e-01 1.86027812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.77, Y:-3.31, Z:0.19 [[ 9.90397955e-01 1.37958504e-01 8.90745504e-03 4.27717399e+01] [-1.37954367e-01 9.90437997e-01 -1.08019690e-03 -3.31144366e+00] [-8.97130428e-03 -1.58997523e-04 9.99959744e-01 1.85075541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.80, Y:-3.31, Z:0.19 [[ 9.91691385e-01 1.28345204e-01 8.70086936e-03 4.28027257e+01] [-1.28340886e-01 9.91729552e-01 -1.05514449e-03 -3.30616594e+00] [-8.76433200e-03 -7.02995813e-05 9.99961590e-01 1.88190818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.83, Y:-3.31, Z:0.19 [[ 9.92124667e-01 1.24977327e-01 8.32548760e-03 4.28328334e+01] [-1.24973255e-01 9.92159597e-01 -1.00962237e-03 -3.30864372e+00] [-8.38639233e-03 -3.87920241e-05 9.99964833e-01 1.90446368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.282320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.86, Y:-3.32, Z:0.19 [[ 9.92414791e-01 1.22671689e-01 8.03364633e-03 4.28625160e+01] [-1.22667822e-01 9.92447307e-01 -9.74231114e-04 -3.31545832e+00] [-8.09248124e-03 -1.86285277e-05 9.99967255e-01 1.90652354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.89, Y:-3.33, Z:0.19 [[ 9.92385978e-01 1.22946779e-01 7.35936138e-03 4.28914650e+01] [-1.22943541e-01 9.92413265e-01 -8.92461348e-04 -3.32642770e+00] [-7.41325311e-03 -1.91198225e-05 9.99972521e-01 1.87707990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.92, Y:-3.33, Z:0.19 [[ 9.92222444e-01 1.24176802e-01 8.64541101e-03 4.29215655e+01] [-1.24172381e-01 9.92260107e-01 -1.04841912e-03 -3.33038766e+00] [-8.70868579e-03 -3.32562874e-05 9.99962078e-01 1.86648682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.95, Y:-3.33, Z:0.19 [[ 9.92002647e-01 1.25900755e-01 8.93021287e-03 4.29515186e+01] [-1.25896107e-01 9.92042841e-01 -1.08295671e-03 -3.33467549e+00] [-8.99549881e-03 -4.99831068e-05 9.99959538e-01 1.86934137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.98, Y:-3.34, Z:0.19 [[ 9.91774252e-01 1.27739219e-01 8.15623742e-03 4.29812465e+01] [-1.27735404e-01 9.91807788e-01 -9.89097595e-04 -3.34175455e+00] [-8.21576635e-03 -6.08787517e-05 9.99966248e-01 1.88570927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.01, Y:-3.36, Z:0.19 [[ 9.91319620e-01 1.31309369e-01 6.57720116e-03 4.30105525e+01] [-1.31306962e-01 9.91341437e-01 -7.98380552e-04 -3.35675637e+00] [-6.62508689e-03 -7.21819955e-05 9.99978051e-01 1.90148795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.462320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.04, Y:-3.36, Z:0.19 [[ 9.91148717e-01 1.32633997e-01 5.69595825e-03 4.30407116e+01] [-1.32632215e-01 9.91165081e-01 -6.91121525e-04 -3.36134629e+00] [-5.73730113e-03 -7.04633484e-05 9.99983539e-01 1.90039583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.492320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.07, Y:-3.36, Z:0.19 [[ 9.91145661e-01 1.32726990e-01 3.71810425e-03 4.30706626e+01] [-1.32726233e-01 9.91152634e-01 -4.50548877e-04 -3.36157903e+00] [-3.74500882e-03 -4.69304079e-05 9.99992986e-01 1.89478318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.10, Y:-3.36, Z:0.19 [[ 9.90993506e-01 1.33865696e-01 3.44188762e-03 4.30996944e+01] [-1.33865067e-01 9.90999482e-01 -4.13402232e-04 -3.36156007e+00] [-3.46624922e-03 -5.10695894e-05 9.99993991e-01 1.88748336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.13, Y:-3.36, Z:0.19 [[ 9.90725427e-01 1.35801067e-01 4.60427848e-03 4.31286790e+01] [-1.35799969e-01 9.90736122e-01 -5.51643757e-04 -3.36447882e+00] [-4.63653882e-03 -7.87333790e-05 9.99989248e-01 1.88412659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.16, Y:-3.37, Z:0.19 [[ 9.90025964e-01 1.40793534e-01 5.07647331e-03 4.31577151e+01] [-1.40792255e-01 9.90038973e-01 -6.10143648e-04 -3.37472237e+00] [-5.11181071e-03 -1.10670072e-04 9.99986928e-01 1.90217384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.19, Y:-3.38, Z:0.19 [[ 9.89813235e-01 1.42296729e-01 4.62613621e-03 4.31873165e+01] [-1.42295684e-01 9.89824040e-01 -5.56000862e-04 -3.38002065e+00] [-4.65817793e-03 -1.07942203e-04 9.99989145e-01 1.90768692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.642320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.22, Y:-3.38, Z:0.19 [[ 9.89540094e-01 1.44138109e-01 5.88291735e-03 4.32166373e+01] [-1.44136454e-01 9.89557569e-01 -7.06532855e-04 -3.38184937e+00] [-5.92332370e-03 -1.48800260e-04 9.99982446e-01 1.89935148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.672320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.25, Y:-3.38, Z:0.19 [[ 9.89133619e-01 1.46959819e-01 4.18277227e-03 4.32463479e+01] [-1.46959009e-01 9.89142456e-01 -5.01976258e-04 -3.38168884e+00] [-4.21112798e-03 -1.18174475e-04 9.99991126e-01 1.90394018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.28, Y:-3.38, Z:0.19 [[ 9.88350153e-01 1.52121648e-01 4.79375847e-03 4.32761505e+01] [-1.52120646e-01 9.88361765e-01 -5.75037446e-04 -3.37970079e+00] [-4.82544323e-03 -1.60891291e-04 9.99988345e-01 1.92419959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.31, Y:-3.38, Z:0.19 [[ 9.87966359e-01 1.54499905e-01 7.22863602e-03 4.33052020e+01] [-1.54497696e-01 9.87992769e-01 -8.66404146e-04 -3.38276883e+00] [-7.27569948e-03 -2.60829462e-04 9.99973498e-01 1.94136821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.34, Y:-3.39, Z:0.19 [[ 9.87757090e-01 1.55681552e-01 9.95922352e-03 4.33351727e+01] [-1.55677422e-01 9.87807226e-01 -1.19338373e-03 -3.38548017e+00] [-1.00235808e-02 -3.71653003e-04 9.99949694e-01 1.94633853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.37, Y:-3.38, Z:0.19 [[ 9.87364308e-01 1.58172518e-01 9.65285823e-03 4.33664697e+01] [-1.58168754e-01 9.87411417e-01 -1.15699075e-03 -3.38375266e+00] [-9.71434656e-03 -3.84409185e-04 9.99952741e-01 1.93272563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.822320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.40, Y:-3.38, Z:0.19 [[ 9.87026361e-01 1.60403086e-01 7.05783274e-03 4.33969477e+01] [-1.60401130e-01 9.87051550e-01 -8.45951219e-04 -3.38446544e+00] [-7.10213793e-03 -2.97108196e-04 9.99974735e-01 1.91598243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.852320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.43, Y:-3.39, Z:0.19 [[ 9.86803786e-01 1.61769179e-01 7.00143786e-03 4.34256746e+01] [-1.61767327e-01 9.86828575e-01 -8.33780588e-04 -3.38528755e+00] [-7.04409895e-03 -3.09826044e-04 9.99975142e-01 1.90019936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.46, Y:-3.38, Z:0.19 [[ 9.86601855e-01 1.63069927e-01 4.99779893e-03 4.34551319e+01] [-1.63069014e-01 9.86614487e-01 -5.92322185e-04 -3.38458113e+00] [-5.02749077e-03 -2.30599978e-04 9.99987335e-01 1.91379449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.912320588 meters Centerline goodness [0,1] 0.9998526088238184 Centerline is valid? [True, True] Translation: X:43.48, Y:-3.38, Z:0.19 [[ 9.86514566e-01 1.63567666e-01 5.88472507e-03 4.34843399e+01] [-1.63566423e-01 9.86532079e-01 -6.95188076e-04 -3.38284263e+00] [-5.91918035e-03 -2.76730267e-04 9.99982443e-01 1.93073974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.51, Y:-3.38, Z:0.19 [[ 9.86216650e-01 1.65174563e-01 9.69964643e-03 4.35142705e+01] [-1.65171290e-01 9.86264234e-01 -1.14301766e-03 -3.37551978e+00] [-9.75521179e-03 -4.74840071e-04 9.99952304e-01 1.94198767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.54, Y:-3.38, Z:0.19 [[ 9.86244673e-01 1.64915845e-01 1.11449198e-02 4.35432589e+01] [-1.64911561e-01 9.86307490e-01 -1.30867519e-03 -3.37551250e+00] [-1.12081391e-02 -5.47252188e-04 9.99937037e-01 1.93698297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.002320588 meters Centerline goodness [0,1] 0.9999508406253073 Centerline is valid? [True, True] Translation: X:43.57, Y:-3.38, Z:0.19 [[ 9.86472134e-01 1.63664119e-01 9.31578665e-03 4.35726071e+01] [-1.63661112e-01 9.86516018e-01 -1.08940120e-03 -3.37519986e+00] [-9.36846864e-03 -4.49968076e-04 9.99956014e-01 1.93537545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.032320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.60, Y:-3.36, Z:0.19 [[ 9.86983007e-01 1.60704881e-01 6.20367760e-03 4.36029106e+01] [-1.60703489e-01 9.87002463e-01 -7.25517083e-04 -3.36450080e+00] [-6.23963921e-03 -2.80879602e-04 9.99980494e-01 1.93924659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.63, Y:-3.36, Z:0.19 [[ 9.87299817e-01 1.58816930e-01 4.03165318e-03 4.36325206e+01] [-1.58816341e-01 9.87308032e-01 -4.67820848e-04 -3.35860228e+00] [-4.05478144e-03 -1.78412969e-04 9.99991763e-01 1.94535571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.66, Y:-3.35, Z:0.19 [[ 9.87655286e-01 1.56591494e-01 4.01743006e-03 4.36624840e+01] [-1.56590899e-01 9.87663442e-01 -4.64311028e-04 -3.35200187e+00] [-4.04057596e-03 -1.70513742e-04 9.99991822e-01 1.94827928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.69, Y:-3.35, Z:0.20 [[ 9.88075245e-01 1.53840775e-01 6.35021093e-03 4.36921677e+01] [-1.53839241e-01 9.88095619e-01 -7.32303824e-04 -3.34687802e+00] [-6.38727378e-03 -2.53340347e-04 9.99979569e-01 1.95538862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.72, Y:-3.34, Z:0.20 [[ 9.89032314e-01 1.47536721e-01 6.92803736e-03 4.37224178e+01] [-1.47534759e-01 9.89056551e-01 -7.96318697e-04 -3.33901340e+00] [-6.96970698e-03 -2.34541396e-04 9.99975684e-01 1.97943109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.75, Y:-3.34, Z:0.20 [[ 9.89673928e-01 1.43211644e-01 5.99512214e-03 4.37518075e+01] [-1.43210112e-01 9.89692070e-01 -6.86181664e-04 -3.33874979e+00] [-6.03159404e-03 -1.79466011e-04 9.99981794e-01 1.98561085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.212320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.78, Y:-3.34, Z:0.20 [[ 9.90516688e-01 1.37340413e-01 3.78172566e-03 4.37812492e+01] [-1.37339770e-01 9.90523903e-01 -4.30416756e-04 -3.33794605e+00] [-3.80500327e-03 -9.30463541e-05 9.99992757e-01 1.98173204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.81, Y:-3.33, Z:0.20 [[ 9.91321528e-01 1.31408809e-01 3.65414273e-03 4.38101564e+01] [-1.31408175e-01 9.91328261e-01 -4.13976451e-04 -3.33485836e+00] [-3.67685511e-03 -6.98004605e-05 9.99993238e-01 1.95948739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.84, Y:-3.32, Z:0.20 [[ 9.92764321e-01 1.20044289e-01 2.89324988e-03 4.38411006e+01] [-1.20043848e-01 9.92768537e-01 -3.26194348e-04 -3.32204777e+00] [-2.91148522e-03 -2.34827389e-05 9.99995761e-01 1.96178723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.87, Y:-3.32, Z:0.20 [[ 9.93508008e-01 1.13729625e-01 2.72229511e-03 4.38700606e+01] [-1.13729215e-01 9.93511737e-01 -3.05374140e-04 -3.31815899e+00] [-2.73936223e-03 -6.21283277e-06 9.99996248e-01 1.97697012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.90, Y:-3.31, Z:0.20 [[ 9.94696501e-01 1.02795998e-01 3.44282237e-03 4.38992457e+01] [-1.02795280e-01 9.94702459e-01 -3.85268097e-04 -3.31448114e+00] [-3.46418790e-03 2.93189387e-05 9.99993999e-01 2.00198319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.93, Y:-3.32, Z:0.20 [[ 9.95357755e-01 9.62120872e-02 2.48485398e-03 4.39273350e+01] [-9.62116916e-02 9.95360856e-01 -2.78533966e-04 -3.31864436e+00] [-2.50012472e-03 3.81689383e-05 9.99996874e-01 1.99232597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.392320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.96, Y:-3.32, Z:0.20 [[ 9.96091310e-01 8.83295107e-02 1.86477937e-05 4.39555031e+01] [-8.83295107e-02 9.96091310e-01 8.63487658e-08 -3.32404200e+00] [-1.85672780e-05 -1.73316174e-06 1.00000000e+00 1.98489224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.422320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.98, Y:-3.33, Z:0.20 [[ 9.96612080e-01 8.22456829e-02 -9.83684078e-05 4.39847114e+01] [-8.22456822e-02 9.96612085e-01 1.13160279e-05 -3.32845441e+00] [ 9.89658385e-05 -3.18731326e-06 9.99999995e-01 1.97334195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.01, Y:-3.33, Z:0.20 [[ 9.97258256e-01 7.39726063e-02 2.00590350e-03 4.40148451e+01] [-7.39723046e-02 9.97260271e-01 -2.24282737e-04 -3.33036894e+00] [-2.01699865e-03 7.52865065e-05 9.99997963e-01 1.98220307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.04, Y:-3.33, Z:0.20 [[ 9.97446461e-01 7.13951049e-02 1.81586569e-03 4.40436289e+01] [-7.13948584e-02 9.97448111e-01 -2.00305244e-04 -3.33173178e+00] [-1.82553261e-03 7.01502827e-05 9.99998331e-01 2.01283748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.07, Y:-3.34, Z:0.20 [[ 9.97527822e-01 7.02726097e-02 -6.71854050e-05 4.40717754e+01] [-7.02726092e-02 9.97527824e-01 9.52901066e-06 -3.33558208e+00] [ 6.76889394e-05 -4.78415954e-06 9.99999998e-01 2.03936995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.10, Y:-3.34, Z:0.20 [[ 9.97524039e-01 7.02788058e-02 -2.58493322e-03 4.41002480e+01] [-7.02782949e-02 9.97527382e-01 2.88071568e-04 -3.34079212e+00] [ 2.59878699e-03 -1.05693615e-04 9.99996618e-01 2.04884977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.572320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.13, Y:-3.35, Z:0.20 [[ 9.97419593e-01 7.15905792e-02 -5.38006548e-03 4.41275444e+01] [-7.15884092e-02 9.97434081e-01 5.95091568e-04 -3.35189082e+00] [ 5.40886362e-03 -2.08405660e-04 9.99985350e-01 2.01667644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.602320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.16, Y:-3.36, Z:0.20 [[ 9.97441959e-01 7.13900896e-02 -3.60451902e-03 4.41551610e+01] [-7.13891169e-02 9.97448463e-01 3.97979863e-04 -3.35982347e+00] [ 3.62373377e-03 -1.39638385e-04 9.99993425e-01 1.99948955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.18, Y:-3.37, Z:0.20 [[ 9.97499324e-01 7.06726788e-02 -6.86244370e-04 4.41833902e+01] [-7.06726424e-02 9.97499560e-01 7.71380360e-05 -3.36739828e+00] [ 6.89980009e-04 -2.84464358e-05 9.99999762e-01 1.97935489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.21, Y:-3.38, Z:0.20 [[ 9.97612285e-01 6.90458776e-02 1.54772125e-03 4.42113716e+01] [-6.90457023e-02 9.97613484e-01 -1.66463476e-04 -3.37571209e+00] [-1.55552120e-03 5.92025086e-05 9.99998788e-01 1.98011762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.692320588 meters Centerline goodness [0,1] 0.9999506757423301 Centerline is valid? [True, True] Translation: X:44.24, Y:-3.39, Z:0.20 [[ 9.97611783e-01 6.89898676e-02 3.33601075e-03 4.42383543e+01] [-6.89890511e-02 9.97617352e-01 -3.59332302e-04 -3.38825139e+00] [-3.35285250e-03 1.28325922e-04 9.99994371e-01 2.00930108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.27, Y:-3.39, Z:0.20 [[ 9.97572053e-01 6.95997983e-02 2.42236109e-03 4.42671059e+01] [-6.95993724e-02 9.97574990e-01 -2.59774278e-04 -3.39402722e+00] [-2.43456707e-03 9.05487484e-05 9.99997032e-01 2.02364543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.29, Y:-3.40, Z:0.20 [[ 9.97604983e-01 6.91261887e-02 2.42253433e-03 4.42943390e+01] [-6.91257653e-02 9.97607920e-01 -2.58162944e-04 -3.39727600e+00] [-2.43458525e-03 9.00850996e-05 9.99997032e-01 2.02503088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.782320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.32, Y:-3.40, Z:0.20 [[ 9.97550134e-01 6.99551984e-02 -2.39848332e-05 4.43226274e+01] [-6.99551983e-02 9.97550134e-01 4.67337924e-06 -3.40180275e+00] [ 2.42530008e-05 -2.98406632e-06 1.00000000e+00 2.02821605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.812320588 meters Centerline goodness [0,1] 0.9999509395084138 Centerline is valid? [True, True] Translation: X:44.35, Y:-3.41, Z:0.20 [[ 9.97312684e-01 7.32407596e-02 -1.78929527e-03 4.43510259e+01] [-7.32405312e-02 9.97314287e-01 1.92972346e-04 -3.41198594e+00] [ 1.79862318e-03 -6.14048321e-05 9.99998381e-01 1.99006279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.38, Y:-3.42, Z:0.20 [[ 9.97199097e-01 7.47860459e-02 -1.00434384e-03 4.43785038e+01] [-7.47859741e-02 9.97199602e-01 1.08920059e-04 -3.42235332e+00] [ 1.00967698e-03 -3.35041520e-05 9.99999490e-01 1.99586380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.41, Y:-3.43, Z:0.20 [[ 9.97059733e-01 7.66143140e-02 1.46153565e-03 4.44068653e+01] [-7.66141726e-02 9.97060803e-01 -1.52592727e-04 -3.43106128e+00] [-1.46893069e-03 4.01697191e-05 9.99998920e-01 2.00702418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.44, Y:-3.44, Z:0.20 [[ 9.96961883e-01 7.78485992e-02 2.56899971e-03 4.44354902e+01] [-7.78481649e-02 9.96965190e-01 -2.68760142e-04 -3.43596901e+00] [-2.58212589e-03 6.79517040e-05 9.99996664e-01 2.01751191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.46, Y:-3.44, Z:0.20 [[ 9.96696532e-01 8.11852735e-02 2.23045781e-03 4.44636010e+01] [-8.11849573e-02 9.96699026e-01 -2.32099005e-04 -3.44061466e+00] [-2.24193815e-03 5.02526508e-05 9.99997486e-01 1.99639683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.962320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.49, Y:-3.45, Z:0.20 [[ 9.96528238e-01 8.32316806e-02 1.98947621e-03 4.44917121e+01] [-8.32314354e-02 9.96530223e-01 -2.05893389e-04 -3.44840246e+00] [-1.99971003e-03 3.95916156e-05 9.99998000e-01 1.97868402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.52, Y:-3.46, Z:0.20 [[ 9.96252329e-01 8.64864686e-02 1.17788414e-03 4.45195001e+01] [-8.64863866e-02 9.96253025e-01 -1.20468872e-04 -3.45671708e+00] [-1.18388956e-03 1.81464518e-05 9.99999299e-01 1.98211487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.55, Y:-3.46, Z:0.20 [[ 9.95948667e-01 8.99215162e-02 6.11635719e-04 4.45480685e+01] [-8.99214956e-02 9.95948855e-01 -6.11888461e-05 -3.46199351e+00] [-6.14660087e-04 5.94175117e-06 9.99999811e-01 2.00589188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.58, Y:-3.46, Z:0.20 [[ 9.95248146e-01 9.73689732e-02 -6.41088625e-04 4.45770611e+01] [-9.73689494e-02 9.95248352e-01 6.83411881e-05 -3.46163429e+00] [ 6.44696710e-04 -5.59431489e-06 9.99999792e-01 2.04946806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.61, Y:-3.47, Z:0.20 [[ 9.95083609e-01 9.90136047e-02 2.21764966e-03 4.46050094e+01] [-9.90133487e-02 9.95086080e-01 -2.25177937e-04 -3.46654572e+00] [-2.22904798e-03 4.49395522e-06 9.99997516e-01 2.03177383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.63, Y:-3.47, Z:0.20 [[ 9.94962577e-01 1.00122343e-01 4.99876320e-03 4.46328832e+01] [-1.00121050e-01 9.94975134e-01 -5.08923913e-04 -3.47463336e+00] [-5.02459974e-03 5.87882923e-06 9.99987377e-01 2.01311334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.142320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.66, Y:-3.48, Z:0.20 [[ 9.94823607e-01 1.01374073e-01 7.02058027e-03 4.46607112e+01] [-1.01371569e-01 9.94848379e-01 -7.12486406e-04 -3.48148459e+00] [-7.05664055e-03 -2.88894090e-06 9.99975102e-01 2.01512809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.172320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.69, Y:-3.48, Z:0.20 [[ 9.94094275e-01 1.08239451e-01 7.79704294e-03 4.46899260e+01] [-1.08236600e-01 9.94124850e-01 -7.87983576e-04 -3.47630914e+00] [-7.83652505e-03 -6.05954541e-05 9.99969292e-01 2.01920793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.72, Y:-3.47, Z:0.20 [[ 9.93726011e-01 1.11712154e-01 5.38613213e-03 4.47185759e+01] [-1.11710866e-01 9.93740605e-01 -5.40413631e-04 -3.47167103e+00] [-5.41278897e-03 -6.46664009e-05 9.99985349e-01 2.01147386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.75, Y:-3.47, Z:0.20 [[ 9.93315788e-01 1.15392211e-01 2.89527452e-03 4.47473711e+01] [-1.15391861e-01 9.93320006e-01 -2.88268829e-04 -3.46998738e+00] [-2.90919808e-03 -4.77491371e-05 9.99995767e-01 2.00541180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.78, Y:-3.47, Z:0.20 [[ 9.93144019e-01 1.16861031e-01 2.90796613e-03 4.47758059e+01] [-1.16860687e-01 9.93148275e-01 -2.88210154e-04 -3.47158898e+00] [-2.92172208e-03 -5.35927293e-05 9.99995730e-01 1.99986300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.80, Y:-3.48, Z:0.20 [[ 9.93302809e-01 1.15160008e-01 9.36490925e-03 4.48043888e+01] [-1.15156367e-01 9.93346943e-01 -9.28871108e-04 -3.47688441e+00] [-9.40957277e-03 -1.55778644e-04 9.99955717e-01 2.04564370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.322320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.83, Y:-3.48, Z:0.21 [[ 9.93636716e-01 1.12141482e-01 1.05054564e-02 4.48329212e+01] [-1.12136780e-01 9.93692239e-01 -1.03746827e-03 -3.47901179e+00] [-1.05555337e-02 -1.47181482e-04 9.99944278e-01 2.07584232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.352320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.86, Y:-3.48, Z:0.21 [[ 9.94001017e-01 1.08933502e-01 9.77084615e-03 4.48617973e+01] [-1.08929326e-01 9.94049033e-01 -9.60217591e-04 -3.48057628e+00] [-9.81730003e-03 -1.09874419e-04 9.99951803e-01 2.07535611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.89, Y:-3.48, Z:0.21 [[ 9.94453375e-01 1.04794473e-01 8.97796632e-03 4.48908626e+01] [-1.04790817e-01 9.94493898e-01 -8.77990063e-04 -3.48129585e+00] [-9.02054123e-03 -6.76882425e-05 9.99959312e-01 2.05948010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.92, Y:-3.48, Z:0.20 [[ 9.95027286e-01 9.93611168e-02 6.93312541e-03 4.49205538e+01] [-9.93588304e-02 9.95051440e-01 -6.74298108e-04 -3.47523953e+00] [-6.96581543e-03 -1.79222152e-05 9.99975738e-01 2.01365688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.95, Y:-3.47, Z:0.20 [[ 9.95159375e-01 9.80590824e-02 6.49884022e-03 4.49487794e+01] [-9.80570706e-02 9.95180595e-01 -6.28243866e-04 -3.47311544e+00] [-6.52912469e-03 -1.20544611e-05 9.99978685e-01 2.00901126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.98, Y:-3.47, Z:0.20 [[ 9.95180721e-01 9.78222617e-02 6.79251544e-03 4.49770161e+01] [-9.78200816e-02 9.95203901e-01 -6.53246215e-04 -3.47399440e+00] [-6.82383989e-03 -1.43463754e-05 9.99976717e-01 2.02283218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.01, Y:-3.48, Z:0.21 [[ 9.95238210e-01 9.71104447e-02 8.39444691e-03 4.50050413e+01] [-9.71071145e-02 9.95273611e-01 -8.04352662e-04 -3.48429008e+00] [-8.43288253e-03 -1.46380136e-05 9.99964443e-01 2.06463248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.532320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.03, Y:-3.49, Z:0.21 [[ 9.95315670e-01 9.62791557e-02 8.77726804e-03 4.50328287e+01] [-9.62755249e-02 9.95354371e-01 -8.36227182e-04 -3.49076305e+00] [-8.81700336e-03 -1.27260700e-05 9.99961129e-01 2.08222626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.06, Y:-3.49, Z:0.21 [[ 9.95634511e-01 9.29337698e-02 8.67379873e-03 4.50608135e+01] [-9.29301365e-02 9.95672293e-01 -8.21853619e-04 -3.49361805e+00] [-8.71263902e-03 1.22085262e-05 9.99962044e-01 2.08965560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.09, Y:-3.49, Z:0.21 [[ 9.95944731e-01 8.95719274e-02 8.42393937e-03 4.50890632e+01] [-8.95684173e-02 9.95980355e-01 -7.93784161e-04 -3.49492760e+00] [-8.46117891e-03 3.60462357e-05 9.99964203e-01 2.07078880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.12, Y:-3.50, Z:0.20 [[ 9.96533440e-01 8.31517097e-02 2.62608234e-03 4.51166767e+01] [-8.31513544e-02 9.96536900e-01 -2.44371778e-04 -3.49710747e+00] [-2.63730789e-03 2.51623447e-05 9.99996522e-01 2.01896090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.14, Y:-3.50, Z:0.20 [[ 9.96676707e-01 8.14581354e-02 3.36403274e-04 4.51448830e+01] [-8.14581303e-02 9.96676764e-01 -2.89009942e-05 -3.50044028e+00] [-3.37639548e-04 1.40216597e-06 9.99999943e-01 2.01333598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.17, Y:-3.50, Z:0.20 [[ 9.96758993e-01 8.04330803e-02 -1.42471128e-03 4.51728253e+01] [-8.04329694e-02 9.96760011e-01 1.35072341e-04 -3.50289316e+00] [ 1.43095952e-03 -2.00408115e-05 9.99998976e-01 2.03739364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.712320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.20, Y:-3.50, Z:0.21 [[ 9.96753435e-01 8.04880176e-02 -2.06606369e-03 4.52003787e+01] [-8.04877890e-02 9.96755576e-01 1.93678733e-04 -3.50446394e+00] [ 2.07494932e-03 -2.67570438e-05 9.99997847e-01 2.06291815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.23, Y:-3.51, Z:0.21 [[ 9.96537779e-01 8.30824025e-02 3.12565248e-03 4.52277139e+01] [-8.30819175e-02 9.96542680e-01 -2.84920315e-04 -3.50982841e+00] [-3.13851796e-03 2.42486564e-05 9.99995075e-01 2.08490294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.25, Y:-3.52, Z:0.21 [[ 9.96499584e-01 8.35086050e-02 3.85906456e-03 4.52547046e+01] [-8.35078743e-02 9.96507056e-01 -3.50376053e-04 -3.51611412e+00] [-3.87484448e-03 2.68873123e-05 9.99992492e-01 2.06326124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.28, Y:-3.52, Z:0.21 [[ 9.96468919e-01 8.38834434e-02 3.64149429e-03 4.52817902e+01] [-8.38827965e-02 9.96475573e-01 -3.30272680e-04 -3.52199336e+00] [-3.65636451e-03 2.36477361e-05 9.99993315e-01 2.05113525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.832320588 meters Centerline goodness [0,1] 0.999950888910716 Centerline is valid? [True, True] Translation: X:45.31, Y:-3.52, Z:0.20 [[ 9.96527192e-01 8.30750475e-02 5.66499502e-03 4.53100322e+01] [-8.30734825e-02 9.96543293e-01 -5.11411885e-04 -3.52417845e+00] [-5.68789836e-03 3.90249847e-05 9.99983823e-01 2.04949406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.34, Y:-3.53, Z:0.21 [[ 9.96620509e-01 8.17860960e-02 7.65482499e-03 4.53387168e+01] [-8.17832204e-02 9.96649904e-01 -6.88444173e-04 -3.52505556e+00] [-7.68548575e-03 6.00813424e-05 9.99970464e-01 2.07092550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.892320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.37, Y:-3.53, Z:0.21 [[ 9.96750570e-01 8.00956018e-02 8.54380504e-03 4.53673999e+01] [-8.00919879e-02 9.96787183e-01 -7.64854370e-04 -3.52701995e+00] [-8.57761683e-03 7.80786990e-05 9.99963209e-01 2.07351534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.922320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.40, Y:-3.53, Z:0.21 [[ 9.96882619e-01 7.85262322e-02 7.65994134e-03 4.53955849e+01] [-7.85233152e-02 9.96912045e-01 -6.81291468e-04 -3.53023216e+00] [-7.68978703e-03 7.76836356e-05 9.99970430e-01 2.06641277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.42, Y:-3.53, Z:0.20 [[ 9.96924035e-01 7.83381030e-02 2.36861326e-03 4.54249492e+01] [-7.83378295e-02 9.96926848e-01 -2.08176388e-04 -3.52904287e+00] [-2.37764230e-03 2.19840228e-05 9.99997173e-01 2.03467613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.45, Y:-3.53, Z:0.20 [[ 9.96872432e-01 7.89925542e-02 2.35156708e-03 4.54526843e+01] [-7.89922901e-02 9.96875206e-01 -2.05126301e-04 -3.52801564e+00] [-2.36042237e-03 1.87290853e-05 9.99997214e-01 2.02843083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.48, Y:-3.53, Z:0.20 [[ 9.96887939e-01 7.87399057e-02 3.80310487e-03 4.54801327e+01] [-7.87392145e-02 9.96895193e-01 -3.31361879e-04 -3.52879436e+00] [-3.81738837e-03 3.08771707e-05 9.99992713e-01 2.03782544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.51, Y:-3.53, Z:0.21 [[ 9.96781796e-01 7.97533915e-02 8.08997107e-03 4.55087212e+01] [-7.97503002e-02 9.96814623e-01 -7.04499264e-04 -3.53446284e+00] [-8.12038767e-03 5.70544200e-05 9.99967027e-01 2.05608098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.072320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.54, Y:-3.55, Z:0.21 [[ 9.96558743e-01 8.19880191e-02 1.21916541e-02 4.55365821e+01] [-8.19812186e-02 9.96633314e-01 -1.05736235e-03 -3.54549653e+00] [-1.22372996e-02 5.42370330e-05 9.99925120e-01 2.08711984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.102320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.57, Y:-3.55, Z:0.21 [[ 9.96400857e-01 8.42677152e-02 9.18068752e-03 4.55658170e+01] [-8.42639486e-02 9.96443150e-01 -7.97009062e-04 -3.54818285e+00] [-9.21519533e-03 2.05395309e-05 9.99957539e-01 2.08501422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.59, Y:-3.55, Z:0.20 [[ 9.96271794e-01 8.59204053e-02 7.75867302e-03 4.55945830e+01] [-8.59178080e-02 9.96302004e-01 -6.68062275e-04 -3.54852712e+00] [-7.78738166e-03 -1.03657828e-06 9.99969678e-01 2.03997003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.62, Y:-3.55, Z:0.20 [[ 9.95908292e-01 9.01258212e-02 6.63401447e-03 4.56223542e+01] [-9.01240430e-02 9.95930387e-01 -5.67115718e-04 -3.54931539e+00] [-6.65812837e-03 -3.30889594e-05 9.99977834e-01 2.00033426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.65, Y:-3.55, Z:0.20 [[ 9.95878809e-01 9.04660987e-02 6.42516677e-03 4.56501826e+01] [-9.04644600e-02 9.95899535e-01 -5.45809240e-04 -3.55150237e+00] [-6.44819783e-03 -3.76893867e-05 9.99979209e-01 2.03803926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.68, Y:-3.55, Z:0.21 [[ 9.95820256e-01 9.09796860e-02 8.04452504e-03 4.56788323e+01] [-9.09771554e-02 9.95852747e-01 -6.80711396e-04 -3.55151214e+00] [-8.07309327e-03 -5.40018086e-05 9.99967411e-01 2.07416145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.71, Y:-3.55, Z:0.21 [[ 9.96015908e-01 8.89835053e-02 5.85209787e-03 4.57082281e+01] [-8.89821509e-02 9.96033099e-01 -4.91919365e-04 -3.54631513e+00] [-5.87265589e-03 -3.07727430e-05 9.99982755e-01 2.10191901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.282320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.74, Y:-3.55, Z:0.21 [[ 9.96250081e-01 8.62511798e-02 6.81980792e-03 4.57357120e+01] [-8.62493005e-02 9.96273423e-01 -5.69744928e-04 -3.54947419e+00] [-6.84353456e-03 -2.05952318e-05 9.99976583e-01 2.06531124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.76, Y:-3.55, Z:0.20 [[ 9.96515808e-01 8.29916605e-02 8.28421941e-03 4.57641137e+01] [-8.29887989e-02 9.96550242e-01 -6.89186792e-04 -3.55491849e+00] [-8.31283761e-03 -7.11885141e-07 9.99965448e-01 2.03155726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.79, Y:-3.56, Z:0.20 [[ 9.96737757e-01 7.99746323e-02 1.08582387e-02 4.57926878e+01] [-7.99695819e-02 9.96796899e-01 -8.99199463e-04 -3.55983485e+00] [-1.08953718e-02 2.79372457e-05 9.99940643e-01 2.01144350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.82, Y:-3.56, Z:0.21 [[ 9.97050014e-01 7.60951058e-02 1.00401887e-02 4.58210135e+01] [-7.60906428e-02 9.97100562e-01 -8.26313701e-04 -3.55920875e+00] [-1.00739562e-02 5.99116758e-05 9.99949255e-01 2.05900405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.85, Y:-3.56, Z:0.21 [[ 9.97123349e-01 7.54167114e-02 7.57274105e-03 4.58494273e+01] [-7.54141825e-02 9.97152103e-01 -6.19347598e-04 -3.55894807e+00] [-7.59788383e-03 4.64738749e-05 9.99971135e-01 2.08076698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.88, Y:-3.56, Z:0.21 [[ 9.97165947e-01 7.51306389e-02 3.93200022e-03 4.58778030e+01] [-7.51299662e-02 9.97173699e-01 -3.18726530e-04 -3.55923317e+00] [-3.94483334e-03 2.24121986e-05 9.99992219e-01 2.09833900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.462320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.91, Y:-3.56, Z:0.21 [[ 9.97071529e-01 7.64331330e-02 2.51822767e-03 4.59065582e+01] [-7.64328661e-02 9.97074709e-01 -2.02167416e-04 -3.56148028e+00] [-2.52631341e-03 9.10001580e-06 9.99996809e-01 2.09645151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.93, Y:-3.57, Z:0.21 [[ 9.96752054e-01 8.04464662e-02 3.70261100e-03 4.59346130e+01] [-8.04459215e-02 9.96758931e-01 -2.96062707e-04 -3.56623061e+00] [-3.71442778e-03 -2.75884293e-06 9.99993101e-01 2.07129289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.96, Y:-3.57, Z:0.21 [[ 9.96637355e-01 8.17363998e-02 5.75701595e-03 4.59630797e+01] [-8.17351093e-02 9.96653982e-01 -4.59485173e-04 -3.56915310e+00] [-5.77530954e-03 -1.26102407e-05 9.99983323e-01 2.06813703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.99, Y:-3.57, Z:0.21 [[ 9.96473835e-01 8.33848042e-02 9.32047700e-03 4.59916443e+01] [-8.33815201e-02 9.96517422e-01 -7.41060927e-04 -3.57125350e+00] [-9.34981094e-03 -3.87077168e-05 9.99956289e-01 2.06638567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.02, Y:-3.57, Z:0.21 [[ 9.96190617e-01 8.65360881e-02 1.07592246e-02 4.60206490e+01] [-8.65319440e-02 9.96248713e-01 -8.50968658e-04 -3.57046254e+00] [-1.07925031e-02 -8.32896257e-05 9.99941756e-01 2.10484560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.05, Y:-3.57, Z:0.21 [[ 9.96150995e-01 8.70033152e-02 1.06592333e-02 4.60483227e+01] [-8.69993375e-02 9.96208018e-01 -8.37177108e-04 -3.57095700e+00] [-1.06916508e-02 -9.33914236e-05 9.99942838e-01 2.10833218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.642320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.08, Y:-3.57, Z:0.21 [[ 9.96195615e-01 8.64908522e-02 1.06596629e-02 4.60756111e+01] [-8.64869037e-02 9.96252641e-01 -8.31697951e-04 -3.57341806e+00] [-1.06916515e-02 -9.33873829e-05 9.99942838e-01 2.10971760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.672320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.10, Y:-3.57, Z:0.21 [[ 9.96328406e-01 8.51720263e-02 8.68526256e-03 4.61048099e+01] [-8.51693907e-02 9.96366259e-01 -6.73553431e-04 -3.57433542e+00] [-8.71107047e-03 -6.86381041e-05 9.99962056e-01 2.10537473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.13, Y:-3.57, Z:0.21 [[ 9.96538744e-01 8.27693246e-02 7.73111748e-03 4.61337094e+01] [-8.27671934e-02 9.96568732e-01 -5.95758380e-04 -3.57495584e+00] [-7.75390046e-03 -4.61865884e-05 9.99969937e-01 2.09361281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.16, Y:-3.57, Z:0.21 [[ 9.97110407e-01 7.55421713e-02 8.01356785e-03 4.61616153e+01] [-7.55396832e-02 9.97142608e-01 -6.13153398e-04 -3.57300803e+00] [-8.03698888e-03 6.03925791e-06 9.99967703e-01 2.08346511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.19, Y:-3.57, Z:0.21 [[ 9.97516061e-01 6.98944817e-02 8.74472387e-03 4.61904510e+01] [-6.98913314e-02 9.97554389e-01 -6.65700455e-04 -3.57388830e+00] [-8.76986646e-03 5.28665020e-05 9.99961543e-01 2.08427047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.22, Y:-3.58, Z:0.21 [[ 9.97828699e-01 6.52484852e-02 8.97348124e-03 4.62186830e+01] [-6.52449789e-02 9.97869042e-01 -6.83247259e-04 -3.57620797e+00] [-8.99893998e-03 9.62891300e-05 9.99959504e-01 2.09878573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.822320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.25, Y:-3.58, Z:0.21 [[ 9.98118323e-01 6.04932043e-02 1.00192175e-02 4.62476567e+01] [-6.04886507e-02 9.98168598e-01 -7.57178089e-04 -3.57924669e+00] [-1.00466724e-02 1.49704378e-04 9.99949520e-01 2.10898155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.852320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.28, Y:-3.58, Z:0.21 [[ 9.98586897e-01 5.26543895e-02 7.19201868e-03 4.62772374e+01] [-5.26518339e-02 9.98612782e-01 -5.44346136e-04 -3.58205015e+00] [-7.21070399e-03 1.64903946e-04 9.99973989e-01 2.11666607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.31, Y:-3.58, Z:0.21 [[ 9.98690501e-01 5.08059872e-02 6.00298835e-03 4.63060867e+01] [-5.08042001e-02 9.98708531e-01 -4.49908123e-04 -3.58318789e+00] [-6.01809370e-03 1.44341947e-04 9.99981881e-01 2.12294106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.33, Y:-3.58, Z:0.21 [[ 9.98741231e-01 4.97915416e-02 6.06262223e-03 4.63348004e+01] [-4.97897159e-02 9.98759621e-01 -4.51789234e-04 -3.58360280e+00] [-6.07759756e-03 1.49364297e-04 9.99981520e-01 2.12146459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.36, Y:-3.59, Z:0.21 [[ 9.98771866e-01 4.92419725e-02 5.47617464e-03 4.63623334e+01] [-4.92404923e-02 9.98786869e-01 -4.04890360e-04 -3.58561338e+00] [-5.48946893e-03 1.34743565e-04 9.99984924e-01 2.11862497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.39, Y:-3.59, Z:0.21 [[ 9.98784102e-01 4.91482958e-02 3.84228824e-03 4.63910597e+01] [-4.91475744e-02 9.98791488e-01 -2.82007034e-04 -3.58990380e+00] [-3.85150495e-03 9.28249951e-05 9.99992579e-01 2.11506210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.42, Y:-3.60, Z:0.21 [[ 9.98777237e-01 4.93313999e-02 3.23157122e-03 4.64193676e+01] [-4.93308961e-02 9.98782462e-01 -2.35461913e-04 -3.59846251e+00] [-3.23925233e-03 7.57576953e-05 9.99994751e-01 2.11952086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.032320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.45, Y:-3.60, Z:0.21 [[ 9.98813336e-01 4.85289196e-02 4.10651393e-03 4.64479697e+01] [-4.85281041e-02 9.98821773e-01 -2.98061609e-04 -3.60410911e+00] [-4.11614013e-03 9.84265750e-05 9.99991524e-01 2.12889759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.48, Y:-3.61, Z:0.21 [[ 9.98889999e-01 4.68764769e-02 4.62234930e-03 4.64759946e+01] [-4.68754216e-02 9.98900687e-01 -3.36436569e-04 -3.60928632e+00] [-4.63303885e-03 1.19388552e-04 9.99989260e-01 2.14016730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.50, Y:-3.62, Z:0.21 [[ 9.99005764e-01 4.45026110e-02 2.64613603e-03 4.65037020e+01] [-4.45022643e-02 9.99009265e-01 -1.89768578e-04 -3.62021836e+00] [-2.65195961e-03 7.18208583e-05 9.99996481e-01 2.12583921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.53, Y:-3.63, Z:0.21 [[ 9.99035367e-01 4.39085158e-02 6.14739051e-04 4.65316136e+01] [-4.39084984e-02 9.99035556e-01 -4.18044390e-05 -3.62528397e+00] [-6.15981740e-04 1.47718444e-05 9.99999810e-01 2.12247410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.56, Y:-3.63, Z:0.21 [[ 9.98988878e-01 4.49452189e-02 1.07150038e-03 4.65598206e+01] [-4.49451647e-02 9.98989453e-01 -7.45621845e-05 -3.62950680e+00] [-1.07376879e-03 2.63280321e-05 9.99999423e-01 2.09848065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.59, Y:-3.63, Z:0.21 [[ 9.98945326e-01 4.58880910e-02 1.58695921e-03 4.65885048e+01] [-4.58879730e-02 9.98946586e-01 -1.10763994e-04 -3.63355551e+00] [-1.59037023e-03 3.78248326e-05 9.99998735e-01 2.10193491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.212320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.62, Y:-3.64, Z:0.21 [[ 9.98724947e-01 5.01993493e-02 5.33913380e-03 4.66165728e+01] [-5.01980572e-02 9.98739212e-01 -3.75827236e-04 -3.64457302e+00] [-5.35126857e-03 1.07333892e-04 9.99985676e-01 2.13365162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.64, Y:-3.65, Z:0.22 [[ 9.98589664e-01 5.29379005e-02 4.03266618e-03 4.66447428e+01] [-5.29371956e-02 9.98597804e-01 -2.81408131e-04 -3.65150495e+00] [-4.04190875e-03 6.75332123e-05 9.99991829e-01 2.15985129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.67, Y:-3.66, Z:0.22 [[ 9.98409170e-01 5.63439361e-02 2.11883400e-03 4.66731826e+01] [-5.63437530e-02 9.98411418e-01 -1.46056017e-04 -3.65789601e+00] [-2.12369743e-03 2.64406078e-05 9.99997745e-01 2.16282130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.70, Y:-3.66, Z:0.21 [[ 9.98092800e-01 6.17210825e-02 1.12716429e-03 4.67017852e+01] [-6.17210361e-02 9.98093436e-01 -7.59996999e-05 -3.66421615e+00] [-1.12970607e-03 6.28500524e-06 9.99999362e-01 2.10590415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.73, Y:-3.67, Z:0.21 [[ 9.97994820e-01 6.31810309e-02 3.80754949e-03 4.67295386e+01] [-6.31804994e-02 9.98002083e-01 -2.59845940e-04 -3.66723089e+00] [-3.81635966e-03 1.87620236e-05 9.99992717e-01 2.09092097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.76, Y:-3.67, Z:0.21 [[ 9.97871952e-01 6.46864232e-02 8.19962262e-03 4.67577933e+01] [-6.46840118e-02 9.97905640e-01 -5.59220903e-04 -3.66964922e+00] [-8.21862366e-03 2.76463682e-05 9.99966226e-01 2.09596031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.392320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.79, Y:-3.67, Z:0.21 [[ 9.97778414e-01 6.61101475e-02 8.22711297e-03 4.67872655e+01] [-6.61077564e-02 9.97812331e-01 -5.62540143e-04 -3.67297172e+00] [-8.24630439e-03 1.74144316e-05 9.99965999e-01 2.13050264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.422320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.82, Y:-3.68, Z:0.22 [[ 9.97656159e-01 6.82239851e-02 5.26073219e-03 4.68161561e+01] [-6.82230374e-02 9.97670030e-01 -3.59583397e-04 -3.67917013e+00] [-5.27300705e-03 -1.62538425e-07 9.99986098e-01 2.16097824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.84, Y:-3.68, Z:0.22 [[ 9.97757770e-01 6.68310981e-02 3.61075719e-03 4.68443978e+01] [-6.68306576e-02 9.97764303e-01 -2.42634281e-04 -3.68276819e+00] [-3.61890015e-03 7.80961449e-07 9.99993452e-01 2.15621834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.87, Y:-3.69, Z:0.21 [[ 9.97810604e-01 6.60419176e-02 3.53027032e-03 4.68721958e+01] [-6.60414990e-02 9.97816849e-01 -2.35139497e-04 -3.68676461e+00] [-3.53809227e-03 1.48034021e-06 9.99993741e-01 2.13617457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.90, Y:-3.69, Z:0.21 [[ 9.97642792e-01 6.85901482e-02 2.06193686e-03 4.68997228e+01] [-6.85900153e-02 9.97644923e-01 -1.35178012e-04 -3.69366764e+00] [-2.06635272e-03 -6.56891182e-06 9.99997865e-01 2.12147495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.93, Y:-3.70, Z:0.21 [[ 9.97535842e-01 7.01585382e-02 1.52164455e-04 4.69280267e+01] [-7.01585379e-02 9.97535854e-01 -7.44638152e-06 -3.69613635e+00] [-1.52311927e-04 -3.24760324e-06 9.99999988e-01 2.13499704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.572320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.96, Y:-3.70, Z:0.22 [[ 9.97394093e-01 7.20873817e-02 -2.90403825e-03 4.69562689e+01] [-7.20871233e-02 9.97398320e-01 1.93689758e-04 -3.69636717e+00] [ 2.91044546e-03 1.61587430e-05 9.99995765e-01 2.15005404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.602320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.98, Y:-3.70, Z:0.22 [[ 9.97245890e-01 7.40847523e-02 -3.47637210e-03 4.69846627e+01] [-7.40844027e-02 9.97251948e-01 2.29396678e-04 -3.69612325e+00] [ 3.48381365e-03 2.87800571e-05 9.99993931e-01 2.15987250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.01, Y:-3.70, Z:0.22 [[ 9.97019854e-01 7.71425291e-02 6.64448048e-04 4.70127532e+01] [-7.71425190e-02 9.97020075e-01 -4.07673883e-05 -3.70068415e+00] [-6.65612942e-04 -1.06113007e-05 9.99999778e-01 2.15782889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.04, Y:-3.71, Z:0.22 [[ 9.97041148e-01 7.68147733e-02 2.90519717e-03 4.70413933e+01] [-7.68145610e-02 9.97045380e-01 -1.84754154e-04 -3.70557582e+00] [-2.91080527e-03 -3.89539522e-05 9.99995763e-01 2.15588264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.07, Y:-3.71, Z:0.22 [[ 9.97106755e-01 7.58657338e-02 4.74446033e-03 4.70696747e+01] [-7.58651633e-02 9.97118041e-01 -3.00359404e-04 -3.70788314e+00] [-4.75357397e-03 -6.04488665e-05 9.99988700e-01 2.16744820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.10, Y:-3.71, Z:0.22 [[ 9.97174551e-01 7.49554327e-02 4.95959941e-03 4.70981665e+01] [-7.49548104e-02 9.97186883e-01 -3.11489928e-04 -3.70712004e+00] [-4.96899534e-03 -6.11360046e-05 9.99987653e-01 2.16916240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.13, Y:-3.71, Z:0.22 [[ 9.97510828e-01 7.04307491e-02 3.41422558e-03 4.71268805e+01] [-7.04304347e-02 9.97516671e-01 -2.12378419e-04 -3.70540747e+00] [-3.42070491e-03 -2.86156192e-05 9.99994149e-01 2.15472600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.782320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.15, Y:-3.71, Z:0.21 [[ 9.97772493e-01 6.65717414e-02 4.27272614e-03 4.71542562e+01] [-6.65712223e-02 9.97781641e-01 -2.63751306e-04 -3.71058762e+00] [-4.28080609e-03 -2.12768044e-05 9.99990837e-01 2.14638422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.18, Y:-3.72, Z:0.21 [[ 9.98020848e-01 6.27844445e-02 3.53571211e-03 4.71819972e+01] [-6.27840734e-02 9.98027111e-01 -2.15975396e-04 -3.71626901e+00] [-3.54229644e-03 -6.43846079e-06 9.99993726e-01 2.14484163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.21, Y:-3.72, Z:0.22 [[ 9.98453826e-01 5.55866006e-02 2.96401014e-04 4.72099452e+01] [-5.55865985e-02 9.98453870e-01 -1.55470527e-05 -3.72021035e+00] [-2.96806947e-04 -9.52909910e-07 9.99999956e-01 2.17123350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.24, Y:-3.72, Z:0.22 [[ 9.98590745e-01 5.30648657e-02 -8.01976486e-04 4.72377433e+01] [-5.30648416e-02 9.98591067e-01 5.13487613e-05 -3.72390255e+00] [ 8.03571371e-04 -8.71964264e-06 9.99999677e-01 2.18340645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.27, Y:-3.73, Z:0.22 [[ 9.98646219e-01 5.20164159e-02 -1.48232491e-04 4.72654195e+01] [-5.20164147e-02 9.98646230e-01 1.15654718e-05 -3.73079405e+00] [ 1.48633413e-04 -3.83929194e-06 9.99999989e-01 2.19325873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.29, Y:-3.74, Z:0.22 [[ 9.98625193e-01 5.23828807e-02 1.93837144e-03 4.72932820e+01] [-5.23827597e-02 9.98627074e-01 -1.13217274e-04 -3.73840432e+00] [-1.94164085e-03 1.15243769e-05 9.99998115e-01 2.19823605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.962320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.32, Y:-3.74, Z:0.22 [[ 9.98427970e-01 5.56760463e-02 6.46273873e-03 4.73222868e+01] [-5.56747472e-02 9.98448886e-01 -3.80880703e-04 -3.74334719e+00] [-6.47392021e-03 2.04706026e-05 9.99979044e-01 2.19352982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.35, Y:-3.74, Z:0.22 [[ 9.98266255e-01 5.86341736e-02 5.14964204e-03 4.73529486e+01] [-5.86333787e-02 9.98279537e-01 -3.05331617e-04 -3.74260774e+00] [-5.15868514e-03 2.86133735e-06 9.99986694e-01 2.19834597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.38, Y:-3.74, Z:0.22 [[ 9.98044425e-01 6.22933514e-02 5.18311737e-03 4.73829615e+01] [-6.22925989e-02 9.98057883e-01 -3.06646408e-04 -3.74317492e+00] [-5.19215318e-03 -1.68231135e-05 9.99986521e-01 2.18617887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.41, Y:-3.75, Z:0.22 [[ 9.97691152e-01 6.77919169e-02 4.07683970e-03 4.74124846e+01] [-6.77914986e-02 9.97699481e-01 -2.40862211e-04 -3.75047104e+00] [-4.08378936e-03 -3.60689759e-05 9.99991661e-01 2.17156089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.44, Y:-3.75, Z:0.22 [[ 9.97590009e-01 6.93326891e-02 2.67448791e-03 4.74414771e+01] [-6.93325235e-02 9.97593593e-01 -1.54671721e-04 -3.75480317e+00] [-2.67877581e-03 -3.11300322e-05 9.99996412e-01 2.18906633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.47, Y:-3.76, Z:0.22 [[ 9.97536835e-01 7.01158103e-02 2.00894733e-03 4.74689880e+01] [-7.01157224e-02 9.97538858e-01 -1.14218274e-04 -3.75612013e+00] [-2.01201153e-03 -2.69218575e-05 9.99997976e-01 2.21615551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.142320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.50, Y:-3.75, Z:0.22 [[ 9.97548153e-01 6.98406177e-02 4.46889258e-03 4.74976931e+01] [-6.98401735e-02 9.97558161e-01 -2.55576587e-04 -3.75461174e+00] [-4.47582990e-03 -5.71582815e-05 9.99989982e-01 2.22228572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.172320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.53, Y:-3.75, Z:0.22 [[ 9.97549267e-01 6.95338073e-02 7.77880643e-03 4.75265866e+01] [-6.95324667e-02 9.97579591e-01 -4.42984618e-04 -3.75116717e+00] [-7.79078094e-03 -9.89806176e-05 9.99969647e-01 2.22442207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.56, Y:-3.75, Z:0.22 [[ 9.97627568e-01 6.81128656e-02 9.99363549e-03 4.75575654e+01] [-6.81105515e-02 9.97677616e-01 -5.72109441e-04 -3.75133254e+00] [-1.00093944e-02 -1.09919875e-04 9.99949899e-01 2.22711853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.59, Y:-3.75, Z:0.22 [[ 9.97745974e-01 6.60759682e-02 1.17020766e-02 4.75892299e+01] [-6.60726425e-02 9.97814590e-01 -6.70996405e-04 -3.75060580e+00] [-1.17208395e-02 -1.03703164e-04 9.99931303e-01 2.22326728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.62, Y:-3.75, Z:0.22 [[ 9.97882271e-01 6.41028552e-02 1.10362113e-02 4.76211807e+01] [-6.40997626e-02 9.97943294e-01 -6.34078385e-04 -3.74957374e+00] [-1.10541593e-02 -7.46829434e-05 9.99938898e-01 2.22947896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.65, Y:-3.75, Z:0.22 [[ 9.97955142e-01 6.32421057e-02 9.27198823e-03 4.76524053e+01] [-6.32398809e-02 9.97998213e-01 -5.33231323e-04 -3.74905625e+00] [-9.28715036e-03 -5.42184912e-05 9.99956872e-01 2.23064058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.322320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.68, Y:-3.75, Z:0.22 [[ 9.98077354e-01 6.17595246e-02 5.23034908e-03 4.76831979e+01] [-6.17587973e-02 9.98091058e-01 -3.00612795e-04 -3.74753433e+00] [-5.23893035e-03 -2.29852450e-05 9.99986276e-01 2.22409500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.352320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.71, Y:-3.75, Z:0.22 [[ 9.98126606e-01 6.10918744e-02 3.32595380e-03 4.77124041e+01] [-6.10915895e-02 9.98132147e-01 -1.87301340e-04 -3.74707115e+00] [-3.33118400e-03 -1.62373534e-05 9.99994451e-01 2.22756768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.74, Y:-3.74, Z:0.22 [[ 9.98123138e-01 6.11345135e-02 3.57385626e-03 4.77409190e+01] [-6.11341919e-02 9.98129536e-01 -1.99240525e-04 -3.74439707e+00] [-3.57935197e-03 -1.96182364e-05 9.99993594e-01 2.22613320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.77, Y:-3.74, Z:0.22 [[ 9.98111913e-01 6.13043215e-02 3.79322612e-03 4.77687288e+01] [-6.13039674e-02 9.98119121e-01 -2.09651143e-04 -3.74186530e+00] [-3.79894404e-03 -2.32845074e-05 9.99992784e-01 2.22955959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.80, Y:-3.74, Z:0.22 [[ 9.98127839e-01 6.08118382e-02 6.53737054e-03 4.77975140e+01] [-6.08107814e-02 9.98149247e-01 -3.60498591e-04 -3.73960155e+00] [-6.54719406e-03 -3.77189309e-05 9.99978566e-01 2.23474377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.83, Y:-3.74, Z:0.22 [[ 9.98155509e-01 6.02553300e-02 7.40771321e-03 4.78267481e+01] [-6.02539801e-02 9.98182996e-01 -4.05474583e-04 -3.74001965e+00] [-7.41868537e-03 -4.16175154e-05 9.99972480e-01 2.24370881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.86, Y:-3.74, Z:0.23 [[ 9.98217468e-01 5.93262600e-02 6.50235304e-03 4.78560938e+01] [-5.93251920e-02 9.98238646e-01 -3.57170032e-04 -3.73941213e+00] [-6.51208965e-03 -2.92199771e-05 9.99978796e-01 2.25989607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.532320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.88, Y:-3.73, Z:0.23 [[ 9.98464324e-01 5.49597237e-02 6.95867570e-03 4.78846534e+01] [-5.49584302e-02 9.98488572e-01 -3.77116920e-04 -3.73463879e+00] [-6.96888441e-03 -5.90010213e-06 9.99975717e-01 2.27341527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.91, Y:-3.74, Z:0.23 [[ 9.98467868e-01 5.48952969e-02 6.95859301e-03 4.79137661e+01] [-5.48939912e-02 9.98492116e-01 -3.78633145e-04 -3.73624296e+00] [-6.96888544e-03 -3.93191422e-06 9.99975717e-01 2.27488819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.94, Y:-3.74, Z:0.23 [[ 9.98669753e-01 5.11800792e-02 6.27080928e-03 4.79432995e+01] [-5.11789484e-02 9.98689441e-01 -3.40773100e-04 -3.73632335e+00] [-6.28003180e-03 1.93863632e-05 9.99980280e-01 2.27716350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.97, Y:-3.74, Z:0.23 [[ 9.98833804e-01 4.78952006e-02 6.08949478e-03 4.79718320e+01] [-4.78941019e-02 9.98852366e-01 -3.26213721e-04 -3.73867763e+00] [-6.09813034e-03 3.41824084e-05 9.99981406e-01 2.25839121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.00, Y:-3.74, Z:0.22 [[ 9.98973638e-01 4.50349869e-02 4.84983067e-03 4.80016125e+01] [-4.50342506e-02 9.98985409e-01 -2.60984042e-04 -3.74113371e+00] [-4.85666349e-03 4.23076882e-05 9.99988205e-01 2.24196743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.03, Y:-3.74, Z:0.23 [[ 9.99088682e-01 4.25746267e-02 3.03415755e-03 4.80306177e+01] [-4.25743375e-02 9.99093289e-01 -1.59883184e-04 -3.74130540e+00] [-3.03821341e-03 3.05602322e-05 9.99995384e-01 2.25833104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.712320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.06, Y:-3.74, Z:0.23 [[ 9.99049748e-01 4.35748167e-02 9.14207397e-04 4.80590754e+01] [-4.35747927e-02 9.99050167e-01 -4.61841719e-05 -3.74184080e+00] [-9.15351519e-04 6.30388756e-06 9.99999581e-01 2.30153263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.09, Y:-3.74, Z:0.23 [[ 9.98977516e-01 4.51722926e-02 1.84012521e-03 4.80865343e+01] [-4.51721961e-02 9.98979211e-01 -9.39773486e-05 -3.74281092e+00] [-1.84249200e-03 1.07587613e-05 9.99998303e-01 2.32740999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.12, Y:-3.74, Z:0.23 [[ 9.98871318e-01 4.74846514e-02 1.13918071e-03 4.81156805e+01] [-4.74846170e-02 9.98871968e-01 -5.71927179e-05 -3.74368629e+00] [-1.14061145e-03 3.03460577e-06 9.99999349e-01 2.34649120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.14, Y:-3.74, Z:0.23 [[ 9.98631812e-01 5.21289144e-02 4.13277073e-03 4.81439898e+01] [-5.21284904e-02 9.98640364e-01 -2.10303485e-04 -3.74211511e+00] [-4.13811456e-03 -5.41934945e-06 9.99991438e-01 2.32345615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.17, Y:-3.74, Z:0.23 [[ 9.98463256e-01 5.48679767e-02 7.78668357e-03 4.81726964e+01] [-5.48665615e-02 9.98493617e-01 -3.95401868e-04 -3.74407975e+00] [-7.79664874e-03 -3.24343164e-05 9.99969605e-01 2.29914271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.20, Y:-3.75, Z:0.23 [[ 9.98433536e-01 5.52214177e-02 9.00388518e-03 4.82021298e+01] [-5.52195242e-02 9.98474133e-01 -4.58942793e-04 -3.74583544e+00] [-9.01548991e-03 -3.89663806e-05 9.99959359e-01 2.29648540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.892320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.23, Y:-3.75, Z:0.23 [[ 9.98653631e-01 5.16149466e-02 5.17910739e-03 4.82322972e+01] [-5.16142706e-02 9.98667060e-01 -2.64176097e-04 -3.74751018e+00] [-5.18583938e-03 -3.49543211e-06 9.99986553e-01 2.32029545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.922320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.26, Y:-3.75, Z:0.23 [[ 9.98851407e-01 4.78612946e-02 2.27230764e-03 4.82607022e+01] [-4.78611622e-02 9.98853992e-01 -1.12612601e-04 -3.74894217e+00] [-2.27509334e-03 3.72797017e-06 9.99997412e-01 2.31309300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.29, Y:-3.75, Z:0.23 [[ 9.99061220e-01 4.33136972e-02 7.76195285e-04 4.82881555e+01] [-4.33136821e-02 9.99061521e-01 -3.62375526e-05 -3.75047987e+00] [-7.77036425e-04 2.58365761e-06 9.99999698e-01 2.30469534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.32, Y:-3.75, Z:0.23 [[ 9.99318442e-01 3.68493358e-02 2.18570595e-03 4.83169646e+01] [-3.68491918e-02 9.99320832e-01 -1.06150305e-04 -3.75142452e+00] [-2.18813306e-03 2.55364591e-05 9.99997606e-01 2.31871325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.35, Y:-3.75, Z:0.23 [[ 9.99374981e-01 3.52580312e-02 2.55295925e-03 4.83456936e+01] [-3.52578314e-02 9.99378242e-01 -1.23251437e-04 -3.75228833e+00] [-2.55571753e-03 3.31625953e-05 9.99996734e-01 2.34626846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.37, Y:-3.75, Z:0.24 [[ 9.99397263e-01 3.43990136e-02 4.67109122e-03 4.83739417e+01] [-3.43983233e-02 9.99408177e-01 -2.28065076e-04 -3.75430251e+00] [-4.67617197e-03 6.72499070e-05 9.99989064e-01 2.35926931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.072320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.40, Y:-3.76, Z:0.24 [[ 9.99408995e-01 3.41512095e-02 3.91871365e-03 4.84038041e+01] [-3.41507213e-02 9.99416676e-01 -1.91435668e-04 -3.75936697e+00] [-3.92296553e-03 5.74956304e-05 9.99992303e-01 2.36039259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.102320588000005 meters Centerline goodness [0,1] 0.9999509033778476 Centerline is valid? [True, True] Translation: X:48.43, Y:-3.77, Z:0.23 [[ 9.99455974e-01 3.29789728e-02 3.79276063e-04 4.84324679e+01] [-3.29789683e-02 9.99456046e-01 -1.82188553e-05 -3.77128806e+00] [-3.79670593e-04 5.70081050e-06 9.99999928e-01 2.30993435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.132320588 meters Centerline goodness [0,1] 0.9999509130178676 Centerline is valid? [True, True] Translation: X:48.46, Y:-3.78, Z:0.23 [[ 9.99493646e-01 3.18188633e-02 -1.09037739e-04 4.84605870e+01] [-3.18188627e-02 9.99493652e-01 6.45296696e-06 -3.77593268e+00] [ 1.09187854e-04 -2.98024263e-06 9.99999994e-01 2.28552927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.49, Y:-3.78, Z:0.23 [[ 9.99541484e-01 3.02292995e-02 -1.73522583e-03 4.84886601e+01] [-3.02291956e-02 9.99542990e-01 8.60480649e-05 -3.77932231e+00] [ 1.73703399e-03 -3.35541294e-05 9.99998491e-01 2.29877750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.52, Y:-3.78, Z:0.23 [[ 9.99570203e-01 2.93108795e-02 -5.30111680e-04 4.85169406e+01] [-2.93108690e-02 9.99570344e-01 2.74945667e-05 -3.78218365e+00] [ 5.30689804e-04 -1.19447156e-05 9.99999859e-01 2.30662731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.55, Y:-3.79, Z:0.23 [[ 9.99516027e-01 3.10530987e-02 1.84836402e-03 4.85450121e+01] [-3.10529943e-02 9.99517736e-01 -8.51482337e-05 -3.78994415e+00] [-1.85011674e-03 2.77097867e-05 9.99998288e-01 2.33352248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.57, Y:-3.80, Z:0.23 [[ 9.99419506e-01 3.40418978e-02 1.34206605e-03 4.85739566e+01] [-3.40418468e-02 9.99420407e-01 -6.08179731e-05 -3.79660691e+00] [-1.34335855e-03 1.50962618e-05 9.99999098e-01 2.34541602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.282320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.60, Y:-3.80, Z:0.23 [[ 9.99311792e-01 3.70718102e-02 1.27390012e-03 4.86021623e+01] [-3.70717678e-02 9.99312604e-01 -5.68666301e-05 -3.80210628e+00] [-1.27513259e-03 9.60176480e-06 9.99999187e-01 2.33817588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.63, Y:-3.81, Z:0.23 [[ 9.98993333e-01 4.48321553e-02 1.54876108e-03 4.86305974e+01] [-4.48321024e-02 9.98994533e-01 -6.88761205e-05 -3.80939253e+00] [-1.55029171e-03 -6.27429986e-07 9.99998798e-01 2.30299378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.66, Y:-3.81, Z:0.23 [[ 9.98921088e-01 4.64214606e-02 1.30666194e-03 4.86588988e+01] [-4.64214262e-02 9.98921943e-01 -5.67158033e-05 -3.81209648e+00] [-1.30788611e-03 -4.00249856e-06 9.99999145e-01 2.30632266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.69, Y:-3.81, Z:0.23 [[ 9.98828547e-01 4.82770737e-02 3.29500942e-03 4.86877547e+01] [-4.82768554e-02 9.98833982e-01 -1.45813480e-04 -3.81411755e+00] [-3.29820683e-03 -1.34300270e-05 9.99994561e-01 2.31361195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.72, Y:-3.82, Z:0.23 [[ 9.98794891e-01 4.88900496e-02 4.30450118e-03 4.87167762e+01] [-4.88896881e-02 9.98804166e-01 -1.89239940e-04 -3.81526793e+00] [-4.30860566e-03 -2.14338341e-05 9.99990718e-01 2.32336466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.75, Y:-3.81, Z:0.23 [[ 9.98784159e-01 4.91927814e-02 3.20532115e-03 4.87468616e+01] [-4.91925787e-02 9.98789302e-01 -1.42101408e-04 -3.81486053e+00] [-3.20843084e-03 -1.57493771e-05 9.99994853e-01 2.33241178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.462320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.77, Y:-3.82, Z:0.23 [[ 9.98863276e-01 4.75290305e-02 3.62587529e-03 4.87746349e+01] [-4.75287754e-02 9.98869857e-01 -1.56555465e-04 -3.81556781e+00] [-3.62921846e-03 -1.59559072e-05 9.99993414e-01 2.32734180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.80, Y:-3.82, Z:0.23 [[ 9.98976329e-01 4.47875022e-02 6.35396770e-03 4.88034289e+01] [-4.47866669e-02 9.98996536e-01 -2.73750732e-04 -3.81646845e+00] [-6.35985233e-03 -1.11025336e-05 9.99979776e-01 2.32882849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.83, Y:-3.82, Z:0.23 [[ 9.99040592e-01 4.35633836e-02 4.48622707e-03 4.88343532e+01] [-4.35629447e-02 9.99050665e-01 -1.95539706e-04 -3.81796582e+00] [-4.49048651e-03 -8.11583527e-08 9.99989918e-01 2.33447909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.86, Y:-3.82, Z:0.24 [[ 9.99067963e-01 4.30528830e-02 3.10728337e-03 4.88637626e+01] [-4.30526723e-02 9.99072795e-01 -1.34680947e-04 -3.81945065e+00] [-3.11020069e-03 7.78566215e-07 9.99995163e-01 2.35453025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.89, Y:-3.82, Z:0.24 [[ 9.99078450e-01 4.27904947e-02 3.35023629e-03 4.88930097e+01] [-4.27902600e-02 9.99084067e-01 -1.41729661e-04 -3.82000344e+00] [-3.35323238e-03 -1.75843224e-06 9.99994378e-01 2.36253512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.92, Y:-3.82, Z:0.24 [[ 9.98969515e-01 4.51661880e-02 4.46365805e-03 4.89220272e+01] [-4.51658008e-02 9.98979487e-01 -1.87547588e-04 -3.81758047e+00] [-4.46757364e-03 -1.42503677e-05 9.99990020e-01 2.37618152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.642320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.95, Y:-3.82, Z:0.24 [[ 9.98822283e-01 4.83068716e-02 4.52685958e-03 4.89518272e+01] [-4.83064979e-02 9.98832541e-01 -1.91922070e-04 -3.81835154e+00] [-4.53084582e-03 -2.69806926e-05 9.99989735e-01 2.36251786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.672320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.98, Y:-3.82, Z:0.24 [[ 9.98698793e-01 5.09924978e-02 6.96709394e-04 4.89812491e+01] [-5.09924899e-02 9.98699036e-01 -2.92146772e-05 -3.81988655e+00] [-6.97292730e-04 -6.35028385e-06 9.99999757e-01 2.36201462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.01, Y:-3.82, Z:0.24 [[ 9.98549032e-01 5.38500785e-02 -1.51385819e-05 4.90097164e+01] [-5.38500785e-02 9.98549032e-01 2.95523960e-06 -3.81968923e+00] [ 1.52757563e-05 -2.13573781e-06 1.00000000e+00 2.35690340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.732320588 meters Centerline goodness [0,1] 0.9999509274708018 Centerline is valid? [True, True] Translation: X:49.04, Y:-3.82, Z:0.24 [[ 9.98543811e-01 5.39012809e-02 2.21590833e-03 4.90385388e+01] [-5.39012147e-02 9.98546269e-01 -8.96078171e-05 -3.81997727e+00] [-2.21751697e-03 -2.99628196e-05 9.99997541e-01 2.36489127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.07, Y:-3.82, Z:0.24 [[ 9.98632974e-01 5.21889899e-02 2.91435069e-03 4.90668830e+01] [-5.21888716e-02 9.98637225e-01 -1.16698098e-04 -3.82100282e+00] [-2.91646945e-03 -3.55581056e-05 9.99995746e-01 2.38452018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.10, Y:-3.82, Z:0.24 [[ 9.98753842e-01 4.97685334e-02 3.72227618e-03 4.90950262e+01] [-4.97683280e-02 9.98760778e-01 -1.47863251e-04 -3.81898635e+00] [-3.72502239e-03 -3.75724718e-05 9.99993061e-01 2.39671024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.822320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.12, Y:-3.82, Z:0.24 [[ 9.98781661e-01 4.92244832e-02 3.48493828e-03 4.91232937e+01] [-4.92243069e-02 9.98787740e-01 -1.36403321e-04 -3.81617135e+00] [-3.48742801e-03 -3.53065359e-05 9.99993918e-01 2.39321224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.852320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.15, Y:-3.81, Z:0.24 [[ 9.98812344e-01 4.85944738e-02 3.53237886e-03 4.91516045e+01] [-4.85942951e-02 9.98818590e-01 -1.36459286e-04 -3.81351499e+00] [-3.53483684e-03 -3.53562409e-05 9.99993752e-01 2.38808760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.18, Y:-3.81, Z:0.24 [[ 9.98850019e-01 4.77063314e-02 4.76911974e-03 4.91794385e+01] [-4.77060032e-02 9.98861404e-01 -1.82632845e-04 -3.81427761e+00] [-4.77240239e-03 -4.50928213e-05 9.99988611e-01 2.36875662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.21, Y:-3.82, Z:0.24 [[ 9.98908755e-01 4.61261503e-02 7.32654531e-03 4.92078982e+01] [-4.61253448e-02 9.98935621e-01 -2.78970164e-04 -3.82060109e+00] [-7.33161491e-03 -5.92736895e-05 9.99973122e-01 2.35998534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.942320588 meters Centerline goodness [0,1] 0.9999509178364583 Centerline is valid? [True, True] Translation: X:49.24, Y:-3.82, Z:0.24 [[ 9.98947881e-01 4.53430003e-02 6.86608230e-03 4.92393723e+01] [-4.53422541e-02 9.98971476e-01 -2.64379155e-04 -3.82148935e+00] [-6.87100812e-03 -4.72226517e-05 9.99976393e-01 2.37630733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.27, Y:-3.82, Z:0.24 [[ 9.98985636e-01 4.43867036e-02 7.58418092e-03 4.92697064e+01] [-4.43857683e-02 9.99014424e-01 -2.91667781e-04 -3.81937515e+00] [-7.58965230e-03 -4.52577737e-05 9.99971197e-01 2.38292130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.30, Y:-3.82, Z:0.24 [[ 9.98981192e-01 4.44643322e-02 7.71375841e-03 4.93010748e+01] [-4.44633607e-02 9.99010971e-01 -2.97481758e-04 -3.81689807e+00] [-7.71935661e-03 -4.58009411e-05 9.99970204e-01 2.39502004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.032320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.33, Y:-3.82, Z:0.24 [[ 9.98995188e-01 4.42609769e-02 7.04136612e-03 4.93319973e+01] [-4.42601588e-02 9.99020002e-01 -2.72035026e-04 -3.81743240e+00] [-7.04650613e-03 -3.98903010e-05 9.99975172e-01 2.37772829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.36, Y:-3.82, Z:0.24 [[ 9.99025092e-01 4.37602665e-02 5.82277152e-03 4.93621953e+01] [-4.37596981e-02 9.99042060e-01 -2.25039817e-04 -3.81798224e+00] [-5.82704146e-03 -2.99822997e-05 9.99983022e-01 2.37701463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.39, Y:-3.82, Z:0.24 [[ 9.99051551e-01 4.31298973e-02 5.98412338e-03 4.93918788e+01] [-4.31292911e-02 9.99069473e-01 -2.30375933e-04 -3.81762500e+00] [-5.98849108e-03 -2.79335659e-05 9.99982068e-01 2.37884181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.42, Y:-3.82, Z:0.24 [[ 9.99102895e-01 4.20253647e-02 5.22237098e-03 4.94213165e+01] [-4.20248899e-02 9.99116544e-01 -2.00672290e-04 -3.81735779e+00] [-5.22619057e-03 -1.89772991e-05 9.99986343e-01 2.38049826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.45, Y:-3.82, Z:0.24 [[ 9.99135673e-01 4.14047783e-02 3.68127974e-03 4.94509857e+01] [-4.14045394e-02 9.99142454e-01 -1.41120696e-04 -3.81969418e+00] [-3.68396594e-03 -1.14229699e-05 9.99993214e-01 2.36873155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.48, Y:-3.82, Z:0.24 [[ 9.99136295e-01 4.13979135e-02 3.58844154e-03 4.94796001e+01] [-4.13976994e-02 9.99142739e-01 -1.33961656e-04 -3.82255353e+00] [-3.59091104e-03 -1.47072713e-05 9.99993553e-01 2.36180879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.212320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.51, Y:-3.82, Z:0.24 [[ 9.99129173e-01 4.16085340e-02 3.10247516e-03 4.95081319e+01] [-4.16083803e-02 9.99133990e-01 -1.14106400e-04 -3.82252521e+00] [-3.10453618e-03 -1.50819336e-05 9.99995181e-01 2.36217579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.54, Y:-3.82, Z:0.24 [[ 9.99090981e-01 4.23973089e-02 4.43629428e-03 4.95369529e+01] [-4.23970071e-02 9.99100830e-01 -1.62099116e-04 -3.81997051e+00] [-4.43917786e-03 -2.61338354e-05 9.99990146e-01 2.36791276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.57, Y:-3.82, Z:0.24 [[ 9.98854920e-01 4.72742879e-02 7.34785659e-03 4.95653715e+01] [-4.72735784e-02 9.98881943e-01 -2.70303519e-04 -3.81652253e+00] [-7.35241967e-03 -7.73654749e-05 9.99972968e-01 2.36881921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.60, Y:-3.82, Z:0.24 [[ 9.98712459e-01 5.01262268e-02 7.79648188e-03 4.95959766e+01] [-5.01255083e-02 9.98742885e-01 -2.87668040e-04 -3.81804568e+00] [-7.80110052e-03 -1.03504961e-04 9.99969566e-01 2.36088949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.63, Y:-3.82, Z:0.23 [[ 9.98590009e-01 5.26486382e-02 6.79079870e-03 4.96263993e+01] [-5.26481513e-02 9.98613093e-01 -2.50561187e-04 -3.82025504e+00] [-6.79457220e-03 -1.07315100e-04 9.99976911e-01 2.34754809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.66, Y:-3.82, Z:0.23 [[ 9.98490700e-01 5.46903217e-02 5.02897915e-03 4.96564160e+01] [-5.46900839e-02 9.98503360e-01 -1.84901100e-04 -3.82226151e+00] [-5.03156488e-03 -9.04132626e-05 9.99987338e-01 2.33858123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.392320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.69, Y:-3.82, Z:0.23 [[ 9.98385322e-01 5.64834656e-02 6.03056212e-03 4.96857203e+01] [-5.64831820e-02 9.98403527e-01 -2.17452631e-04 -3.82006965e+00] [-6.03321697e-03 -1.23523823e-04 9.99981792e-01 2.34732162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.422320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.71, Y:-3.82, Z:0.24 [[ 9.98403715e-01 5.61367316e-02 6.22009337e-03 4.97139612e+01] [-5.61364466e-02 9.98423082e-01 -2.20538658e-04 -3.81876848e+00] [-6.22266511e-03 -1.28987324e-04 9.99980631e-01 2.37576840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.74, Y:-3.82, Z:0.24 [[ 9.98432685e-01 5.56190863e-02 6.22020605e-03 4.97413426e+01] [-5.56188111e-02 9.98452052e-01 -2.17356193e-04 -3.82004505e+00] [-6.22266665e-03 -1.28944937e-04 9.99980631e-01 2.37715403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.77, Y:-3.82, Z:0.24 [[ 9.98548894e-01 5.36177736e-02 5.02407966e-03 4.97707682e+01] [-5.36175795e-02 9.98561528e-01 -1.73429447e-04 -3.81624133e+00] [-5.02615156e-03 -9.62012078e-05 9.99987364e-01 2.39475645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.80, Y:-3.81, Z:0.24 [[ 9.98657376e-01 5.16615828e-02 3.81127831e-03 4.98001764e+01] [-5.16614660e-02 9.98664647e-01 -1.29147052e-04 -3.80649483e+00] [-3.81286085e-03 -6.79225684e-05 9.99992729e-01 2.36466541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.83, Y:-3.80, Z:0.24 [[ 9.98611920e-01 5.23598710e-02 5.71630777e-03 4.98286608e+01] [-5.23596279e-02 9.98628275e-01 -1.92284130e-04 -3.80216232e+00] [-5.71853454e-03 -1.07286524e-04 9.99983643e-01 2.35344994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.572320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.86, Y:-3.80, Z:0.24 [[ 9.98563130e-01 5.27893644e-02 9.21731160e-03 4.98572462e+01] [-5.27887763e-02 9.98605653e-01 -3.07257967e-04 -3.79861154e+00] [-9.22067942e-03 -1.79754123e-04 9.99957472e-01 2.35814036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.602320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.89, Y:-3.79, Z:0.24 [[ 9.98769344e-01 4.88225681e-02 8.72660958e-03 4.98869469e+01] [-4.88218784e-02 9.98807458e-01 -2.92168640e-04 -3.79337981e+00] [-8.73046715e-03 -1.34240391e-04 9.99961880e-01 2.39428132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.92, Y:-3.79, Z:0.24 [[ 9.98987787e-01 4.46511330e-02 5.44764825e-03 4.99166501e+01] [-4.46508048e-02 9.99002639e-01 -1.81907818e-04 -3.79283428e+00] [-5.45033737e-03 -6.15181906e-05 9.99985145e-01 2.39956543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.95, Y:-3.79, Z:0.24 [[ 9.99233887e-01 3.89773363e-02 3.52235318e-03 4.99457771e+01] [-3.89771767e-02 9.99240095e-01 -1.13981253e-04 -3.79192395e+00] [-3.52411921e-03 -2.33974511e-05 9.99993790e-01 2.38566972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.97, Y:-3.79, Z:0.24 [[ 9.99532675e-01 2.98908181e-02 6.40087093e-03 4.99746127e+01] [-2.98901112e-02 9.99553170e-01 -2.06088317e-04 -3.78520885e+00] [-6.40417098e-03 1.46692626e-05 9.99979493e-01 2.37766380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.01, Y:-3.78, Z:0.24 [[ 9.99631677e-01 2.62242998e-02 6.98541926e-03 5.00050289e+01] [-2.62233511e-02 9.99656083e-01 -2.27387281e-04 -3.78141504e+00] [-6.98897993e-03 4.41224269e-05 9.99975576e-01 2.40157483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.04, Y:-3.78, Z:0.24 [[ 9.99693805e-01 2.34693477e-02 7.84126619e-03 5.00360714e+01] [-2.34680611e-02 9.99724554e-01 -2.56059695e-04 -3.77792169e+00] [-7.84511590e-03 7.19619764e-05 9.99969224e-01 2.42256433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.782320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.07, Y:-3.77, Z:0.24 [[ 9.99789275e-01 1.93081356e-02 6.97144103e-03 5.00686695e+01] [-1.93070090e-02 9.99813576e-01 -2.28867500e-04 -3.77396438e+00] [-6.97456039e-03 9.42215975e-05 9.99975673e-01 2.44510241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.10, Y:-3.78, Z:0.24 [[ 9.99859010e-01 1.59930315e-02 5.11688209e-03 5.01012727e+01] [-1.59923770e-02 9.99872100e-01 -1.68789626e-04 -3.77643615e+00] [-5.11892710e-03 8.69347209e-05 9.99986894e-01 2.43539850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.13, Y:-3.78, Z:0.24 [[ 9.99928722e-01 1.15770246e-02 2.91964360e-03 5.01322718e+01] [-1.15767923e-02 9.99932982e-01 -9.64392557e-05 -3.78122197e+00] [-2.92056441e-03 6.26322740e-05 9.99995733e-01 2.41548670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.16, Y:-3.79, Z:0.24 [[ 9.99993214e-01 2.98051097e-03 2.16510288e-03 5.01629460e+01] [-2.98036313e-03 9.99995556e-01 -7.15023679e-05 -3.79212026e+00] [-2.16530637e-03 6.50490899e-05 9.99997654e-01 2.38855687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.19, Y:-3.79, Z:0.24 [[ 9.99986205e-01 1.00806519e-03 5.15496242e-03 5.01946999e+01] [-1.00719059e-03 9.99999478e-01 -1.72254904e-04 -3.79226593e+00] [-5.15513337e-03 1.67060498e-04 9.99986698e-01 2.41332805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.23, Y:-3.79, Z:0.24 [[ 9.99975988e-01 -5.69760926e-04 6.90637113e-03 5.02270629e+01] [ 5.71391648e-04 9.99999809e-01 -2.34147654e-04 -3.79066736e+00] [-6.90623641e-03 2.38088274e-04 9.99976123e-01 2.43876294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.962320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.26, Y:-3.79, Z:0.25 [[ 9.99981935e-01 -7.99207224e-04 5.95747485e-03 5.02600308e+01] [ 8.00444866e-04 9.99999659e-01 -2.05364614e-04 -3.79090049e+00] [-5.95730868e-03 2.10129534e-04 9.99982233e-01 2.46644984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.29, Y:-3.80, Z:0.24 [[ 9.99996631e-01 4.88962009e-04 2.54944958e-03 5.02918574e+01] [-4.88739842e-04 9.99999877e-01 -8.77654745e-05 -3.79951082e+00] [-2.54949218e-03 8.65191612e-05 9.99996746e-01 2.43072503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.32, Y:-3.81, Z:0.24 [[ 9.99997794e-01 1.88518392e-03 9.25968375e-04 5.03241804e+01] [-1.88515450e-03 9.99998223e-01 -3.26468495e-05 -3.80806469e+00] [-9.26028274e-04 3.09011840e-05 9.99999571e-01 2.40356634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.052320588 meters Centerline goodness [0,1] 0.9999508406253073 Centerline is valid? [True, True] Translation: X:50.35, Y:-3.81, Z:0.24 [[ 9.99997382e-01 2.27626323e-03 -2.32258121e-04 5.03547540e+01] [-2.27626144e-03 9.99997409e-01 7.97967179e-06 -3.81487804e+00] [ 2.32275683e-04 -7.45097070e-06 9.99999973e-01 2.38459874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.38, Y:-3.83, Z:0.24 [[ 9.99992405e-01 3.60827238e-03 -1.47299118e-03 5.03843095e+01] [-3.60820144e-03 9.99993489e-01 5.08191917e-05 -3.82643273e+00] [ 1.47316496e-03 -4.55039568e-05 9.99998914e-01 2.39193858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.112320588 meters Centerline goodness [0,1] 0.9998524565976491 Centerline is valid? [True, True] Translation: X:50.41, Y:-3.83, Z:0.24 [[ 9.99993107e-01 2.44813793e-03 -2.79159346e-03 5.04134034e+01] [-2.44787754e-03 9.99996999e-01 9.66875445e-05 -3.82972442e+00] [ 2.79182179e-03 -8.98533990e-05 9.99996099e-01 2.40917261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.142320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.44, Y:-3.83, Z:0.24 [[ 9.99994277e-01 1.56366795e-03 -3.00016698e-03 5.04423359e+01] [-1.56336748e-03 9.99998773e-01 1.02493931e-04 -3.83278417e+00] [ 3.00032357e-03 -9.78029809e-05 9.99995494e-01 2.42229539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.172320588000005 meters Centerline goodness [0,1] 0.9999508043488956 Centerline is valid? [True, True] Translation: X:50.47, Y:-3.84, Z:0.24 [[ 9.99996566e-01 1.39994681e-03 -2.21555212e-03 5.04704400e+01] [-1.39978298e-03 9.99999017e-01 7.54950632e-05 -3.83736994e+00] [ 2.21565563e-03 -7.23935118e-05 9.99997543e-01 2.42560368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.50, Y:-3.85, Z:0.24 [[ 9.99995249e-01 3.02114317e-03 -6.12885203e-04 5.04985364e+01] [-3.02113021e-03 9.99995436e-01 2.20839704e-05 -3.85154872e+00] [ 6.12949125e-04 -2.02322595e-05 9.99999812e-01 2.40588464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.53, Y:-3.86, Z:0.24 [[ 9.99989351e-01 4.34560964e-03 1.55373610e-03 5.05280395e+01] [-4.34553692e-03 9.99990557e-01 -5.01751363e-05 -3.85883900e+00] [-1.55393947e-03 4.34227844e-05 9.99998792e-01 2.40524504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.262320588 meters Centerline goodness [0,1] 0.9999508623654857 Centerline is valid? [True, True] Translation: X:50.56, Y:-3.86, Z:0.24 [[ 9.99979251e-01 5.72170992e-03 2.95958475e-03 5.05579614e+01] [-5.72144967e-03 9.99983628e-01 -9.63944977e-05 -3.86361039e+00] [-2.96008784e-03 7.94593824e-05 9.99995616e-01 2.41029944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.59, Y:-3.87, Z:0.24 [[ 9.99965308e-01 7.50770983e-03 3.60784757e-03 5.05901911e+01] [-7.50733150e-03 9.99971813e-01 -1.18393812e-04 -3.86673163e+00] [-3.60863474e-03 9.13043970e-05 9.99993485e-01 2.42181843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.322320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.62, Y:-3.87, Z:0.24 [[ 9.99917109e-01 1.28023286e-02 1.36945663e-03 5.06214964e+01] [-1.28022788e-02 9.99918046e-01 -4.51072743e-05 -3.87366292e+00] [-1.36992188e-03 2.75713696e-05 9.99999061e-01 2.40905649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.352320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.65, Y:-3.88, Z:0.24 [[ 9.99882976e-01 1.52834820e-02 -6.71183168e-04 5.06521078e+01] [-1.52834707e-02 9.99883201e-01 2.19515599e-05 -3.87871494e+00] [ 6.71440271e-04 -1.16909827e-05 9.99999775e-01 2.40217495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.382320588 meters Centerline goodness [0,1] 0.999950731635217 Centerline is valid? [True, True] Translation: X:50.68, Y:-3.88, Z:0.24 [[ 9.99837396e-01 1.79985110e-02 -1.11155763e-03 5.06807203e+01] [-1.79984798e-02 9.99838014e-01 3.80893974e-05 -3.88331075e+00] [ 1.11206312e-03 -1.80768564e-05 9.99999381e-01 2.39387504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.71, Y:-3.89, Z:0.24 [[ 9.99735186e-01 2.26377091e-02 4.13423599e-03 5.07091857e+01] [-2.26373680e-02 9.99743734e-01 -1.29306426e-04 -3.88950911e+00] [-4.13610373e-03 3.56839622e-05 9.99991446e-01 2.41028529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.74, Y:-3.89, Z:0.24 [[ 9.99625726e-01 2.59703790e-02 8.59927990e-03 5.07405102e+01] [-2.59689786e-02 9.99662712e-01 -2.74494285e-04 -3.89281360e+00] [-8.60350818e-03 5.10770330e-05 9.99962988e-01 2.43602970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.77, Y:-3.90, Z:0.25 [[ 9.99500516e-01 2.98610497e-02 1.03458148e-02 5.07722009e+01] [-2.98592145e-02 9.99554059e-01 -3.31834196e-04 -3.89618815e+00] [-1.03511101e-02 2.27505471e-05 9.99946426e-01 2.46435608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.80, Y:-3.90, Z:0.25 [[ 9.99378588e-01 3.37522389e-02 1.01599167e-02 5.08045852e+01] [-3.37506567e-02 9.99430231e-01 -3.27199358e-04 -3.89808439e+00] [-1.01651716e-02 -1.59078285e-05 9.99948333e-01 2.47229749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.532320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.84, Y:-3.90, Z:0.24 [[ 9.99139036e-01 4.04778734e-02 9.09551273e-03 5.08370144e+01] [-4.04768725e-02 9.99180432e-01 -2.94165216e-04 -3.89549997e+00] [-9.09996553e-03 -7.42459592e-05 9.99958592e-01 2.43027155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.87, Y:-3.89, Z:0.24 [[ 9.98982897e-01 4.38180558e-02 1.06372190e-02 5.08697132e+01] [-4.38168625e-02 9.99039520e-01 -3.45312584e-04 -3.89430921e+00] [-1.06421331e-02 -1.21128199e-04 9.99943364e-01 2.39769733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.90, Y:-3.89, Z:0.24 [[ 9.98813453e-01 4.74255798e-02 1.10679864e-02 5.09018507e+01] [-4.74244880e-02 9.98874761e-01 -3.61226004e-04 -3.89320757e+00] [-1.10726636e-02 -1.64096194e-04 9.99938683e-01 2.39335177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.93, Y:-3.89, Z:0.24 [[ 9.98689373e-01 5.01422521e-02 1.02611163e-02 5.09345348e+01] [-5.01414441e-02 9.98742070e-01 -3.36150839e-04 -3.88740354e+00] [-1.02650639e-02 -1.78796921e-04 9.99947297e-01 2.43789734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.97, Y:-3.89, Z:0.25 [[ 9.98713882e-01 5.00248498e-02 8.25204757e-03 5.09666480e+01] [-5.00243133e-02 9.98747963e-01 -2.71537810e-04 -3.88552580e+00] [-8.25529935e-03 -1.41614433e-04 9.99965914e-01 2.47273653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.00, Y:-3.89, Z:0.25 [[ 9.98810751e-01 4.79992422e-02 8.55318873e-03 5.09981120e+01] [-4.79985898e-02 9.98847364e-01 -2.81648139e-04 -3.88595009e+00] [-8.55684892e-03 -1.29227809e-04 9.99963381e-01 2.47816727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.712320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.03, Y:-3.89, Z:0.25 [[ 9.98962610e-01 4.43249666e-02 1.04403634e-02 5.10293921e+01] [-4.43237876e-02 9.99017159e-01 -3.44393531e-04 -3.88783910e+00] [-1.04453674e-02 -1.18720190e-04 9.99945439e-01 2.47075541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.06, Y:-3.89, Z:0.24 [[ 9.99214384e-01 3.60759273e-02 1.64055696e-02 5.10616959e+01] [-3.60718663e-02 9.99349051e-01 -5.43478104e-04 -3.88719815e+00] [-1.64144968e-02 -4.87283736e-05 9.99865272e-01 2.42111833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.09, Y:-3.89, Z:0.24 [[ 9.99331856e-01 3.24748306e-02 1.67698464e-02 5.10947165e+01] [-3.24700200e-02 9.99472553e-01 -5.59133611e-04 -3.88583869e+00] [-1.67791590e-02 1.42427823e-05 9.99859220e-01 2.40734297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.13, Y:-3.89, Z:0.24 [[ 9.99459193e-01 2.95789868e-02 1.43667756e-02 5.11267742e+01] [-2.95751244e-02 9.99562444e-01 -4.81270966e-04 -3.88642136e+00] [-1.43747248e-02 5.61115169e-05 9.99896677e-01 2.41411238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.16, Y:-3.89, Z:0.24 [[ 9.99649544e-01 2.58237787e-02 5.82431153e-03 5.11593026e+01] [-2.58230719e-02 9.99666510e-01 -1.96538466e-04 -3.89198648e+00] [-5.82744454e-03 4.60679723e-05 9.99983019e-01 2.42771670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.19, Y:-3.89, Z:0.24 [[ 9.99653258e-01 2.60658959e-02 3.73276429e-03 5.11909295e+01] [-2.60656072e-02 9.99660226e-01 -1.26000340e-04 -3.89344576e+00] [-3.73478030e-03 2.86598830e-05 9.99993025e-01 2.44012032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.892320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.22, Y:-3.89, Z:0.24 [[ 9.99623177e-01 2.70235123e-02 4.82008555e-03 5.12210874e+01] [-2.70230454e-02 9.99634798e-01 -1.61972326e-04 -3.89340675e+00] [-4.82270230e-03 3.16579001e-05 9.99988370e-01 2.43937922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.922320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.25, Y:-3.90, Z:0.24 [[ 9.99554228e-01 2.93594686e-02 5.41920866e-03 5.12528235e+01] [-2.93589082e-02 9.99568918e-01 -1.82961842e-04 -3.89523348e+00] [-5.42224420e-03 2.37782330e-05 9.99985299e-01 2.43970985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.28, Y:-3.91, Z:0.24 [[ 9.99434873e-01 3.27786790e-02 7.44939979e-03 5.12833686e+01] [-3.27777122e-02 9.99462635e-01 -2.51865134e-04 -3.90617814e+00] [-7.45365254e-03 7.54851578e-06 9.99972221e-01 2.43874420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.32, Y:-3.91, Z:0.24 [[ 9.99428027e-01 3.30066104e-02 7.36089657e-03 5.13158500e+01] [-3.30056630e-02 9.99455133e-01 -2.50175224e-04 -3.91251253e+00] [-7.36514330e-03 7.08085859e-06 9.99972877e-01 2.44259730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.35, Y:-3.92, Z:0.24 [[ 9.99454867e-01 3.19065842e-02 8.48162455e-03 5.13479167e+01] [-3.19052782e-02 9.99490855e-01 -2.89280920e-04 -3.91602429e+00] [-8.48653614e-03 1.85146330e-05 9.99963989e-01 2.44027363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.38, Y:-3.92, Z:0.24 [[ 9.99534753e-01 2.95565316e-02 7.52925292e-03 5.13799559e+01] [-2.95554278e-02 9.99563110e-01 -2.57840756e-04 -3.91931416e+00] [-7.53358434e-03 3.51905052e-05 9.99971622e-01 2.42751481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.072320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.41, Y:-3.92, Z:0.24 [[ 9.99537302e-01 2.97185492e-02 6.47993407e-03 5.14116337e+01] [-2.97177292e-02 9.99558306e-01 -2.22824166e-04 -3.92481097e+00] [-6.48369393e-03 3.01521404e-05 9.99978980e-01 2.42750199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.102320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.44, Y:-3.93, Z:0.24 [[ 9.99516350e-01 3.04896971e-02 6.11912256e-03 5.14439736e+01] [-3.04889751e-02 9.99535081e-01 -2.11251262e-04 -3.93104204e+00] [-6.12271865e-03 2.45833144e-05 9.99981256e-01 2.43504272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.47, Y:-3.94, Z:0.24 [[ 9.99436215e-01 3.30022434e-02 6.17285359e-03 5.14746747e+01] [-3.30015540e-02 9.99455278e-01 -2.13536285e-04 -3.93591695e+00] [-6.17653828e-03 9.70213547e-06 9.99980925e-01 2.44980977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.51, Y:-3.94, Z:0.25 [[ 9.99317584e-01 3.62333713e-02 7.17691695e-03 5.15062141e+01] [-3.62325210e-02 9.99343356e-01 -2.48503309e-04 -3.93632032e+00] [-7.18120838e-03 -1.17040670e-05 9.99974215e-01 2.48212056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.54, Y:-3.94, Z:0.25 [[ 9.99214338e-01 3.89788745e-02 7.16616671e-03 5.15382726e+01] [-3.89780883e-02 9.99240034e-01 -2.49394784e-04 -3.93911023e+00] [-7.17044180e-03 -3.01246352e-05 9.99974292e-01 2.47446592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.222320588 meters Centerline goodness [0,1] 0.9999508623654857 Centerline is valid? [True, True] Translation: X:51.57, Y:-3.95, Z:0.25 [[ 9.99135575e-01 4.12146958e-02 5.42689013e-03 5.15707379e+01] [-4.12142731e-02 9.99150313e-01 -1.89750856e-04 -3.94527640e+00] [-5.43009950e-03 -3.40785013e-05 9.99985256e-01 2.46333596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.60, Y:-3.95, Z:0.24 [[ 9.99003850e-01 4.43199467e-02 5.20096251e-03 5.16022844e+01] [-4.43196004e-02 9.99017387e-01 -1.81883578e-04 -3.95200507e+00] [-5.20391305e-03 -4.88021851e-05 9.99986458e-01 2.44693604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.282320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.63, Y:-3.95, Z:0.25 [[ 9.98596963e-01 5.25306998e-02 6.68064405e-03 5.16330943e+01] [-5.25303148e-02 9.98619303e-01 -2.33205853e-04 -3.95132598e+00] [-6.68367057e-03 -1.18057678e-04 9.99977657e-01 2.48430698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.66, Y:-3.95, Z:0.25 [[ 9.98310944e-01 5.76099244e-02 7.50705470e-03 5.16648299e+01] [-5.76095757e-02 9.98339155e-01 -2.62875149e-04 -3.94633359e+00] [-7.50973086e-03 -1.70047098e-04 9.99971787e-01 2.50899330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.70, Y:-3.95, Z:0.25 [[ 9.98307143e-01 5.76757491e-02 7.50703727e-03 5.16956632e+01] [-5.76753984e-02 9.98335354e-01 -2.63372866e-04 -3.94739734e+00] [-7.50973094e-03 -1.70044352e-04 9.99971787e-01 2.51054787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.73, Y:-3.94, Z:0.25 [[ 9.98003651e-01 6.24871827e-02 9.16863226e-03 5.17271772e+01] [-6.24868577e-02 9.98045735e-01 -3.22193626e-04 -3.94318588e+00] [-9.17084730e-03 -2.51368604e-04 9.99957915e-01 2.51979637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.76, Y:-3.94, Z:0.25 [[ 9.97456886e-01 7.05713347e-02 9.97234151e-03 5.17586280e+01] [-7.05713475e-02 9.97506673e-01 -3.51047626e-04 -3.93889324e+00] [-9.97225109e-03 -3.53606705e-04 9.99950213e-01 2.51841358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.79, Y:-3.94, Z:0.25 [[ 9.97201973e-01 7.41467475e-02 9.51233136e-03 5.17901007e+01] [-7.41469155e-02 9.97247272e-01 -3.35486737e-04 -3.93834047e+00] [-9.51102176e-03 -3.70761994e-04 9.99954700e-01 2.50006321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.462320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.82, Y:-3.94, Z:0.25 [[ 9.97037853e-01 7.64544958e-02 8.38034513e-03 5.18209879e+01] [-7.64547100e-02 9.97073011e-01 -2.95275542e-04 -3.93741044e+00] [-8.37839110e-03 -3.46315964e-04 9.99964841e-01 2.48878660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.85, Y:-3.94, Z:0.25 [[ 9.96951558e-01 7.75930622e-02 8.17974867e-03 5.18504172e+01] [-7.75933114e-02 9.96985053e-01 -2.87357377e-04 -3.93572352e+00] [-8.17738410e-03 -3.48212402e-04 9.99966504e-01 2.48429968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.88, Y:-3.93, Z:0.25 [[ 9.97084358e-01 7.56303676e-02 1.01405259e-02 5.18800258e+01] [-7.56306552e-02 9.97135837e-01 -3.55663193e-04 -3.92699399e+00] [-1.01383807e-02 -4.12308408e-04 9.99948520e-01 2.49886448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.91, Y:-3.92, Z:0.25 [[ 9.97276852e-01 7.28668579e-02 1.13710386e-02 5.19108537e+01] [-7.28670361e-02 9.97341584e-01 -3.99185676e-04 -3.92103195e+00] [-1.13698971e-02 -4.30475248e-04 9.99935268e-01 2.50794780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.94, Y:-3.92, Z:0.25 [[ 9.97500549e-01 6.98803395e-02 1.04591071e-02 5.19419736e+01] [-6.98803210e-02 9.97555315e-01 -3.67676522e-04 -3.91610943e+00] [-1.04592312e-02 -3.64128228e-04 9.99945234e-01 2.50261301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.97, Y:-3.91, Z:0.25 [[ 9.97904034e-01 6.43774096e-02 6.56413154e-03 5.19726700e+01] [-6.43772840e-02 9.97925604e-01 -2.30650709e-04 -3.91169159e+00] [-6.56536363e-03 -1.92413688e-04 9.99978429e-01 2.45942453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.642320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.00, Y:-3.91, Z:0.25 [[ 9.98073076e-01 6.16963699e-02 6.61000363e-03 5.20012357e+01] [-6.16962190e-02 9.98094948e-01 -2.26941098e-04 -3.91137845e+00] [-6.61141267e-03 -1.81308432e-04 9.99978128e-01 2.45325981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.03, Y:-3.91, Z:0.25 [[ 9.98223484e-01 5.87799740e-02 9.73603120e-03 5.20304901e+01] [-5.87795407e-02 9.98270933e-01 -3.30895650e-04 -3.90969229e+00] [-9.73864699e-03 -2.41971633e-04 9.99952549e-01 2.47485113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.06, Y:-3.90, Z:0.25 [[ 9.98394103e-01 5.45408612e-02 1.53137140e-02 5.20613356e+01] [-5.45392353e-02 9.98511491e-01 -5.24088140e-04 -3.90053791e+00] [-1.53195037e-02 -3.11951745e-04 9.99882601e-01 2.54795316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.09, Y:-3.90, Z:0.25 [[ 9.98526036e-01 5.20364728e-02 1.54259853e-02 5.20937350e+01] [-5.20344833e-02 9.98645148e-01 -5.30576912e-04 -3.89692640e+00] [-1.54326948e-02 -2.72888315e-04 9.99880872e-01 2.54852367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.13, Y:-3.90, Z:0.25 [[ 9.98719773e-01 4.85187293e-02 1.43090423e-02 5.21256356e+01] [-4.85166293e-02 9.98822253e-01 -4.94059927e-04 -3.89542956e+00] [-1.43161610e-02 -2.00799082e-04 9.99897498e-01 2.51444247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.16, Y:-3.90, Z:0.25 [[ 9.98877885e-01 4.59311552e-02 1.15455957e-02 5.21577148e+01] [-4.59295963e-02 9.98944599e-01 -4.00279219e-04 -3.89754345e+00] [-1.15517958e-02 -1.30454490e-04 9.99933267e-01 2.46907730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.822320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.19, Y:-3.90, Z:0.24 [[ 9.99085799e-01 4.14973425e-02 1.02730747e-02 5.21896751e+01] [-4.14958594e-02 9.99138612e-01 -3.57567545e-04 -3.90207087e+00] [-1.02790637e-02 -6.90494063e-05 9.99947167e-01 2.44560998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.852320588000005 meters Centerline goodness [0,1] 0.9999508720216164 Centerline is valid? [True, True] Translation: X:52.22, Y:-3.90, Z:0.25 [[ 9.99131930e-01 4.03378656e-02 1.04040339e-02 5.22217262e+01] [-4.03362677e-02 9.99186095e-01 -3.63463273e-04 -3.90099803e+00] [-1.04102273e-02 -5.65121336e-05 9.99945811e-01 2.48836054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.25, Y:-3.90, Z:0.25 [[ 9.99126482e-01 4.08911238e-02 8.61324540e-03 5.22542469e+01] [-4.08900387e-02 9.99163607e-01 -3.02116334e-04 -3.89813088e+00] [-8.61839522e-03 -5.03435079e-05 9.99962860e-01 2.53655034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.28, Y:-3.89, Z:0.26 [[ 9.99035636e-01 4.34068972e-02 6.60605455e-03 5.22846347e+01] [-4.34063171e-02 9.99057475e-01 -2.31216133e-04 -3.89063011e+00] [-6.60986456e-03 -5.57513429e-05 9.99978153e-01 2.55520971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.31, Y:-3.89, Z:0.25 [[ 9.99014064e-01 4.39478827e-02 6.28357373e-03 5.23139986e+01] [-4.39473732e-02 9.99033823e-01 -2.19202172e-04 -3.88869651e+00] [-6.28713616e-03 -5.71605072e-05 9.99980234e-01 2.53165627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.34, Y:-3.89, Z:0.25 [[ 9.98992831e-01 4.41497357e-02 8.00782123e-03 5.23432040e+01] [-4.41489215e-02 9.99024922e-01 -2.78507979e-04 -3.88805338e+00] [-8.01230903e-03 -7.53091963e-05 9.99967898e-01 2.49831621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.37, Y:-3.89, Z:0.25 [[ 9.99048921e-01 4.29734465e-02 7.38490614e-03 5.23726131e+01] [-4.29727215e-02 9.99076213e-01 -2.56895629e-04 -3.88821539e+00] [-7.38912375e-03 -6.06982143e-05 9.99972698e-01 2.48139371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.032320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.40, Y:-3.89, Z:0.25 [[ 9.99120632e-01 4.13616602e-02 6.86851437e-03 5.24025040e+01] [-4.13609992e-02 9.99144239e-01 -2.38311438e-04 -3.88887953e+00] [-6.87249352e-03 -4.59867428e-05 9.99976383e-01 2.49655683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.43, Y:-3.89, Z:0.25 [[ 9.99209230e-01 3.92211843e-02 6.52787288e-03 5.24318369e+01] [-3.92205444e-02 9.99230553e-01 -2.26059339e-04 -3.88873406e+00] [-6.53171634e-03 -3.01461504e-05 9.99978668e-01 2.50558280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.46, Y:-3.89, Z:0.25 [[ 9.99383764e-01 3.42277160e-02 7.78169268e-03 5.24619411e+01] [-3.42266587e-02 9.99414060e-01 -2.69039199e-04 -3.88704582e+00] [-7.78634167e-03 2.53206793e-06 9.99969686e-01 2.50121358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.49, Y:-3.89, Z:0.25 [[ 9.99422100e-01 3.26401255e-02 9.49151444e-03 5.24929200e+01] [-3.26384684e-02 9.99467169e-01 -3.29470172e-04 -3.88545785e+00] [-9.49721101e-03 1.94912772e-05 9.99954900e-01 2.49263844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.152320588 meters Centerline goodness [0,1] 0.9999509154272812 Centerline is valid? [True, True] Translation: X:52.52, Y:-3.88, Z:0.25 [[ 9.99414708e-01 3.24720260e-02 1.07614747e-02 5.25249161e+01] [-3.24698681e-02 9.99472644e-01 -3.75224301e-04 -3.88333441e+00] [-1.07679838e-02 2.55810217e-05 9.99942023e-01 2.49052370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.56, Y:-3.88, Z:0.25 [[ 9.99346799e-01 3.38302386e-02 1.27078639e-02 5.25574325e+01] [-3.38273204e-02 9.99427594e-01 -4.44571632e-04 -3.87996074e+00] [-1.27156298e-02 1.44082522e-05 9.99919153e-01 2.47707054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.212320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.59, Y:-3.88, Z:0.25 [[ 9.99324698e-01 3.51770151e-02 1.06172567e-02 5.25893251e+01] [-3.51750386e-02 9.99381097e-01 -3.72900975e-04 -3.88280430e+00] [-1.06238032e-02 -8.13260657e-07 9.99943566e-01 2.48430380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.62, Y:-3.89, Z:0.25 [[ 9.99293930e-01 3.59822497e-02 1.08129212e-02 5.26216639e+01] [-3.59802319e-02 9.99352429e-01 -3.81139812e-04 -3.88660512e+00] [-1.08196334e-02 -8.18071353e-06 9.99941466e-01 2.49216788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.65, Y:-3.89, Z:0.25 [[ 9.99294368e-01 3.60180610e-02 1.06520318e-02 5.26533846e+01] [-3.60160901e-02 9.99351139e-01 -3.76851539e-04 -3.88909078e+00] [-1.06586936e-02 -7.05891716e-06 9.99943194e-01 2.50557657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.69, Y:-3.89, Z:0.25 [[ 9.99320442e-01 3.53489313e-02 1.04454404e-02 5.26853266e+01] [-3.53469854e-02 9.99375031e-01 -3.70901188e-04 -3.88973742e+00] [-1.04520233e-02 1.43430791e-06 9.99945376e-01 2.50173933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.72, Y:-3.89, Z:0.25 [[ 9.99289302e-01 3.55421664e-02 1.25557078e-02 5.27177537e+01] [-3.55393513e-02 9.99368178e-01 -4.47326160e-04 -3.89094976e+00] [-1.25636738e-02 7.86534286e-07 9.99921074e-01 2.48933873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.75, Y:-3.89, Z:0.25 [[ 9.99309879e-01 3.48874767e-02 1.27526487e-02 5.27496469e+01] [-3.48844987e-02 9.99391247e-01 -4.55953225e-04 -3.89278337e+00] [-1.27607926e-02 1.07688039e-05 9.99918578e-01 2.48493504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.392320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.78, Y:-3.90, Z:0.25 [[ 9.99343615e-01 3.38980063e-02 1.27775073e-02 5.27818603e+01] [-3.38949150e-02 9.99425297e-01 -4.58474330e-04 -3.89602786e+00] [-1.27857054e-02 2.50808714e-05 9.99918259e-01 2.51106574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.81, Y:-3.90, Z:0.25 [[ 9.99319104e-01 3.47940975e-02 1.22759872e-02 5.28143898e+01] [-3.47912923e-02 9.99394502e-01 -4.42062523e-04 -3.89713125e+00] [-1.22839352e-02 1.46640675e-05 9.99924550e-01 2.51668706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.85, Y:-3.90, Z:0.25 [[ 9.99295918e-01 3.58939874e-02 1.09220012e-02 5.28464846e+01] [-3.58918166e-02 9.99355603e-01 -3.94764351e-04 -3.89824852e+00] [-1.09291328e-02 2.47594141e-06 9.99940275e-01 2.52005696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.88, Y:-3.90, Z:0.25 [[ 9.99248890e-01 3.75065791e-02 9.74229606e-03 5.28785348e+01] [-3.75049157e-02 9.99296381e-01 -3.53448310e-04 -3.90054144e+00] [-9.74869783e-03 -1.22011606e-05 9.99952480e-01 2.50768941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.91, Y:-3.91, Z:0.25 [[ 9.99126776e-01 4.13747352e-02 5.81523984e-03 5.29093913e+01] [-4.13742063e-02 9.99143699e-01 -2.11282934e-04 -3.90548285e+00] [-5.81900202e-03 -2.95024958e-05 9.99983069e-01 2.49556882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.94, Y:-3.91, Z:0.25 [[ 9.99041300e-01 4.35723913e-02 4.23414670e-03 5.29377270e+01] [-4.35721479e-02 9.99050272e-01 -1.49758619e-04 -3.90644299e+00] [-4.23665076e-03 -3.48758206e-05 9.99991025e-01 2.51168976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.572320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.97, Y:-3.91, Z:0.25 [[ 9.98983739e-01 4.47736329e-02 5.17800062e-03 5.29663439e+01] [-4.47732957e-02 9.98997157e-01 -1.81077054e-04 -3.90531593e+00] [-5.18091538e-03 -5.09431211e-05 9.99986578e-01 2.52261946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.602320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.00, Y:-3.91, Z:0.25 [[ 9.98927253e-01 4.59070924e-02 6.07311238e-03 5.29950497e+01] [-4.59066635e-02 9.98945711e-01 -2.10061691e-04 -3.90541530e+00] [-6.07635289e-03 -6.89599793e-05 9.99981536e-01 2.52706738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.02, Y:-3.91, Z:0.25 [[ 9.98962598e-01 4.48085987e-02 8.11888943e-03 5.30236381e+01] [-4.48078199e-02 9.98995587e-01 -2.77892473e-04 -3.90911945e+00] [-8.12318668e-03 -8.61855479e-05 9.99967003e-01 2.51157498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.05, Y:-3.91, Z:0.25 [[ 9.99035030e-01 4.32972486e-02 7.37273448e-03 5.30536229e+01] [-4.32965500e-02 9.99062232e-01 -2.54423076e-04 -3.91180220e+00] [-7.37683639e-03 -6.50364014e-05 9.99972789e-01 2.51527378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.08, Y:-3.91, Z:0.25 [[ 9.99114300e-01 4.11201632e-02 8.93015229e-03 5.30828071e+01] [-4.11190593e-02 9.99154207e-01 -3.07271125e-04 -3.91226168e+00] [-8.93523427e-03 -6.02004860e-05 9.99960078e-01 2.49866313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.11, Y:-3.91, Z:0.25 [[ 9.99252317e-01 3.75197851e-02 9.33125809e-03 5.31139957e+01] [-3.75184108e-02 9.99295885e-01 -3.22341518e-04 -3.90824105e+00] [-9.33678199e-03 -2.79934653e-05 9.99956411e-01 2.51396689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.15, Y:-3.91, Z:0.25 [[ 9.99217595e-01 3.76325768e-02 1.21649778e-02 5.31453192e+01] [-3.76302413e-02 9.99291643e-01 -4.20908558e-04 -3.90708947e+00] [-1.21722005e-02 -3.71918110e-05 9.99925915e-01 2.51393903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.782320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.18, Y:-3.91, Z:0.25 [[ 9.99209703e-01 3.81179262e-02 1.12691469e-02 5.31772747e+01] [-3.81159326e-02 9.99273247e-01 -3.91705268e-04 -3.90573167e+00] [-1.12758880e-02 -3.81383404e-05 9.99936424e-01 2.52938828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.21, Y:-3.90, Z:0.25 [[ 9.99204965e-01 3.91184058e-02 7.69340319e-03 5.32091593e+01] [-3.91174972e-02 9.99234582e-01 -2.68598585e-04 -3.90463596e+00] [-7.69802166e-03 -3.25616384e-05 9.99970369e-01 2.54329821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.24, Y:-3.91, Z:0.25 [[ 9.99219883e-01 3.89775620e-02 6.35413586e-03 5.32397914e+01] [-3.89769427e-02 9.99240086e-01 -2.21310286e-04 -3.90724858e+00] [-6.35793340e-03 -2.65271513e-05 9.99979788e-01 2.53428466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.27, Y:-3.91, Z:0.25 [[ 9.99190019e-01 3.94363374e-02 8.00505397e-03 5.32689904e+01] [-3.94353760e-02 9.99222084e-01 -2.77973198e-04 -3.91119152e+00] [-8.00978896e-03 -3.79342679e-05 9.99967920e-01 2.52229748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.30, Y:-3.91, Z:0.25 [[ 9.99194606e-01 3.88501162e-02 1.00403393e-02 5.32990845e+01] [-3.88485701e-02 9.99245048e-01 -3.49053535e-04 -3.91405557e+00] [-1.00463201e-02 -4.12804167e-05 9.99949534e-01 2.52054453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.33, Y:-3.92, Z:0.25 [[ 9.99299390e-01 3.54204727e-02 1.20879734e-02 5.33306544e+01] [-3.54179675e-02 9.99372498e-01 -4.21327412e-04 -3.91608679e+00] [-1.20953118e-02 -7.09922334e-06 9.99926849e-01 2.52787975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.962320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.36, Y:-3.92, Z:0.25 [[ 9.99374282e-01 3.35204964e-02 1.12881015e-02 5.33628689e+01] [-3.35181705e-02 9.99438030e-01 -3.95223124e-04 -3.91860272e+00] [-1.12950060e-02 1.66193153e-05 9.99936209e-01 2.52924404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.40, Y:-3.92, Z:0.25 [[ 9.99426172e-01 3.23132486e-02 1.01577912e-02 5.33952300e+01] [-3.23112891e-02 9.99477790e-01 -3.56999706e-04 -3.92228061e+00] [-1.01640225e-02 2.85835223e-05 9.99948345e-01 2.53501313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.43, Y:-3.93, Z:0.25 [[ 9.99428997e-01 3.21986187e-02 1.02434780e-02 5.34272661e+01] [-3.21966065e-02 9.99481490e-01 -3.61325509e-04 -3.92628206e+00] [-1.02498009e-02 3.13139605e-05 9.99947469e-01 2.53494387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.46, Y:-3.93, Z:0.25 [[ 9.99359690e-01 3.47275219e-02 8.61446012e-03 5.34596630e+01] [-3.47261824e-02 9.99396818e-01 -3.05065637e-04 -3.92817520e+00] [-8.61985820e-03 5.72298719e-06 9.99962848e-01 2.54888985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.49, Y:-3.93, Z:0.26 [[ 9.99290448e-01 3.66777525e-02 8.56411038e-03 5.34906697e+01] [-3.66764983e-02 9.99327145e-01 -3.03510666e-04 -3.92898048e+00] [-8.56948006e-03 -1.08062705e-05 9.99963281e-01 2.55113972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.52, Y:-3.93, Z:0.26 [[ 9.99190686e-01 3.89791291e-02 9.92972919e-03 5.35220078e+01] [-3.89775509e-02 9.99240024e-01 -3.52488078e-04 -3.93224626e+00] [-9.93592251e-03 -3.48337200e-05 9.99950637e-01 2.55055688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.142320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.55, Y:-3.94, Z:0.25 [[ 9.98999764e-01 4.38455818e-02 8.77705872e-03 5.35541527e+01] [-4.38445234e-02 9.99038317e-01 -3.13064836e-04 -3.94226680e+00] [-8.78234448e-03 -7.20742589e-05 9.99961432e-01 2.53198847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.58, Y:-3.95, Z:0.25 [[ 9.98893863e-01 4.64688561e-02 7.19000275e-03 5.35847577e+01] [-4.64682175e-02 9.98919736e-01 -2.55925862e-04 -3.94560062e+00] [-7.19412824e-03 -7.84638387e-05 9.99974119e-01 2.53213530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.61, Y:-3.95, Z:0.25 [[ 9.98739390e-01 4.96818913e-02 7.16518669e-03 5.36140595e+01] [-4.96813456e-02 9.98765087e-01 -2.54250475e-04 -3.94672153e+00] [-7.16896996e-03 -1.02046152e-04 9.99974297e-01 2.54113393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.64, Y:-3.95, Z:0.25 [[ 9.98742591e-01 4.96175055e-02 7.16520301e-03 5.36431992e+01] [-4.96169614e-02 9.98768288e-01 -2.53790425e-04 -3.94777346e+00] [-7.16896999e-03 -1.02044295e-04 9.99974297e-01 2.54260404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.67, Y:-3.94, Z:0.26 [[ 9.98486484e-01 5.45061561e-02 7.33627891e-03 5.36718540e+01] [-5.45057384e-02 9.98513424e-01 -2.57002305e-04 -3.94426352e+00] [-7.33938119e-03 -1.43255972e-04 9.99973056e-01 2.56474014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.70, Y:-3.94, Z:0.26 [[ 9.98440672e-01 5.55994779e-02 4.99218156e-03 5.37004346e+01] [-5.55993167e-02 9.98453147e-01 -1.71181353e-04 -3.94357520e+00] [-4.99397699e-03 -1.06647459e-04 9.99987524e-01 2.57866133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.322320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.73, Y:-3.94, Z:0.26 [[ 9.98390816e-01 5.64854538e-02 5.01708914e-03 5.37291004e+01] [-5.64853134e-02 9.98403416e-01 -1.69780194e-04 -3.94339317e+00] [-5.01866905e-03 -1.13884866e-04 9.99987400e-01 2.56419201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.352320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.76, Y:-3.94, Z:0.26 [[ 9.98264026e-01 5.85352779e-02 6.52344954e-03 5.37579000e+01] [-5.85350989e-02 9.98285327e-01 -2.18519636e-04 -3.94099591e+00] [-6.52505507e-03 -1.63710473e-04 9.99978698e-01 2.57046710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.79, Y:-3.94, Z:0.26 [[ 9.98304027e-01 5.74172920e-02 9.60860086e-03 5.37869516e+01] [-5.74168835e-02 9.98350239e-01 -3.18590109e-04 -3.93913417e+00] [-9.61104155e-03 -2.33646127e-04 9.99953786e-01 2.57351859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.82, Y:-3.94, Z:0.26 [[ 9.98380197e-01 5.60767731e-02 9.61138723e-03 5.38168211e+01] [-5.60762894e-02 9.98426436e-01 -3.20015196e-04 -3.93573709e+00] [-9.61420851e-03 -2.19474098e-04 9.99953758e-01 2.57890849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.85, Y:-3.93, Z:0.26 [[ 9.98587644e-01 5.26940100e-02 6.78669112e-03 5.38464727e+01] [-5.26937231e-02 9.98610696e-01 -2.21194847e-04 -3.92618343e+00] [-6.78891799e-03 -1.36733582e-04 9.99976946e-01 2.56651006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.87, Y:-3.92, Z:0.26 [[ 9.98663831e-01 5.13226812e-02 6.04434829e-03 5.38749959e+01] [-5.13224474e-02 9.98682116e-01 -1.93896972e-04 -3.92139943e+00] [-6.04633385e-03 -1.16572854e-04 9.99981714e-01 2.56310383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.90, Y:-3.92, Z:0.26 [[ 9.98714417e-01 5.03565523e-02 5.80785351e-03 5.39030270e+01] [-5.03563402e-02 9.98731298e-01 -1.82835369e-04 -3.91709584e+00] [-5.80969203e-03 -1.09861929e-04 9.99983118e-01 2.56861313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.532320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.93, Y:-3.91, Z:0.26 [[ 9.98787434e-01 4.88592400e-02 6.03632828e-03 5.39311445e+01] [-4.88590013e-02 9.98805668e-01 -1.87088189e-04 -3.91325813e+00] [-6.03825989e-03 -1.08067639e-04 9.99981764e-01 2.57792647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.96, Y:-3.91, Z:0.26 [[ 9.99022494e-01 4.34525831e-02 8.11966838e-03 5.39595735e+01] [-4.34519928e-02 9.99055485e-01 -2.49185303e-04 -3.90973451e+00] [-8.12282697e-03 -1.03874048e-04 9.99967004e-01 2.59964205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.99, Y:-3.91, Z:0.26 [[ 9.99173752e-01 3.96564337e-02 8.89838723e-03 5.39885071e+01] [-3.96556074e-02 9.99213371e-01 -2.69348585e-04 -3.90993113e+00] [-8.90206890e-03 -8.37449143e-05 9.99960372e-01 2.61289379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.02, Y:-3.91, Z:0.26 [[ 9.99313983e-01 3.60186273e-02 8.61522569e-03 5.40186125e+01] [-3.60176988e-02 9.99351118e-01 -2.62957132e-04 -3.90893960e+00] [-8.61910677e-03 -4.75238646e-05 9.99962854e-01 2.61669877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.05, Y:-3.90, Z:0.26 [[ 9.99553495e-01 2.85936164e-02 8.67267869e-03 5.40488840e+01] [-2.85923959e-02 9.99591119e-01 -2.64710734e-04 -3.90464073e+00] [-8.67670164e-03 1.66198765e-05 9.99962357e-01 2.60151412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.682320588 meters Centerline goodness [0,1] 0.9999019223224794 Centerline is valid? [True, True] Translation: X:54.08, Y:-3.90, Z:0.26 [[ 9.99616467e-01 2.57915290e-02 1.00854567e-02 5.40801717e+01] [-2.57897262e-02 9.99667342e-01 -3.08787511e-04 -3.90419970e+00] [-1.00900658e-02 4.85679143e-05 9.99949093e-01 2.58218432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.712320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.11, Y:-3.90, Z:0.26 [[ 9.99662604e-01 2.38013197e-02 1.04007710e-02 5.41120806e+01] [-2.37992780e-02 9.99716706e-01 -3.20047869e-04 -3.90451754e+00] [-1.04054421e-02 7.24090464e-05 9.99945859e-01 2.57913507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.14, Y:-3.91, Z:0.26 [[ 9.99713793e-01 2.12644511e-02 1.09615679e-02 5.41441149e+01] [-2.12620162e-02 9.99773880e-01 -3.38632670e-04 -3.90503532e+00] [-1.09662901e-02 1.05470717e-04 9.99939863e-01 2.59229092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.18, Y:-3.91, Z:0.26 [[ 9.99745669e-01 2.08287277e-02 8.64643658e-03 5.41760340e+01] [-2.08271861e-02 9.99783055e-01 -2.68309833e-04 -3.90723802e+00] [-8.65014933e-03 8.81606494e-05 9.99962583e-01 2.61447334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.21, Y:-3.91, Z:0.26 [[ 9.99779178e-01 1.93124222e-02 8.28401076e-03 5.42079660e+01] [-1.93109463e-02 9.99813493e-01 -2.58131260e-04 -3.91059128e+00] [-8.28745087e-03 9.81021725e-05 9.99965654e-01 2.61546997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.24, Y:-3.92, Z:0.26 [[ 9.99817550e-01 1.78369514e-02 6.83442286e-03 5.42400530e+01] [-1.78359058e-02 9.99840905e-01 -2.13908790e-04 -3.91574179e+00] [-6.83715101e-03 9.19716398e-05 9.99976622e-01 2.61622938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.27, Y:-3.92, Z:0.26 [[ 9.99886053e-01 1.34595496e-02 6.83529118e-03 5.42723363e+01] [-1.34583957e-02 9.99909409e-01 -2.14783654e-04 -3.92422407e+00] [-6.83756285e-03 1.22767127e-04 9.99976616e-01 2.58713949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.892320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.30, Y:-3.93, Z:0.26 [[ 9.99923266e-01 1.11738115e-02 5.34858675e-03 5.43049202e+01] [-1.11730681e-02 9.99937565e-01 -1.68849279e-04 -3.92647866e+00] [-5.35013950e-03 1.09076199e-04 9.99985682e-01 2.58461787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.34, Y:-3.93, Z:0.26 [[ 9.99938186e-01 9.61180097e-03 5.58899891e-03 5.43371073e+01] [-9.61096122e-03 9.99953798e-01 -1.77090390e-04 -3.92788806e+00] [-5.59044285e-03 1.23363791e-04 9.99984366e-01 2.57711043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.952320588 meters Centerline goodness [0,1] 0.999950888910716 Centerline is valid? [True, True] Translation: X:54.37, Y:-3.93, Z:0.26 [[ 9.99951244e-01 9.15993796e-03 3.68846610e-03 5.43688115e+01] [-9.15956676e-03 9.99958043e-01 -1.17518823e-04 -3.93043956e+00] [-3.68938781e-03 8.37283420e-05 9.99993191e-01 2.58238807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.982320588 meters Centerline goodness [0,1] 0.9999509274708018 Centerline is valid? [True, True] Translation: X:54.40, Y:-3.94, Z:0.26 [[ 9.99933063e-01 1.14541136e-02 1.63462750e-03 5.44000242e+01] [-1.14540435e-02 9.99934399e-01 -5.22161226e-05 -3.93514201e+00] [-1.63511836e-03 3.34895329e-05 9.99998663e-01 2.62048961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.43, Y:-3.94, Z:0.26 [[ 9.99904703e-01 1.36752531e-02 1.89033701e-03 5.44299152e+01] [-1.36751649e-02 9.99906489e-01 -5.96076211e-05 -3.93797501e+00] [-1.89097539e-03 3.37512705e-05 9.99998212e-01 2.63462024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.46, Y:-3.95, Z:0.26 [[ 9.99756504e-01 2.20144297e-02 1.51571519e-03 5.44591745e+01] [-2.20143828e-02 9.99757653e-01 -4.76360093e-05 -3.94705262e+00] [-1.51639654e-03 1.42568757e-05 9.99998850e-01 2.64113064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.072320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.49, Y:-3.95, Z:0.26 [[ 9.99673462e-01 2.54966580e-02 1.69986631e-03 5.44877499e+01] [-2.54966062e-02 9.99674907e-01 -5.21251425e-05 -3.95394981e+00] [-1.70064272e-03 8.76729967e-06 9.99998554e-01 2.63321910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.102320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.52, Y:-3.96, Z:0.26 [[ 9.99613304e-01 2.75145824e-02 4.02371016e-03 5.45159523e+01] [-2.75143157e-02 9.99621402e-01 -1.21639891e-04 -3.95995679e+00] [-4.02553366e-03 1.08832215e-05 9.99991897e-01 2.62459505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.55, Y:-3.96, Z:0.26 [[ 9.99559550e-01 2.91270501e-02 5.68520193e-03 5.45454682e+01] [-2.91265267e-02 9.99575717e-01 -1.74846056e-04 -3.96365134e+00] [-5.68788254e-03 9.17885968e-06 9.99983824e-01 2.63412252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.58, Y:-3.97, Z:0.26 [[ 9.99465265e-01 3.23038707e-02 5.06408727e-03 5.45760023e+01] [-3.23034948e-02 9.99478094e-01 -1.56029876e-04 -3.96661593e+00] [-5.06648466e-03 -7.64127572e-06 9.99987165e-01 2.64369460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.61, Y:-3.97, Z:0.26 [[ 9.99384523e-01 3.49050796e-02 3.49439284e-03 5.46061176e+01] [-3.49049175e-02 9.99390632e-01 -1.07392155e-04 -3.96864882e+00] [-3.49601200e-03 -1.46454358e-05 9.99993889e-01 2.63706386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.63, Y:-3.97, Z:0.26 [[ 9.99272158e-01 3.80957124e-02 1.96730080e-03 5.46342904e+01] [-3.80956741e-02 9.99274095e-01 -5.69416963e-05 -3.97121544e+00] [-1.96804196e-03 -1.80453986e-05 9.99998063e-01 2.63584714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.66, Y:-3.97, Z:0.26 [[ 9.99107133e-01 4.22181767e-02 1.60093997e-03 5.46628795e+01] [-4.22181580e-02 9.99108415e-01 -4.54577347e-05 -3.97335238e+00] [-1.60143174e-03 -2.21715897e-05 9.99998717e-01 2.62924959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.282320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.69, Y:-3.97, Z:0.26 [[ 9.98640800e-01 5.20561806e-02 2.58972072e-03 5.46923204e+01] [-5.20561566e-02 9.98644156e-01 -7.67175652e-05 -3.97452582e+00] [-2.59020309e-03 -5.81976169e-05 9.99996644e-01 2.62845809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.72, Y:-3.97, Z:0.26 [[ 9.98438128e-01 5.55898810e-02 5.57398921e-03 5.47211262e+01] [-5.55898477e-02 9.98453676e-01 -1.61023667e-04 -3.97490188e+00] [-5.57432130e-03 -1.49085043e-04 9.99984452e-01 2.63609189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.75, Y:-3.97, Z:0.26 [[ 9.98321372e-01 5.72257642e-02 8.92466493e-03 5.47502836e+01] [-5.72257682e-02 9.98361230e-01 -2.55134227e-04 -3.97480287e+00] [-8.92463971e-03 -2.56014855e-04 9.99960142e-01 2.64310191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.78, Y:-3.97, Z:0.27 [[ 9.98200513e-01 5.90466955e-02 1.04510087e-02 5.47791839e+01] [-5.90468462e-02 9.98255169e-01 -2.94403921e-04 -3.97171771e+00] [-1.04501571e-02 -3.23224961e-04 9.99945343e-01 2.65733740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.81, Y:-3.97, Z:0.27 [[ 9.98133462e-01 6.04208386e-02 8.88338372e-03 5.48086574e+01] [-6.04209925e-02 9.98172951e-01 -2.51294696e-04 -3.97024232e+00] [-8.88233679e-03 -2.85917216e-04 9.99960510e-01 2.65292438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.84, Y:-3.97, Z:0.26 [[ 9.98102402e-01 6.10245375e-02 8.22198765e-03 5.48375761e+01] [-6.10247361e-02 9.98136228e-01 -2.26954453e-04 -3.96890702e+00] [-8.22051353e-03 -2.75220842e-04 9.99966173e-01 2.63421104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.462320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.87, Y:-3.97, Z:0.26 [[ 9.98130947e-01 6.05412956e-02 8.32856085e-03 5.48656204e+01] [-6.05415209e-02 9.98165654e-01 -2.25297716e-04 -3.96737233e+00] [-8.32692321e-03 -2.79347118e-04 9.99965292e-01 2.62423934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.89, Y:-3.96, Z:0.26 [[ 9.98221322e-01 5.87759282e-02 9.97906367e-03 5.48944606e+01] [-5.87761999e-02 9.98271149e-01 -2.66298678e-04 -3.96226614e+00] [-9.97746331e-03 -3.20706422e-04 9.99950172e-01 2.64712061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.92, Y:-3.96, Z:0.27 [[ 9.98270162e-01 5.79704206e-02 9.80372879e-03 5.49236962e+01] [-5.79706875e-02 9.98318252e-01 -2.57184039e-04 -3.95980969e+00] [-9.80215046e-03 -3.11589746e-04 9.99951909e-01 2.66776456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.95, Y:-3.96, Z:0.27 [[ 9.98361977e-01 5.63124848e-02 1.01127583e-02 5.49526856e+01] [-5.63127285e-02 9.98413145e-01 -2.60872637e-04 -3.95701024e+00] [-1.01114012e-02 -3.09031691e-04 9.99948831e-01 2.68551141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.98, Y:-3.96, Z:0.27 [[ 9.98519461e-01 5.35201282e-02 9.72020845e-03 5.49816123e+01] [-5.35202649e-02 9.98566733e-01 -2.46249945e-04 -3.95545331e+00] [-9.71945613e-03 -2.74342769e-04 9.99952727e-01 2.68260276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.01, Y:-3.96, Z:0.27 [[ 9.98562543e-01 5.29654319e-02 8.21644620e-03 5.50100424e+01] [-5.29655437e-02 9.98596320e-01 -2.04139432e-04 -3.95589522e+00] [-8.21572526e-03 -2.31342550e-04 9.99966224e-01 2.66954135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.642320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.04, Y:-3.95, Z:0.27 [[ 9.98574018e-01 5.30642817e-02 5.84054610e-03 5.50376371e+01] [-5.30643631e-02 9.98591084e-01 -1.41138519e-04 -3.95376782e+00] [-5.83980668e-03 -1.68987601e-04 9.99982934e-01 2.66097965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.07, Y:-3.94, Z:0.27 [[ 9.98329621e-01 5.77190210e-02 2.54621103e-03 5.50662630e+01] [-5.77190517e-02 9.98332864e-01 -6.14557209e-05 -3.94437234e+00] [-2.54551332e-03 -8.56118198e-05 9.99996757e-01 2.65536534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.09, Y:-3.94, Z:0.27 [[ 9.98224226e-01 5.94898830e-02 3.05742263e-03 5.50946670e+01] [-5.94899438e-02 9.98228902e-01 -7.11297678e-05 -3.94244205e+00] [-3.05623914e-03 -1.10882443e-04 9.99995324e-01 2.66060981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.12, Y:-3.94, Z:0.27 [[ 9.98311994e-01 5.76736675e-02 6.84919533e-03 5.51221926e+01] [-5.76739376e-02 9.98335461e-01 -1.58231999e-04 -3.94381599e+00] [-6.84692040e-03 -2.37055162e-04 9.99976531e-01 2.67119437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.15, Y:-3.94, Z:0.27 [[ 9.98490660e-01 5.43967477e-02 7.57597927e-03 5.51508182e+01] [-5.43970050e-02 9.98519372e-01 -1.72242529e-04 -3.94413854e+00] [-7.57413150e-03 -2.40128026e-04 9.99971287e-01 2.66951001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.18, Y:-3.94, Z:0.27 [[ 9.98710391e-01 5.01541973e-02 7.88112945e-03 5.51797200e+01] [-5.01543712e-02 9.98741462e-01 -1.75687200e-04 -3.94312121e+00] [-7.88002220e-03 -2.19812460e-04 9.99968928e-01 2.65867519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.822320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.21, Y:-3.94, Z:0.26 [[ 9.98920212e-01 4.58444503e-02 7.52969629e-03 5.52083103e+01] [-4.58445127e-02 9.98948574e-01 -1.64405565e-04 -3.94083785e+00] [-7.52931645e-03 -1.80967216e-04 9.99971638e-01 2.63528682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.852320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.24, Y:-3.93, Z:0.26 [[ 9.99194516e-01 3.98717322e-02 4.53468390e-03 5.52370385e+01] [-3.98716927e-02 9.99204803e-01 -9.91508954e-05 -3.93153760e+00] [-4.53503125e-03 -8.17344918e-05 9.99989713e-01 2.61924792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.27, Y:-3.93, Z:0.26 [[ 9.99313582e-01 3.70175970e-02 1.43584285e-03 5.52658372e+01] [-3.70175939e-02 9.99314614e-01 -2.87077741e-05 -3.92768459e+00] [-1.43592144e-03 -2.44633790e-05 9.99998969e-01 2.62916096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.29, Y:-3.93, Z:0.26 [[ 9.99403839e-01 3.45248660e-02 1.23442524e-05 5.52946974e+01] [-3.45248661e-02 9.99403839e-01 2.00509194e-06 -3.92573933e+00] [-1.22676676e-05 -2.43008024e-06 1.00000000e+00 2.64848700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.32, Y:-3.93, Z:0.27 [[ 9.99473882e-01 3.24330326e-02 -2.39239928e-04 5.53234423e+01] [-3.24330318e-02 9.99473911e-01 7.20326721e-06 -3.92514091e+00] [ 2.39347691e-04 5.59798764e-07 9.99999971e-01 2.68163501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.35, Y:-3.93, Z:0.27 [[ 9.99551332e-01 2.98985902e-02 1.79149966e-03 5.53509199e+01] [-2.98985782e-02 9.99552937e-01 -3.35195887e-05 -3.92615784e+00] [-1.79170094e-03 -2.00587431e-05 9.99998395e-01 2.70384251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.38, Y:-3.93, Z:0.27 [[ 9.99619163e-01 2.73620404e-02 3.58434190e-03 5.53791574e+01] [-2.73619730e-02 9.99625589e-01 -6.78495808e-05 -3.92780466e+00] [-3.58485639e-03 -3.02509253e-05 9.99993574e-01 2.71513756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.032320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.41, Y:-3.93, Z:0.27 [[ 9.99753256e-01 2.16483810e-02 4.97742185e-03 5.54068104e+01] [-2.16481881e-02 9.99765646e-01 -9.26407246e-05 -3.92801478e+00] [-4.97826090e-03 -1.51342985e-05 9.99987608e-01 2.68325493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.44, Y:-3.92, Z:0.27 [[ 9.99775789e-01 2.01541742e-02 6.49467413e-03 5.54361400e+01] [-2.01537971e-02 9.99796884e-01 -1.23518597e-04 -3.92479913e+00] [-6.49584437e-03 -7.40144148e-06 9.99978902e-01 2.67452498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.47, Y:-3.92, Z:0.27 [[ 9.99793978e-01 1.89601757e-02 7.24666148e-03 5.54670852e+01] [-1.89596694e-02 9.99820240e-01 -1.38562948e-04 -3.91906013e+00] [-7.24798600e-03 1.14009540e-06 9.99973733e-01 2.68658032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.50, Y:-3.91, Z:0.27 [[ 9.99813447e-01 1.81454694e-02 6.61911567e-03 5.54991129e+01] [-1.81450204e-02 9.99835357e-01 -1.27886238e-04 -3.91438081e+00] [-6.62034644e-03 7.75839142e-06 9.99978085e-01 2.70087850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.53, Y:-3.92, Z:0.27 [[ 9.99871472e-01 1.56426952e-02 3.51370810e-03 5.55309244e+01] [-1.56425516e-02 9.99877645e-01 -6.83507272e-05 -3.91748513e+00] [-3.51434737e-03 1.33785819e-05 9.99993825e-01 2.70858937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.56, Y:-3.92, Z:0.27 [[ 9.99872453e-01 1.55798375e-02 3.51372757e-03 5.55600677e+01] [-1.55796971e-02 9.99878627e-01 -6.73418696e-05 -3.91806797e+00] [-3.51435027e-03 1.25904693e-05 9.99993825e-01 2.71005723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.212320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.59, Y:-3.92, Z:0.27 [[ 9.99906855e-01 1.32783067e-02 3.15708327e-03 5.55898481e+01] [-1.32781826e-02 9.99911839e-01 -6.02767833e-05 -3.92424942e+00] [-3.15760531e-03 1.83508406e-05 9.99995015e-01 2.70437062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.242320588 meters Centerline goodness [0,1] 0.999951028403526 Centerline is valid? [True, True] Translation: X:55.62, Y:-3.93, Z:0.27 [[ 9.99948313e-01 9.58421560e-03 3.39315665e-03 5.56206327e+01] [-9.58404979e-03 9.99954070e-01 -6.51240562e-05 -3.92720117e+00] [-3.39362497e-03 3.26005078e-05 9.99994241e-01 2.70744937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.65, Y:-3.93, Z:0.27 [[ 9.99976788e-01 5.36093060e-03 4.20510461e-03 5.56524249e+01] [-5.36063621e-03 9.99985628e-01 -8.12749648e-05 -3.92725924e+00] [-4.20547988e-03 5.87310423e-05 9.99991155e-01 2.71156525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.68, Y:-3.93, Z:0.27 [[ 9.99981101e-01 1.69213509e-03 5.91059251e-03 5.56844226e+01] [-1.69146456e-03 9.99998562e-01 -1.18443127e-04 -3.92700639e+00] [-5.91078443e-03 1.08443330e-04 9.99982525e-01 2.70888372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.72, Y:-3.93, Z:0.27 [[ 9.99957441e-01 -4.19929750e-03 8.21474323e-03 5.57160541e+01] [ 4.20078988e-03 9.99991163e-01 -1.64424606e-04 -3.92843630e+00] [-8.21398016e-03 1.98926018e-04 9.99966245e-01 2.67296279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.75, Y:-3.93, Z:0.27 [[ 9.99962736e-01 -4.30115691e-03 7.48510907e-03 5.57491699e+01] [ 4.30243627e-03 9.99990732e-01 -1.54827053e-04 -3.92947971e+00] [-7.48437376e-03 1.87025488e-04 9.99971974e-01 2.67354911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.392320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.78, Y:-3.93, Z:0.27 [[ 9.99971669e-01 -3.53659734e-03 6.64479904e-03 5.57810008e+01] [ 3.53760699e-03 9.99993733e-01 -1.40199094e-04 -3.92970268e+00] [-6.64426157e-03 1.63701809e-04 9.99977913e-01 2.68428372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.81, Y:-3.93, Z:0.27 [[ 9.99992268e-01 -2.14611754e-03 3.29508659e-03 5.58135325e+01] [ 2.14635814e-03 9.99997694e-01 -6.94845978e-05 -3.93109677e+00] [-3.29492987e-03 7.65564965e-05 9.99994569e-01 2.70046130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.85, Y:-3.94, Z:0.27 [[ 9.99999231e-01 -8.93905762e-04 8.59970856e-04 5.58459041e+01] [ 8.93922167e-04 9.99999600e-01 -1.86916307e-05 -3.93501569e+00] [-8.59953803e-04 1.94603633e-05 9.99999630e-01 2.70932994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.88, Y:-3.94, Z:0.27 [[ 9.99999498e-01 9.90278981e-04 -1.55002301e-04 5.58767643e+01] [-9.90278534e-04 9.99999510e-01 2.96018917e-06 -3.94107157e+00] [ 1.55005157e-04 -2.80669223e-06 9.99999988e-01 2.71553532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.91, Y:-3.95, Z:0.27 [[ 9.99991997e-01 2.17282120e-03 3.35915591e-03 5.59066932e+01] [-2.17259553e-03 9.99997637e-01 -7.08286418e-05 -3.95139557e+00] [-3.35930187e-03 6.35299879e-05 9.99994356e-01 2.73063539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.94, Y:-3.95, Z:0.27 [[ 9.99978400e-01 1.99253633e-03 6.26340492e-03 5.59383528e+01] [-1.99174171e-03 9.99998008e-01 -1.33103187e-04 -3.95434091e+00] [-6.26365765e-03 1.20625227e-04 9.99980376e-01 2.72725123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.572320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.97, Y:-3.96, Z:0.27 [[ 9.99981832e-01 4.56591645e-04 6.01060018e-03 5.59700817e+01] [-4.55808778e-04 9.99999887e-01 -1.31616934e-04 -3.95516317e+00] [-6.01065960e-03 1.28874858e-04 9.99981928e-01 2.73201897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.602320588000005 meters Centerline goodness [0,1] 0.9999017874680809 Centerline is valid? [True, True] Translation: X:56.00, Y:-3.96, Z:0.27 [[ 9.99984281e-01 -1.25915324e-03 5.46364611e-03 5.60026780e+01] [ 1.25984013e-03 9.99999199e-01 -1.22280507e-04 -3.95646449e+00] [-5.46348776e-03 1.29161906e-04 9.99985067e-01 2.72054062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.03, Y:-3.96, Z:0.27 [[ 9.99984507e-01 -3.02265171e-03 4.67434500e-03 5.60345608e+01] [ 3.02318433e-03 9.99995424e-01 -1.06884345e-04 -3.96496811e+00] [-4.67400054e-03 1.21014096e-04 9.99989069e-01 2.70108188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.07, Y:-3.97, Z:0.27 [[ 9.99979756e-01 -1.80895505e-03 6.10036248e-03 5.60680280e+01] [ 1.80985580e-03 9.99998352e-01 -1.42138471e-04 -3.97133296e+00] [-6.10009530e-03 1.53176370e-04 9.99981383e-01 2.70744519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.10, Y:-3.98, Z:0.27 [[ 9.99980011e-01 -9.28135056e-04 6.25432977e-03 5.61004810e+01] [ 9.29057534e-04 9.99999558e-01 -1.44590487e-04 -3.97683852e+00] [-6.25419281e-03 1.50398229e-04 9.99980431e-01 2.71729314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.722320588 meters Centerline goodness [0,1] 0.9999509827949611 Centerline is valid? [True, True] Translation: X:56.13, Y:-3.98, Z:0.27 [[ 9.99975440e-01 1.42939511e-03 6.86120899e-03 5.61321578e+01] [-1.42833508e-03 9.99998967e-01 -1.59393862e-04 -3.98098961e+00] [-6.86142975e-03 1.49589842e-04 9.99976449e-01 2.73585391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.16, Y:-3.98, Z:0.27 [[ 9.99976804e-01 3.48439275e-03 5.85241512e-03 5.61647291e+01] [-3.48364949e-03 9.99993923e-01 -1.37190882e-04 -3.98423433e+00] [-5.85285758e-03 1.16799936e-04 9.99982865e-01 2.74259991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.782320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.20, Y:-3.99, Z:0.27 [[ 9.99967754e-01 6.20582547e-03 5.09688089e-03 5.61969833e+01] [-6.20529428e-03 9.99980740e-01 -1.20026191e-04 -3.98654038e+00] [-5.09752759e-03 8.83946751e-05 9.99987004e-01 2.72639574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.23, Y:-3.99, Z:0.27 [[ 9.99893197e-01 1.38245344e-02 4.74092575e-03 5.62283333e+01] [-1.38241588e-02 9.99904435e-01 -1.11986754e-04 -3.99382588e+00] [-4.74202085e-03 4.64354834e-05 9.99988755e-01 2.70829146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.26, Y:-4.00, Z:0.27 [[ 9.99801596e-01 1.86069002e-02 7.11002143e-03 5.62600031e+01] [-1.86061704e-02 9.99826876e-01 -1.68791108e-04 -3.99894408e+00] [-7.11193120e-03 3.64673491e-05 9.99974709e-01 2.70525398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.29, Y:-4.00, Z:0.27 [[ 9.99695241e-01 2.33386302e-02 8.04571370e-03 5.62923197e+01] [-2.33378412e-02 9.99727617e-01 -1.91949980e-04 -4.00446190e+00] [-8.04800203e-03 4.12189274e-06 9.99967614e-01 2.71968269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.32, Y:-4.01, Z:0.27 [[ 9.99583235e-01 2.74979017e-02 8.78757502e-03 5.63243658e+01] [-2.74971118e-02 9.99621861e-01 -2.10710657e-04 -4.00846424e+00] [-8.79004620e-03 -3.10100925e-05 9.99961366e-01 2.73381562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.36, Y:-4.01, Z:0.27 [[ 9.99462583e-01 3.13795220e-02 9.47997836e-03 5.63565104e+01] [-3.13787662e-02 9.99507539e-01 -2.28487565e-04 -4.00981626e+00] [-9.48247967e-03 -6.91052533e-05 9.99955038e-01 2.74242296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.962320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.39, Y:-4.01, Z:0.27 [[ 9.99190665e-01 3.92147680e-02 8.95638021e-03 5.63877261e+01] [-3.92144055e-02 9.99230796e-01 -2.16143217e-04 -4.00659996e+00] [-8.95796693e-03 -1.35250841e-04 9.99959867e-01 2.72468202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.42, Y:-4.00, Z:0.27 [[ 9.99041619e-01 4.31557038e-02 7.30952943e-03 5.64192253e+01] [-4.31555640e-02 9.99068349e-01 -1.76921492e-04 -4.00480132e+00] [-7.31035467e-03 -1.38694931e-04 9.99973269e-01 2.71501457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.45, Y:-4.01, Z:0.27 [[ 9.98864264e-01 4.73793987e-02 5.03731928e-03 5.64483337e+01] [-4.73793920e-02 9.98876959e-01 -1.20736735e-04 -4.00571733e+00] [-5.03738260e-03 -1.18065515e-04 9.99987305e-01 2.71848486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.48, Y:-4.01, Z:0.27 [[ 9.98533947e-01 5.41118350e-02 1.36580427e-03 5.64775407e+01] [-5.41118418e-02 9.98534880e-01 -3.20478717e-05 -4.00888937e+00] [-1.36553738e-03 -4.19052969e-05 9.99999067e-01 2.74997985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.51, Y:-4.01, Z:0.28 [[ 9.98403426e-01 5.64432199e-02 2.18213313e-03 5.65059869e+01] [-5.64432430e-02 9.98405808e-01 -5.10692324e-05 -4.00613288e+00] [-2.18153691e-03 -7.21789741e-05 9.99997618e-01 2.76865909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.53, Y:-4.00, Z:0.28 [[ 9.98319799e-01 5.79104763e-02 1.98864945e-03 5.65345859e+01] [-5.79105032e-02 9.98321778e-01 -4.41065619e-05 -4.00077805e+00] [-1.98786629e-03 -7.11312366e-05 9.99998022e-01 2.77969332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.142320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.56, Y:-4.00, Z:0.28 [[ 9.98237708e-01 5.92618131e-02 3.08463575e-03 5.65633884e+01] [-5.92618846e-02 9.98242468e-01 -6.82816115e-05 -3.99543052e+00] [-3.08326090e-03 -1.14640049e-04 9.99995240e-01 2.77943968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.59, Y:-3.99, Z:0.27 [[ 9.98102756e-01 6.15576667e-02 1.24174059e-03 5.65923064e+01] [-6.15576825e-02 9.98103527e-01 -2.55696849e-05 -3.99139861e+00] [-1.24095967e-03 -5.09174997e-05 9.99999229e-01 2.74255911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.62, Y:-3.99, Z:0.27 [[ 9.98082969e-01 6.18898976e-02 1.64046898e-04 5.66206554e+01] [-6.18898982e-02 9.98082983e-01 -1.32233756e-06 -3.98977806e+00] [-1.63814257e-04 -8.83304323e-06 9.99999987e-01 2.74276524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.65, Y:-3.98, Z:0.27 [[ 9.98095359e-01 6.16840895e-02 8.52763798e-04 5.66497661e+01] [-6.16840983e-02 9.98095723e-01 -1.60698502e-05 -3.98481961e+00] [-8.52131153e-04 -3.65627230e-05 9.99999636e-01 2.74117686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.68, Y:-3.98, Z:0.28 [[ 9.98104142e-01 6.15357633e-02 1.21292158e-03 5.66788997e+01] [-6.15357803e-02 9.98104878e-01 -2.32730021e-05 -3.97760204e+00] [-1.21205507e-03 -5.14091961e-05 9.99999264e-01 2.75063873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.71, Y:-3.97, Z:0.27 [[ 9.98176468e-01 6.03375483e-02 1.76629622e-03 5.67072718e+01] [-6.03375822e-02 9.98178028e-01 -3.41416127e-05 -3.97166908e+00] [-1.76513810e-03 -7.24946888e-05 9.99998440e-01 2.74742330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.322320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.74, Y:-3.97, Z:0.27 [[ 9.98344442e-01 5.75174904e-02 3.38239474e-04 5.67361480e+01] [-5.75174921e-02 9.98344499e-01 -4.56665332e-06 -3.96823673e+00] [-3.37942181e-04 -1.48955934e-05 9.99999943e-01 2.74788407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.352320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.77, Y:-3.97, Z:0.28 [[ 9.98711436e-01 5.07404491e-02 9.35269954e-04 5.67656774e+01] [-5.07404540e-02 9.98711873e-01 -1.84764738e-05 -3.96674008e+00] [-9.35002713e-04 -2.90033564e-05 9.99999562e-01 2.76128408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.79, Y:-3.96, Z:0.28 [[ 9.98929386e-01 4.61239326e-02 3.55885300e-03 5.67946308e+01] [-4.61239840e-02 9.98935720e-01 -6.76788917e-05 -3.96414464e+00] [-3.55818701e-03 -9.65420451e-05 9.99993665e-01 2.78328376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.82, Y:-3.96, Z:0.28 [[ 9.99172859e-01 4.01486005e-02 6.45657699e-03 5.68230058e+01] [-4.01486519e-02 9.99193710e-01 -1.21697934e-04 -3.96058882e+00] [-6.45625712e-03 -1.37625589e-04 9.99979149e-01 2.80443695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.85, Y:-3.96, Z:0.27 [[ 9.99531495e-01 2.94495455e-02 8.33756456e-03 5.68524167e+01] [-2.94492809e-02 9.99566264e-01 -1.54533762e-04 -3.95827299e+00] [-8.33849920e-03 -9.10739186e-05 9.99965230e-01 2.74531169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.88, Y:-3.96, Z:0.27 [[ 9.99637159e-01 2.56108749e-02 8.34465842e-03 5.68830547e+01] [-2.56104586e-02 9.99671986e-01 -1.56760666e-04 -3.95982655e+00] [-8.34593603e-03 -5.70067422e-05 9.99965170e-01 2.71263860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.91, Y:-3.96, Z:0.27 [[ 9.99677097e-01 2.40049482e-02 8.33447880e-03 5.69141705e+01] [-2.40044700e-02 9.99711839e-01 -1.57414484e-04 -3.95889926e+00] [-8.33585586e-03 -4.27010922e-05 9.99965255e-01 2.71011682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.532320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.95, Y:-3.95, Z:0.27 [[ 9.99720092e-01 2.26728074e-02 6.75881009e-03 5.69454776e+01] [-2.26724593e-02 9.99742939e-01 -1.28134362e-04 -3.95452142e+00] [-6.75997783e-03 -2.51403508e-05 9.99977151e-01 2.74274016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.98, Y:-3.95, Z:0.28 [[ 9.99737119e-01 2.23332822e-02 5.18814842e-03 5.69764532e+01] [-2.23330738e-02 9.99750581e-01 -9.81156324e-05 -3.95058883e+00] [-5.18904564e-03 -1.77774619e-05 9.99986537e-01 2.77884387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.01, Y:-3.95, Z:0.28 [[ 9.99763554e-01 2.16317064e-02 2.21501126e-03 5.70064393e+01] [-2.16316677e-02 9.99766007e-01 -4.14305061e-05 -3.95031458e+00] [-2.21538918e-03 -6.49367761e-06 9.99997546e-01 2.80489013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.03, Y:-3.96, Z:0.28 [[ 9.99843840e-01 1.75838548e-02 1.76190188e-03 5.70341661e+01] [-1.75838297e-02 9.99845392e-01 -2.97402497e-05 -3.95867273e+00] [-1.76215242e-03 -1.24537711e-06 9.99998447e-01 2.77085686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.06, Y:-3.96, Z:0.27 [[ 9.99879730e-01 1.52162045e-02 2.99888580e-03 5.70619057e+01] [-1.52161201e-02 9.99884227e-01 -5.09592392e-05 -3.96266371e+00] [-2.99931401e-03 5.32170398e-06 9.99995502e-01 2.74610766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.09, Y:-3.96, Z:0.27 [[ 9.99919957e-01 1.19430260e-02 4.17651037e-03 5.70918757e+01] [-1.19428215e-02 9.99928679e-01 -7.39113554e-05 -3.96286138e+00] [-4.17709522e-03 2.40261217e-05 9.99991276e-01 2.73534390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.712320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.12, Y:-3.96, Z:0.27 [[ 9.99935651e-01 9.53748272e-03 6.14247129e-03 5.71235316e+01] [-9.53698777e-03 9.99954516e-01 -1.09864947e-04 -3.96149283e+00] [-6.14323974e-03 5.12772040e-05 9.99981129e-01 2.73519344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.16, Y:-3.96, Z:0.28 [[ 9.99981409e-01 5.41405894e-03 2.80534333e-03 5.71551997e+01] [-5.41393717e-03 9.99985343e-01 -5.09991143e-05 -3.96394344e+00] [-2.80557833e-03 3.58102136e-05 9.99996064e-01 2.77679052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.19, Y:-3.97, Z:0.28 [[ 9.99992181e-01 3.83933913e-03 9.47231360e-04 5.71860533e+01] [-3.83932440e-03 9.99992630e-01 -1.73754546e-05 -3.96726729e+00] [-9.47291089e-04 1.37385903e-05 9.99999551e-01 2.77886004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.22, Y:-3.97, Z:0.28 [[ 9.99997056e-01 2.39735849e-03 -3.74258149e-04 5.72168487e+01] [-2.39735613e-03 9.99997126e-01 6.74382824e-06 -3.97025487e+00] [ 3.74273241e-04 -5.84657832e-06 9.99999930e-01 2.78327704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.25, Y:-3.97, Z:0.28 [[ 9.99998591e-01 1.23861917e-03 1.13323251e-03 5.72466109e+01] [-1.23859725e-03 9.99999233e-01 -2.00429777e-05 -3.97283892e+00] [-1.13325647e-03 1.86393308e-05 9.99999358e-01 2.76698347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.28, Y:-3.98, Z:0.28 [[ 9.99997548e-01 9.92067145e-04 1.97965978e-03 5.72775655e+01] [-9.91997858e-04 9.99999507e-01 -3.59810389e-05 -3.97618021e+00] [-1.97969450e-03 3.40171325e-05 9.99998040e-01 2.76008629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.892320588000004 meters Centerline goodness [0,1] 0.9999509419152276 Centerline is valid? [True, True] Translation: X:57.31, Y:-3.98, Z:0.28 [[ 9.99991680e-01 2.51757826e-03 3.20955548e-03 5.73093082e+01] [-2.51740235e-03 9.99996830e-01 -5.88445531e-05 -3.98221867e+00] [-3.20969345e-03 5.07643210e-05 9.99994848e-01 2.75422882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.34, Y:-3.99, Z:0.27 [[ 9.99963816e-01 8.49433475e-03 4.62393908e-04 5.73400840e+01] [-8.49433162e-03 9.99963922e-01 -8.72843445e-06 -3.99452111e+00] [-4.62451369e-04 4.80039142e-06 9.99999893e-01 2.74490530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.37, Y:-4.00, Z:0.27 [[ 9.99935125e-01 1.13904279e-02 -5.85742396e-05 5.73695645e+01] [-1.13904278e-02 9.99935127e-01 1.37798042e-06 -3.99768866e+00] [ 5.85861356e-05 -7.10705373e-07 9.99999998e-01 2.74889692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.40, Y:-4.00, Z:0.28 [[ 9.99895811e-01 1.43959501e-02 1.05963649e-03 5.73988200e+01] [-1.43959394e-02 9.99896373e-01 -1.77284305e-05 -3.99895230e+00] [-1.05978190e-03 2.47212071e-06 9.99999438e-01 2.75143573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.43, Y:-4.00, Z:0.27 [[ 9.99834045e-01 1.76069837e-02 4.67720610e-03 5.74270811e+01] [-1.76067958e-02 9.99844985e-01 -8.13570923e-05 -4.00084261e+00] [-4.67791351e-03 -1.00702184e-06 9.99989059e-01 2.74686785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.46, Y:-4.00, Z:0.28 [[ 9.99749035e-01 2.14438269e-02 6.48293922e-03 5.74582016e+01] [-2.14435309e-02 9.99770054e-01 -1.15181192e-04 -4.00475590e+00] [-6.48391842e-03 -2.38648217e-05 9.99978979e-01 2.75268759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.072320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.49, Y:-4.01, Z:0.28 [[ 9.99747679e-01 2.15069810e-02 6.48293194e-03 5.74890476e+01] [-2.15066836e-02 9.99768698e-01 -1.15590710e-04 -4.00528363e+00] [-6.48391843e-03 -2.38648218e-05 9.99978979e-01 2.75424173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.102320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.52, Y:-4.02, Z:0.28 [[ 9.99575946e-01 2.81442102e-02 7.47206772e-03 5.75201819e+01] [-2.81439944e-02 9.99603870e-01 -1.34047264e-04 -4.01584015e+00] [-7.47288047e-03 -7.63034117e-05 9.99972075e-01 2.75497074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.55, Y:-4.02, Z:0.27 [[ 9.99502906e-01 3.10714233e-02 5.33919922e-03 5.75511272e+01] [-3.10713532e-02 9.99517164e-01 -9.61058051e-05 -4.01975535e+00] [-5.33960741e-03 -6.98381132e-05 9.99985742e-01 2.74924411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.58, Y:-4.02, Z:0.27 [[ 9.99384676e-01 3.47681356e-02 4.63092641e-03 5.75808994e+01] [-3.47681266e-02 9.99395403e-01 -8.24610601e-05 -4.02201939e+00] [-4.63099358e-03 -7.85983160e-05 9.99989274e-01 2.74150513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.61, Y:-4.02, Z:0.27 [[ 9.99306059e-01 3.69377787e-02 4.79590561e-03 5.76097251e+01] [-3.69378136e-02 9.99317563e-01 -8.13223545e-05 -4.02327233e+00] [-4.79563658e-03 -9.58843462e-05 9.99988496e-01 2.74368494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.64, Y:-4.02, Z:0.28 [[ 9.99035063e-01 4.32204278e-02 7.80619211e-03 5.76391997e+01] [-4.32206897e-02 9.99065540e-01 -1.35222083e-04 -4.02374941e+00] [-7.80474190e-03 -2.02297405e-04 9.99969522e-01 2.77130203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.67, Y:-4.02, Z:0.28 [[ 9.98928074e-01 4.54595214e-02 8.72558167e-03 5.76690709e+01] [-4.54599385e-02 9.98966151e-01 -1.50630052e-04 -4.02252161e+00] [-8.72340831e-03 -2.46195819e-04 9.99961920e-01 2.77937959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.282320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.70, Y:-4.02, Z:0.28 [[ 9.98879044e-01 4.65494113e-02 8.59115887e-03 5.76986618e+01] [-4.65498606e-02 9.98915957e-01 -1.47758643e-04 -4.02176462e+00] [-8.58872376e-03 -2.52324236e-04 9.99963084e-01 2.77727619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.73, Y:-4.02, Z:0.28 [[ 9.98871917e-01 4.66383529e-02 8.93064823e-03 5.77280926e+01] [-4.66388471e-02 9.98911805e-01 -1.53035283e-04 -4.02255632e+00] [-8.92806726e-03 -2.63652490e-04 9.99960109e-01 2.75622791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.76, Y:-4.02, Z:0.27 [[ 9.98826613e-01 4.72687867e-02 1.05384173e-02 5.77577584e+01] [-4.72695163e-02 9.98882155e-01 -1.79977286e-04 -4.02377849e+00] [-1.05351443e-02 -3.18379785e-04 9.99944453e-01 2.73949853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.79, Y:-4.02, Z:0.27 [[ 9.98803631e-01 4.73959949e-02 1.20385414e-02 5.77878858e+01] [-4.73969518e-02 9.98876112e-01 -2.05962463e-04 -4.02443463e+00] [-1.20347732e-02 -3.64874109e-04 9.99927513e-01 2.73638266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.82, Y:-4.02, Z:0.28 [[ 9.98836382e-01 4.68701609e-02 1.13608781e-02 5.78191382e+01] [-4.68709672e-02 9.98900933e-01 -1.95412570e-04 -4.01831700e+00] [-1.13575508e-02 -3.37310163e-04 9.99935444e-01 2.77907170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.85, Y:-4.01, Z:0.28 [[ 9.98937772e-01 4.51683023e-02 9.11877322e-03 5.78503342e+01] [-4.51687450e-02 9.98979359e-01 -1.57492612e-04 -4.01487635e+00] [-9.11657990e-03 -2.54558223e-04 9.99958411e-01 2.78826745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.462320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.88, Y:-4.01, Z:0.28 [[ 9.99069450e-01 4.28018596e-02 5.31369358e-03 5.78797179e+01] [-4.28019809e-02 9.99083571e-01 -9.09274533e-05 -4.01174194e+00] [-5.31271582e-03 -1.36593771e-04 9.99985878e-01 2.79105970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.91, Y:-4.01, Z:0.28 [[ 9.99162401e-01 4.07390711e-02 3.85028486e-03 5.79081928e+01] [-4.07391339e-02 9.99169815e-01 -6.21316007e-05 -4.00925339e+00] [-3.84961960e-03 -9.47777114e-05 9.99992586e-01 2.78554718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.94, Y:-4.01, Z:0.28 [[ 9.99281735e-01 3.76562348e-02 4.24512978e-03 5.79366845e+01] [-3.76562905e-02 9.99290748e-01 -6.68242359e-05 -4.00605286e+00] [-4.24463526e-03 -9.30796018e-05 9.99990987e-01 2.77841678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.97, Y:-4.00, Z:0.28 [[ 9.99368717e-01 3.49384399e-02 6.43997721e-03 5.79654856e+01] [-3.49385234e-02 9.99389458e-01 -9.95703871e-05 -4.00373690e+00] [-6.43952417e-03 -1.25495764e-04 9.99979258e-01 2.78195763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.99, Y:-4.00, Z:0.28 [[ 9.99463771e-01 3.13814625e-02 9.34737820e-03 5.79939810e+01] [-3.13815119e-02 9.99507469e-01 -1.41418548e-04 -4.00035711e+00] [-9.34721225e-03 -1.51992145e-04 9.99956302e-01 2.79803255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.03, Y:-4.00, Z:0.28 [[ 9.99492044e-01 3.00105519e-02 1.07248060e-02 5.80258231e+01] [-3.00104996e-02 9.99549570e-01 -1.65844976e-04 -3.99822867e+00] [-1.07249523e-02 -1.56096053e-04 9.99942474e-01 2.80520906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.642320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.06, Y:-4.00, Z:0.28 [[ 9.99536983e-01 2.85446243e-02 1.05367622e-02 5.80584711e+01] [-2.85444748e-02 9.99592510e-01 -1.64612000e-04 -3.99545092e+00] [-1.05371674e-02 -1.36230561e-04 9.99944473e-01 2.80820658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.09, Y:-3.99, Z:0.28 [[ 9.99629861e-01 2.55048635e-02 9.46795951e-03 5.80906718e+01] [-2.55045944e-02 9.99674694e-01 -1.49188121e-04 -3.99202099e+00] [-9.46868455e-03 -9.23435666e-05 9.99955167e-01 2.80336905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.12, Y:-3.99, Z:0.28 [[ 9.99836044e-01 1.68507454e-02 6.62858369e-03 5.81225711e+01] [-1.68504163e-02 9.99858016e-01 -1.05495340e-04 -3.98925417e+00] [-6.62942021e-03 -6.21635184e-06 9.99978025e-01 2.78258163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.15, Y:-3.99, Z:0.28 [[ 9.99910168e-01 1.22592796e-02 5.41909018e-03 5.81548373e+01] [-1.22589879e-02 9.99924852e-01 -8.70422942e-05 -3.99185745e+00] [-5.41975002e-03 2.06019140e-05 9.99985313e-01 2.77535440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.19, Y:-3.99, Z:0.28 [[ 9.99958649e-01 8.00302415e-03 4.31881430e-03 5.81872681e+01] [-8.00279631e-03 9.99967975e-01 -7.00333191e-05 -3.99441320e+00] [-4.31923647e-03 3.54678319e-05 9.99990671e-01 2.77710662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.22, Y:-4.00, Z:0.28 [[ 9.99979403e-01 4.82743646e-03 4.22967057e-03 5.82193318e+01] [-4.82718729e-03 9.99988347e-01 -6.91171380e-05 -3.99512521e+00] [-4.22995493e-03 4.86983024e-05 9.99991053e-01 2.78820476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.822320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.25, Y:-3.99, Z:0.28 [[ 9.99978665e-01 2.49725571e-03 6.03601427e-03 5.82513220e+01] [-2.49670295e-03 9.99996878e-01 -9.91111355e-05 -3.99436068e+00] [-6.03624293e-03 8.40388864e-05 9.99981778e-01 2.80180891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.852320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.28, Y:-3.99, Z:0.28 [[ 9.99982564e-01 1.08477318e-04 5.90414775e-03 5.82837725e+01] [-1.07882851e-04 9.99999989e-01 -1.01004712e-04 -3.99449881e+00] [-5.90415865e-03 1.00365995e-04 9.99982565e-01 2.82146828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.32, Y:-4.00, Z:0.28 [[ 9.99979309e-01 -2.21285097e-04 6.42902218e-03 5.83157262e+01] [ 2.21990792e-04 9.99999969e-01 -1.09053737e-04 -3.99752950e+00] [-6.42899785e-03 1.10478664e-04 9.99979328e-01 2.80704390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.912320588 meters Centerline goodness [0,1] 0.999901927131859 Centerline is valid? [True, True] Translation: X:58.35, Y:-4.00, Z:0.28 [[ 9.99978728e-01 -2.14007577e-04 6.51910576e-03 5.83485227e+01] [ 2.14765779e-04 9.99999970e-01 -1.15604725e-04 -4.00052831e+00] [-6.51908082e-03 1.17002347e-04 9.99978744e-01 2.79807584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.942320588 meters Centerline goodness [0,1] 0.999950958756314 Centerline is valid? [True, True] Translation: X:58.38, Y:-4.00, Z:0.28 [[ 9.99969866e-01 6.02434858e-04 7.73975262e-03 5.83816159e+01] [-6.01394930e-04 9.99999810e-01 -1.36688503e-04 -4.00432250e+00] [-7.73983349e-03 1.32029736e-04 9.99970038e-01 2.79761435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.41, Y:-4.01, Z:0.28 [[ 9.99967917e-01 6.05598314e-04 7.98734218e-03 5.84148359e+01] [-6.04479284e-04 9.99999807e-01 -1.42513822e-04 -4.00782960e+00] [-7.98742695e-03 1.37681067e-04 9.99968091e-01 2.79877534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.45, Y:-4.01, Z:0.28 [[ 9.99964309e-01 1.04711812e-03 8.38357077e-03 5.84476890e+01] [-1.04588817e-03 9.99999442e-01 -1.51091522e-04 -4.01143312e+00] [-8.38372430e-03 1.42317852e-04 9.99964846e-01 2.81103077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.032320588000005 meters Centerline goodness [0,1] 0.9999508961453474 Centerline is valid? [True, True] Translation: X:58.48, Y:-4.02, Z:0.28 [[ 9.99962579e-01 1.07693507e-03 8.58378113e-03 5.84807252e+01] [-1.07563334e-03 9.99999409e-01 -1.56264586e-04 -4.01920046e+00] [-8.58394435e-03 1.47025737e-04 9.99963146e-01 2.84069617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.51, Y:-4.02, Z:0.28 [[ 9.99977094e-01 -1.42587772e-04 6.76694353e-03 5.85138457e+01] [ 1.43458727e-04 9.99999981e-01 -1.28222133e-04 -4.02277081e+00] [-6.76692512e-03 1.29189973e-04 9.99977096e-01 2.84077098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.092320588 meters Centerline goodness [0,1] 0.9999509515401216 Centerline is valid? [True, True] Translation: X:58.55, Y:-4.03, Z:0.28 [[ 9.99983863e-01 -1.27344905e-03 5.53649786e-03 5.85464707e+01] [ 1.27406676e-03 9.99999183e-01 -1.08045584e-04 -4.02649574e+00] [-5.53635574e-03 1.15097708e-04 9.99984668e-01 2.82713149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.58, Y:-4.03, Z:0.28 [[ 9.99989224e-01 -2.58422526e-03 3.85669057e-03 5.85792709e+01] [ 2.58454472e-03 9.99996657e-01 -7.78510419e-05 -4.03115065e+00] [-3.85647649e-03 8.78179922e-05 9.99992560e-01 2.80990558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.61, Y:-4.04, Z:0.28 [[ 9.99986671e-01 -2.38200742e-03 4.58075955e-03 5.86127690e+01] [ 2.38246397e-03 9.99997157e-01 -9.42128334e-05 -4.03616718e+00] [-4.58052211e-03 1.05125072e-04 9.99989504e-01 2.80148555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.182320588 meters Centerline goodness [0,1] 0.9999018838304553 Centerline is valid? [True, True] Translation: X:58.65, Y:-4.04, Z:0.28 [[ 9.99979072e-01 -1.92341835e-03 6.17707746e-03 5.86460697e+01] [ 1.92425312e-03 9.99998140e-01 -1.29198333e-04 -4.03984809e+00] [-6.17681747e-03 1.41081890e-04 9.99980913e-01 2.81085576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.212320588000004 meters Centerline goodness [0,1] 0.9999018212164351 Centerline is valid? [True, True] Translation: X:58.68, Y:-4.04, Z:0.29 [[ 9.99949359e-01 1.37691099e-03 9.96915522e-03 5.86777641e+01] [-1.37492153e-03 9.99999033e-01 -2.06411739e-04 -4.04451108e+00] [-9.96942980e-03 1.92694480e-04 9.99950285e-01 2.85930579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.242320588 meters Centerline goodness [0,1] 0.9999509443218052 Centerline is valid? [True, True] Translation: X:58.71, Y:-4.05, Z:0.29 [[ 9.99937079e-01 4.10267553e-03 1.04406456e-02 5.87102116e+01] [-4.10062887e-03 9.99991569e-01 -2.17427500e-04 -4.04907665e+00] [-1.04414496e-02 1.74600606e-04 9.99945471e-01 2.87072483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.74, Y:-4.06, Z:0.29 [[ 9.99918213e-01 7.34687061e-03 1.04685449e-02 5.87428115e+01] [-7.34495959e-03 9.99973001e-01 -2.20984120e-04 -4.05507625e+00] [-1.04698858e-02 1.44075007e-04 9.99945179e-01 2.86402670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.78, Y:-4.06, Z:0.28 [[ 9.99907098e-01 1.06921636e-02 8.45419634e-03 5.87752462e+01] [-1.06910307e-02 9.99942833e-01 -1.79197091e-04 -4.06225290e+00] [-8.45562905e-03 8.87963714e-05 9.99964247e-01 2.83901867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.332320588 meters Centerline goodness [0,1] 0.9999509130178676 Centerline is valid? [True, True] Translation: X:58.81, Y:-4.07, Z:0.28 [[ 9.99881600e-01 1.42072367e-02 5.91110384e-03 5.88077958e+01] [-1.42067352e-02 9.99899071e-01 -1.26828954e-04 -4.06975255e+00] [-5.91230913e-03 4.28364506e-05 9.99982521e-01 2.81372353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.84, Y:-4.08, Z:0.28 [[ 9.99804617e-01 1.91375489e-02 4.94800237e-03 5.88400518e+01] [-1.91372553e-02 9.99816860e-01 -1.06680198e-04 -4.07733006e+00] [-4.94913779e-03 1.19681694e-05 9.99987753e-01 2.79412675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.392320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.87, Y:-4.08, Z:0.28 [[ 9.99764301e-01 2.11160264e-02 5.04537075e-03 5.88709747e+01] [-2.11157464e-02 9.99777032e-01 -1.08769843e-04 -4.07699615e+00] [-5.04654258e-03 2.20743653e-06 9.99987266e-01 2.82876866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.90, Y:-4.08, Z:0.28 [[ 9.99708647e-01 2.30603900e-02 7.13016978e-03 5.89019404e+01] [-2.30598779e-02 9.99734074e-01 -1.54041684e-04 -4.07678551e+00] [-7.13182594e-03 -1.04240406e-05 9.99974568e-01 2.84914556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.93, Y:-4.08, Z:0.29 [[ 9.99671411e-01 2.49117477e-02 6.03950661e-03 5.89340746e+01] [-2.49114070e-02 9.99689654e-01 -1.31643859e-04 -4.07924122e+00] [-6.04091176e-03 -1.88520044e-05 9.99981753e-01 2.86178080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.97, Y:-4.09, Z:0.28 [[ 9.99614119e-01 2.75411198e-02 3.61936704e-03 5.89657164e+01] [-2.75410131e-02 9.99620671e-01 -7.93351700e-05 -4.08938044e+00] [-3.62017909e-03 -2.03764792e-05 9.99993447e-01 2.83511930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.00, Y:-4.09, Z:0.28 [[ 9.99606588e-01 2.76389378e-02 4.77056012e-03 5.89956491e+01] [-2.76387581e-02 9.99617971e-01 -1.03608534e-04 -4.09333290e+00] [-4.77160126e-03 -2.82845842e-05 9.99988615e-01 2.82292603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.03, Y:-4.10, Z:0.28 [[ 9.99572458e-01 2.81834179e-02 7.78429525e-03 5.90263389e+01] [-2.81829538e-02 9.99602767e-01 -1.69329332e-04 -4.09611053e+00] [-7.78597535e-03 -5.01274972e-05 9.99969688e-01 2.82286233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.572320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.06, Y:-4.10, Z:0.28 [[ 9.99514232e-01 2.96692291e-02 9.54127586e-03 5.90585062e+01] [-2.96685814e-02 9.99559769e-01 -2.09447151e-04 -4.09812665e+00] [-9.54328963e-03 -7.37307119e-05 9.99954459e-01 2.84360980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.09, Y:-4.10, Z:0.29 [[ 9.99497062e-01 3.06590258e-02 8.10225797e-03 5.90906442e+01] [-3.06585817e-02 9.99529899e-01 -1.79030620e-04 -4.09909884e+00] [-8.10393800e-03 -6.94631597e-05 9.99967160e-01 2.85360217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.12, Y:-4.10, Z:0.29 [[ 9.99473451e-01 3.18753000e-02 6.06521283e-03 5.91230845e+01] [-3.18750678e-02 9.99491852e-01 -1.34976213e-04 -4.09885917e+00] [-6.06643321e-03 -5.84239285e-05 9.99981597e-01 2.85359835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.15, Y:-4.10, Z:0.28 [[ 9.99421460e-01 3.39986011e-02 9.16665668e-04 5.91538839e+01] [-3.39985966e-02 9.99421880e-01 -2.04971850e-05 -4.09787982e+00] [-9.16832601e-04 -1.06800197e-05 9.99999580e-01 2.82879091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.18, Y:-4.10, Z:0.28 [[ 9.99433721e-01 3.36287468e-02 -1.15954300e-03 5.91815457e+01] [-3.36287371e-02 9.99434394e-01 2.78129897e-05 -4.10345407e+00] [ 1.15982247e-03 1.11967270e-05 9.99999327e-01 2.80768116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.21, Y:-4.11, Z:0.28 [[ 9.99441838e-01 3.33574418e-02 -1.81503584e-03 5.92092019e+01] [-3.33574224e-02 9.99443485e-01 4.09655446e-05 -4.11182083e+00] [ 1.81539226e-03 1.96022382e-05 9.99998352e-01 2.80047830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.24, Y:-4.12, Z:0.28 [[ 9.99466171e-01 3.26343058e-02 -1.54133793e-03 5.92370076e+01] [-3.26342915e-02 9.99467359e-01 3.43889900e-05 -4.11920239e+00] [ 1.54163921e-03 1.59298392e-05 9.99998812e-01 2.82528792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.782320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.27, Y:-4.12, Z:0.29 [[ 9.99473206e-01 3.24240020e-02 1.41208906e-03 5.92656920e+01] [-3.24239975e-02 9.99474204e-01 -2.60802746e-05 -4.12213947e+00] [-1.41219222e-03 -1.97190366e-05 9.99999003e-01 2.85727111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.29, Y:-4.12, Z:0.29 [[ 9.99454226e-01 3.26732181e-02 4.86934461e-03 5.92942513e+01] [-3.26731507e-02 9.99466086e-01 -9.33965437e-05 -4.12015830e+00] [-4.86979637e-03 -6.57512602e-05 9.99988140e-01 2.87603334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.32, Y:-4.11, Z:0.29 [[ 9.99352389e-01 3.49920035e-02 8.38818900e-03 5.93245587e+01] [-3.49918517e-02 9.99387584e-01 -1.64907499e-04 -4.11413863e+00] [-8.38882238e-03 -1.28717562e-04 9.99964805e-01 2.86113847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.36, Y:-4.12, Z:0.28 [[ 9.99364223e-01 3.46076574e-02 8.57083665e-03 5.93572280e+01] [-3.46074695e-02 9.99400968e-01 -1.70275924e-04 -4.11539990e+00] [-8.57159529e-03 -1.26447301e-04 9.99963255e-01 2.84096560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.39, Y:-4.12, Z:0.28 [[ 9.99427097e-01 3.27509547e-02 8.53536311e-03 5.93891384e+01] [-3.27506910e-02 9.99463538e-01 -1.70707060e-04 -4.11908408e+00] [-8.53637503e-03 -1.08929778e-04 9.99963559e-01 2.82759045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.42, Y:-4.12, Z:0.28 [[ 9.99493757e-01 3.07392583e-02 8.20532455e-03 5.94217040e+01] [-3.07389377e-02 9.99527434e-01 -1.65217914e-04 -4.12349559e+00] [-8.20652567e-03 -8.70886866e-05 9.99966322e-01 2.83410141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.962320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.45, Y:-4.13, Z:0.29 [[ 9.99577234e-01 2.80021708e-02 7.82504372e-03 5.94535386e+01] [-2.80017871e-02 9.99607860e-01 -1.58606219e-04 -4.12722103e+00] [-7.82641653e-03 -6.05760423e-05 9.99969371e-01 2.85464320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.49, Y:-4.13, Z:0.29 [[ 9.99573559e-01 2.81330448e-02 7.82502290e-03 5.94852239e+01] [-2.81326571e-02 9.99604186e-01 -1.59632363e-04 -4.12782558e+00] [-7.82641659e-03 -6.05743969e-05 9.99969371e-01 2.85623954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.52, Y:-4.13, Z:0.29 [[ 9.99732553e-01 2.14691962e-02 8.59632166e-03 5.95170609e+01] [-2.14684726e-02 9.99769510e-01 -1.76444209e-04 -4.13398801e+00] [-8.59812841e-03 -8.15287705e-06 9.99963035e-01 2.88094554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.55, Y:-4.14, Z:0.29 [[ 9.99799430e-01 1.80444461e-02 8.68896100e-03 5.95489148e+01] [-1.80435678e-02 9.99837185e-01 -1.79474708e-04 -4.13675413e+00] [-8.69078483e-03 2.26588533e-05 9.99962234e-01 2.88553385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.58, Y:-4.14, Z:0.29 [[ 9.99840256e-01 1.56725545e-02 8.59258705e-03 5.95814603e+01] [-1.56715909e-02 9.99877177e-01 -1.79468584e-04 -4.13811529e+00] [-8.59434441e-03 4.47804069e-05 9.99963067e-01 2.88701775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.61, Y:-4.14, Z:0.29 [[ 9.99845229e-01 1.54581724e-02 8.40018265e-03 5.96140849e+01] [-1.54572299e-02 9.99880514e-01 -1.77117251e-04 -4.13811982e+00] [-8.40191685e-03 4.72462838e-05 9.99964702e-01 2.88687812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.142320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.65, Y:-4.14, Z:0.29 [[ 9.99800539e-01 1.74817607e-02 9.65764846e-03 5.96466941e+01] [-1.74805926e-02 9.99847182e-01 -2.05354274e-04 -4.13862138e+00] [-9.65976255e-03 3.64918957e-05 9.99953343e-01 2.88040205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.68, Y:-4.14, Z:0.29 [[ 9.99753885e-01 1.99065375e-02 9.79277948e-03 5.96795420e+01] [-1.99054341e-02 9.99801845e-01 -2.10140414e-04 -4.14124127e+00] [-9.79502216e-03 1.51591684e-05 9.99952028e-01 2.86938291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.71, Y:-4.15, Z:0.29 [[ 9.99608694e-01 2.66653377e-02 8.45090690e-03 5.97111285e+01] [-2.66647463e-02 9.99644416e-01 -1.82664593e-04 -4.15050657e+00] [-8.45277270e-03 -4.27481731e-05 9.99964274e-01 2.87393132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.74, Y:-4.15, Z:0.29 [[ 9.99547182e-01 2.91030252e-02 7.64492403e-03 5.97431705e+01] [-2.91026055e-02 9.99576416e-01 -1.66167241e-04 -4.15102626e+00] [-7.64652172e-03 -5.63952103e-05 9.99970763e-01 2.88051906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.78, Y:-4.15, Z:0.29 [[ 9.99469677e-01 3.19009300e-02 6.53417408e-03 5.97757765e+01] [-3.19006745e-02 9.99491034e-01 -1.43348496e-04 -4.14863127e+00] [-6.53542135e-03 -6.51720859e-05 9.99978642e-01 2.89641328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.81, Y:-4.15, Z:0.29 [[ 9.99404933e-01 3.36594923e-02 7.53785527e-03 5.98072868e+01] [-3.36592032e-02 9.99433355e-01 -1.65248067e-04 -4.14635337e+00] [-7.53914615e-03 -8.85684693e-05 9.99971576e-01 2.89476063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.322320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.84, Y:-4.15, Z:0.29 [[ 9.99388759e-01 3.38598162e-02 8.69603241e-03 5.98390312e+01] [-3.38594264e-02 9.99426587e-01 -1.92081400e-04 -4.14692962e+00] [-8.69754983e-03 -1.02478678e-04 9.99962170e-01 2.89285556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.87, Y:-4.15, Z:0.29 [[ 9.99394530e-01 3.36007356e-02 9.03130679e-03 5.98706444e+01] [-3.36002941e-02 9.99435331e-01 -2.00656234e-04 -4.15102200e+00] [-9.03294929e-03 -1.02919822e-04 9.99959197e-01 2.89292231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.382320588 meters Centerline goodness [0,1] 0.9999508792612241 Centerline is valid? [True, True] Translation: X:59.90, Y:-4.16, Z:0.29 [[ 9.99470234e-01 3.18890042e-02 6.50706987e-03 5.99029718e+01] [-3.18887319e-02 9.99491414e-01 -1.45624633e-04 -4.15561667e+00] [-6.50840429e-03 -6.19547204e-05 9.99978818e-01 2.88808625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.93, Y:-4.15, Z:0.29 [[ 9.99465544e-01 3.23512270e-02 4.69293281e-03 5.99348936e+01] [-3.23510867e-02 9.99476561e-01 -1.05820512e-04 -4.15312406e+00] [-4.69389977e-03 -4.60575202e-05 9.99988983e-01 2.87666643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.97, Y:-4.15, Z:0.29 [[ 9.99446146e-01 3.30396692e-02 3.97257832e-03 5.99665556e+01] [-3.30395740e-02 9.99454040e-01 -8.96054001e-05 -4.14936282e+00] [-3.97336998e-03 -4.16965237e-05 9.99992105e-01 2.87223201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.00, Y:-4.15, Z:0.29 [[ 9.99404528e-01 3.42436792e-02 4.23784172e-03 5.99975309e+01] [-3.42435831e-02 9.99413512e-01 -9.52379239e-05 -4.14779523e+00] [-4.23861758e-03 -4.99376729e-05 9.99991016e-01 2.86238843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.03, Y:-4.15, Z:0.29 [[ 9.99190358e-01 4.00742244e-02 3.56146864e-03 6.00280749e+01] [-4.00741936e-02 9.99196704e-01 -8.00376469e-05 -4.14923551e+00] [-3.56181517e-03 -6.27501386e-05 9.99993655e-01 2.89992197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.532320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.06, Y:-4.15, Z:0.29 [[ 9.99071393e-01 4.30306673e-02 2.17084667e-03 6.00580368e+01] [-4.30306638e-02 9.99073751e-01 -4.83162966e-05 -4.14854036e+00] [-2.17091501e-03 -4.51415435e-05 9.99997643e-01 2.92849654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.09, Y:-4.15, Z:0.29 [[ 9.98988941e-01 4.49559460e-02 2.41200218e-04 6.00872453e+01] [-4.49559466e-02 9.98988970e-01 -2.97298403e-06 -4.14799003e+00] [-2.41090011e-04 -7.87340595e-06 9.99999971e-01 2.94108732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.12, Y:-4.15, Z:0.29 [[ 9.98977781e-01 4.52002300e-02 5.76620778e-04 6.01156512e+01] [-4.52002317e-02 9.98977947e-01 -1.00723239e-05 -4.14884589e+00] [-5.76486712e-04 -1.60013650e-05 9.99999834e-01 2.92733001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.14, Y:-4.15, Z:0.29 [[ 9.99007503e-01 4.45301977e-02 1.03487579e-03 6.01430705e+01] [-4.45302018e-02 9.99008038e-01 -1.90435390e-05 -4.15097934e+00] [-1.03469724e-03 -2.70585893e-05 9.99999464e-01 2.92227657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.17, Y:-4.15, Z:0.29 [[ 9.99033310e-01 4.35528745e-02 5.96592974e-03 6.01716163e+01] [-4.35529342e-02 9.99051114e-01 -1.19968361e-04 -4.14802971e+00] [-5.96549372e-03 -1.39981357e-04 9.99982196e-01 2.91640289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.20, Y:-4.14, Z:0.29 [[ 9.98974803e-01 4.46686810e-02 7.35194773e-03 6.02025626e+01] [-4.46687778e-02 9.99001841e-01 -1.51115543e-04 -4.14421382e+00] [-7.35135944e-03 -1.77441900e-04 9.99972963e-01 2.90877569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.712320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.23, Y:-4.14, Z:0.29 [[ 9.98904444e-01 4.62518622e-02 7.11870941e-03 6.02336536e+01] [-4.62519887e-02 9.98929793e-01 -1.46946703e-04 -4.14027786e+00] [-7.11788748e-03 -1.82468752e-04 9.99974651e-01 2.90347689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.27, Y:-4.14, Z:0.29 [[ 9.98828774e-01 4.79588799e-02 6.40522618e-03 6.02652388e+01] [-4.79590145e-02 9.98849296e-01 -1.32672817e-04 -4.13896915e+00] [-6.40421850e-03 -1.74670908e-04 9.99979478e-01 2.90477366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.30, Y:-4.14, Z:0.29 [[ 9.98776072e-01 4.92514893e-02 4.54412807e-03 6.02952595e+01] [-4.92515712e-02 9.98786401e-01 -9.39331971e-05 -4.13900739e+00] [-4.54323967e-03 -1.29987218e-04 9.99989671e-01 2.91036747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.32, Y:-4.14, Z:0.29 [[ 9.98733072e-01 5.01562576e-02 4.07447781e-03 6.03241869e+01] [-5.01563481e-02 9.98741375e-01 -8.00284383e-05 -4.14037030e+00] [-4.07336350e-03 -1.24433879e-04 9.99991696e-01 2.91951023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.35, Y:-4.14, Z:0.29 [[ 9.98811791e-01 4.81968756e-02 7.21583032e-03 6.03518497e+01] [-4.81971256e-02 9.98837834e-01 -1.39339969e-04 -4.14126742e+00] [-7.21416008e-03 -2.08607877e-04 9.99973956e-01 2.93367089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.38, Y:-4.14, Z:0.29 [[ 9.98807660e-01 4.76472032e-02 1.06302827e-02 6.03827063e+01] [-4.76476559e-02 9.98864183e-01 -2.10814994e-04 -4.14023572e+00] [-1.06282534e-02 -2.95944424e-04 9.99943475e-01 2.93957966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.892320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.41, Y:-4.14, Z:0.29 [[ 9.98727157e-01 4.85814843e-02 1.35611913e-02 6.04145183e+01] [-4.85822914e-02 9.98819147e-01 -2.70106213e-04 -4.13758594e+00] [-1.35582997e-02 -3.89071339e-04 9.99908006e-01 2.94024445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.45, Y:-4.13, Z:0.29 [[ 9.98638526e-01 5.00489246e-02 1.47037210e-02 6.04466219e+01] [-5.00500027e-02 9.98746670e-01 -2.94885277e-04 -4.13172785e+00] [-1.47000511e-02 -4.41437477e-04 9.99891851e-01 2.94246324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.48, Y:-4.12, Z:0.29 [[ 9.98434483e-01 5.51098835e-02 9.56471449e-03 6.04785270e+01] [-5.51105619e-02 9.98480240e-01 -1.92825385e-04 -4.12122487e+00] [-9.56080500e-03 -3.34593276e-04 9.99954238e-01 2.92818754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.51, Y:-4.12, Z:0.29 [[ 9.98369153e-01 5.67585373e-02 6.12395019e-03 6.05094262e+01] [-5.67588483e-02 9.98387910e-01 -1.23143729e-04 -4.12126117e+00] [-6.12106729e-03 -2.24645460e-04 9.99981241e-01 2.91646893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.54, Y:-4.12, Z:0.29 [[ 9.98328091e-01 5.77332898e-02 2.80886399e-03 6.05386241e+01] [-5.77333684e-02 9.98332037e-01 -5.31504676e-05 -4.12148024e+00] [-2.80724745e-03 -1.09103574e-04 9.99996054e-01 2.92114888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.57, Y:-4.12, Z:0.29 [[ 9.98303505e-01 5.81956534e-02 1.83777315e-03 6.05671357e+01] [-5.81956911e-02 9.98305194e-01 -3.29877297e-05 -4.12172586e+00] [-1.83657823e-03 -7.40187126e-05 9.99998311e-01 2.93243548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.072320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.60, Y:-4.12, Z:0.29 [[ 9.98277279e-01 5.86185507e-02 2.51774301e-03 6.05954862e+01] [-5.86186179e-02 9.98280449e-01 -4.71567202e-05 -4.11908443e+00] [-2.51617789e-03 -1.00511133e-04 9.99996829e-01 2.94566349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.62, Y:-4.11, Z:0.30 [[ 9.98233441e-01 5.93325087e-02 3.10658645e-03 6.06243083e+01] [-5.93326228e-02 9.98238267e-01 -5.54944697e-05 -4.11477874e+00] [-3.10440609e-03 -1.28925486e-04 9.99995173e-01 2.95628498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.65, Y:-4.11, Z:0.30 [[ 9.98280158e-01 5.82228143e-02 6.84326632e-03 6.06528704e+01] [-5.82233501e-02 9.98303574e-01 -1.21067642e-04 -4.10541970e+00] [-6.83870613e-03 -2.77578466e-04 9.99976577e-01 2.95257721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.68, Y:-4.10, Z:0.30 [[ 9.98400092e-01 5.57690300e-02 9.33125374e-03 6.06816132e+01] [-5.57699470e-02 9.98443632e-01 -1.62115069e-04 -4.10120141e+00] [-9.32577188e-03 -3.58547826e-04 9.99956450e-01 2.95674957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.71, Y:-4.10, Z:0.30 [[ 9.98505937e-01 5.36771036e-02 1.02305017e-02 6.07103852e+01] [-5.36781413e-02 9.98558274e-01 -1.73328234e-04 -4.09647223e+00] [-1.02250559e-02 -3.76085044e-04 9.99947652e-01 2.96274043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.74, Y:-4.09, Z:0.30 [[ 9.98562889e-01 5.26303865e-02 1.01093864e-02 6.07401044e+01] [-5.26313332e-02 9.98613996e-01 -1.72556930e-04 -4.09138786e+00] [-1.01044565e-02 -3.59761537e-04 9.99948884e-01 2.96320065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.77, Y:-4.09, Z:0.30 [[ 9.98685217e-01 5.04396534e-02 9.14760714e-03 6.07700963e+01] [-5.04403424e-02 9.98727064e-01 -1.55517820e-04 -4.08583958e+00] [-9.14380708e-03 -3.06095088e-04 9.99958148e-01 2.96060834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.282320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.80, Y:-4.08, Z:0.29 [[ 9.98968072e-01 4.49768497e-02 6.31456717e-03 6.07992867e+01] [-4.49770768e-02 9.98988014e-01 -1.06099625e-04 -4.07598800e+00] [-6.31294894e-03 -1.78020635e-04 9.99980057e-01 2.92548214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.83, Y:-4.07, Z:0.29 [[ 9.99128851e-01 4.12192638e-02 6.52003983e-03 6.08277017e+01] [-4.12194555e-02 9.99150112e-01 -1.05020301e-04 -4.07161546e+00] [-6.51882739e-03 -1.63823679e-04 9.99978739e-01 2.92384186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.86, Y:-4.07, Z:0.29 [[ 9.99289751e-01 3.70517116e-02 6.86766118e-03 6.08570292e+01] [-3.70518292e-02 9.99313339e-01 -1.10163244e-04 -4.06710437e+00] [-6.86702717e-03 -1.44374408e-04 9.99976411e-01 2.93049309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.89, Y:-4.06, Z:0.29 [[ 9.99409235e-01 3.35539167e-02 7.43743056e-03 6.08858400e+01] [-3.35539898e-02 9.99436900e-01 -1.14980865e-04 -4.06310028e+00] [-7.43710060e-03 -1.34642531e-04 9.99972335e-01 2.93883357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.92, Y:-4.06, Z:0.29 [[ 9.99596735e-01 2.69824308e-02 8.84958210e-03 6.09154347e+01] [-2.69822608e-02 9.99635903e-01 -1.38622612e-04 -4.05707624e+00] [-8.85010037e-03 -1.00215021e-04 9.99960832e-01 2.92572101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.95, Y:-4.06, Z:0.29 [[ 9.99677065e-01 2.40266919e-02 8.27553378e-03 6.09480483e+01] [-2.40264254e-02 9.99711315e-01 -1.31633654e-04 -4.05614029e+00] [-8.27630748e-03 -6.72403500e-05 9.99965749e-01 2.92048786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.462320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.98, Y:-4.06, Z:0.29 [[ 9.99739354e-01 2.11210200e-02 8.66755712e-03 6.09804374e+01] [-2.11206091e-02 9.99776925e-01 -1.38950648e-04 -4.05557150e+00] [-8.66855839e-03 -4.41496547e-05 9.99962426e-01 2.91563528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.01, Y:-4.05, Z:0.29 [[ 9.99804027e-01 1.81985258e-02 7.79235691e-03 6.10131109e+01] [-1.81980965e-02 9.99834393e-01 -1.25998502e-04 -4.05399176e+00] [-7.79335942e-03 -1.58322529e-05 9.99969631e-01 2.92388867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.04, Y:-4.05, Z:0.29 [[ 9.99854056e-01 1.53452973e-02 7.50923279e-03 6.10449464e+01] [-1.53448109e-02 9.99882254e-01 -1.22390736e-04 -4.05117529e+00] [-7.51022673e-03 7.14511669e-06 9.99971798e-01 2.93897254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.08, Y:-4.05, Z:0.30 [[ 9.99907973e-01 1.24862264e-02 5.30475988e-03 6.10776361e+01] [-1.24859390e-02 9.99922044e-01 -8.73077666e-05 -4.04859630e+00] [-5.30543649e-03 2.10648239e-05 9.99985926e-01 2.96148519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.11, Y:-4.05, Z:0.30 [[ 9.99960347e-01 6.54482670e-03 6.03906944e-03 6.11099578e+01] [-6.54432091e-03 9.99978580e-01 -1.03509463e-04 -4.04731858e+00] [-6.03961753e-03 6.39837496e-05 9.99981759e-01 2.96738600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.14, Y:-4.05, Z:0.30 [[ 9.99973119e-01 4.05103306e-03 6.11144480e-03 6.11421415e+01] [-4.05047367e-03 9.99991791e-01 -1.03906199e-04 -4.04937442e+00] [-6.11181556e-03 7.91491596e-05 9.99981320e-01 2.95473881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.642320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.17, Y:-4.05, Z:0.29 [[ 9.99987025e-01 1.16621650e-03 4.95876544e-03 6.11742285e+01] [-1.16580770e-03 9.99999317e-01 -8.53295330e-05 -4.05181041e+00] [-4.95886156e-03 7.95474590e-05 9.99987702e-01 2.94995218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.21, Y:-4.05, Z:0.30 [[ 9.99993346e-01 6.16652781e-04 3.59553107e-03 6.12072703e+01] [-6.16420924e-04 9.99999808e-01 -6.55926296e-05 -4.05472363e+00] [-3.59557083e-03 6.33758325e-05 9.99993534e-01 2.96272967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.702320588 meters Centerline goodness [0,1] 0.99995085995086 Centerline is valid? [True, True] Translation: X:61.24, Y:-4.06, Z:0.30 [[ 9.99993212e-01 2.19618031e-03 2.95858547e-03 6.12396849e+01] [-2.19603341e-03 9.99997587e-01 -5.28980312e-05 -4.05763068e+00] [-2.95869451e-03 4.64005196e-05 9.99995622e-01 2.97058082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.27, Y:-4.06, Z:0.30 [[ 9.99993747e-01 3.51837187e-03 3.57177455e-04 6.12723515e+01] [-3.51836954e-03 9.99993810e-01 -7.14027192e-06 -4.05936533e+00] [-3.57200366e-04 5.88354500e-06 9.99999936e-01 2.97484209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.762320588 meters Centerline goodness [0,1] 0.999950821284548 Centerline is valid? [True, True] Translation: X:61.30, Y:-4.06, Z:0.30 [[ 9.99986236e-01 4.98108852e-03 -1.64797731e-03 6.13030572e+01] [-4.98104687e-03 9.99987594e-01 2.93740684e-05 -4.06029309e+00] [ 1.64810318e-03 -2.11650119e-05 9.99998642e-01 2.97005450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.33, Y:-4.06, Z:0.30 [[ 9.99983124e-01 5.64070616e-03 -1.39073336e-03 6.13304777e+01] [-5.64067461e-03 9.99984091e-01 2.66072221e-05 -4.06313921e+00] [ 1.39086131e-03 -1.87620987e-05 9.99999033e-01 2.96261203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.822320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.36, Y:-4.07, Z:0.30 [[ 9.99972463e-01 6.58988417e-03 3.41266067e-03 6.13586944e+01] [-6.58972525e-03 9.99978286e-01 -5.78081121e-05 -4.06749044e+00] [-3.41296752e-03 3.53180241e-05 9.99994175e-01 2.96901089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.39, Y:-4.07, Z:0.30 [[ 9.99971634e-01 6.71456406e-03 3.41262901e-03 6.13903923e+01] [-6.71439960e-03 9.99977456e-01 -5.96482609e-05 -4.06799540e+00] [-3.41295259e-03 3.67328141e-05 9.99994175e-01 2.97061041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.42, Y:-4.07, Z:0.30 [[ 9.99957058e-01 6.79537484e-03 6.30117524e-03 6.14226268e+01] [-6.79481411e-03 9.99976909e-01 -1.10392254e-04 -4.07229374e+00] [-6.30177989e-03 6.75721996e-05 9.99980141e-01 2.98761427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.46, Y:-4.08, Z:0.30 [[ 9.99957900e-01 6.48648237e-03 6.49022084e-03 6.14552261e+01] [-6.48587588e-03 9.99978960e-01 -1.14490215e-04 -4.07553982e+00] [-6.49082692e-03 7.23906287e-05 9.99978932e-01 3.00637311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.49, Y:-4.08, Z:0.30 [[ 9.99969970e-01 5.31682327e-03 5.63833820e-03 6.14873953e+01] [-5.31634259e-03 9.99985863e-01 -1.00236296e-04 -4.07791246e+00] [-5.63879143e-03 7.02579480e-05 9.99984099e-01 2.99745812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.52, Y:-4.08, Z:0.30 [[ 9.99979095e-01 3.99628724e-03 5.08315536e-03 6.15195306e+01] [-3.99587599e-03 9.99992012e-01 -9.10580080e-05 -4.08065314e+00] [-5.08347865e-03 7.07444460e-05 9.99987077e-01 2.95680516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.55, Y:-4.09, Z:0.29 [[ 9.99985726e-01 2.68907570e-03 4.61703154e-03 6.15514869e+01] [-2.68871963e-03 9.99996382e-01 -8.33252759e-05 -4.08811428e+00] [-4.61723890e-03 7.09101832e-05 9.99989338e-01 2.90416321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.032320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.58, Y:-4.09, Z:0.29 [[ 9.99989028e-01 3.58519158e-03 3.01497655e-03 6.15832228e+01] [-3.58504202e-03 9.99993572e-01 -5.50081518e-05 -4.08912696e+00] [-3.01515439e-03 4.41987306e-05 9.99995453e-01 2.93043914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.62, Y:-4.09, Z:0.30 [[ 9.99977527e-01 6.27697547e-03 2.35494843e-03 6.16155262e+01] [-6.27689068e-03 9.99980299e-01 -4.33927628e-05 -4.08859999e+00] [-2.35517441e-03 2.86100338e-05 9.99997226e-01 2.96590959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.65, Y:-4.09, Z:0.30 [[ 9.99901556e-01 1.39573297e-02 1.43946161e-03 6.16469539e+01] [-1.39573059e-02 9.99902592e-01 -2.65474987e-05 -4.08948576e+00] [-1.43969193e-03 6.45387924e-06 9.99998964e-01 3.00679888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.68, Y:-4.09, Z:0.30 [[ 9.99829069e-01 1.81109382e-02 3.71831108e-03 6.16755227e+01] [-1.81108260e-02 9.99835984e-01 -6.38567873e-05 -4.09413254e+00] [-3.71885773e-03 -3.49581266e-06 9.99993085e-01 2.98500123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.71, Y:-4.10, Z:0.30 [[ 9.99738602e-01 2.21958841e-02 5.48360026e-03 6.17057161e+01] [-2.21956832e-02 9.99753641e-01 -9.74870896e-05 -4.09845489e+00] [-5.48441313e-03 -2.42506476e-05 9.99984960e-01 2.97829130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.74, Y:-4.10, Z:0.30 [[ 9.99606604e-01 2.63674734e-02 9.55998756e-03 6.17369903e+01] [-2.63670448e-02 9.99652314e-01 -1.70883935e-04 -4.10091241e+00] [-9.56116947e-03 -8.12519101e-05 9.99954288e-01 2.96915106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.212320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.77, Y:-4.10, Z:0.30 [[ 9.99467652e-01 3.01863245e-02 1.23773108e-02 6.17686931e+01] [-3.01858642e-02 9.99544278e-01 -2.24045915e-04 -4.10144343e+00] [-1.23784333e-02 -1.49693179e-04 9.99923373e-01 2.97870077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.80, Y:-4.10, Z:0.30 [[ 9.99381631e-01 3.28395665e-02 1.25665312e-02 6.18009077e+01] [-3.28392853e-02 9.99460619e-01 -2.28778987e-04 -4.10148882e+00] [-1.25672661e-02 -1.84038386e-04 9.99921012e-01 2.98999822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.83, Y:-4.10, Z:0.30 [[ 9.99406509e-01 3.37152905e-02 7.06457596e-03 6.18330589e+01] [-3.37152151e-02 9.99431472e-01 -1.29793531e-04 -4.09730891e+00] [-7.06493558e-03 -1.08467199e-04 9.99975037e-01 3.01468893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.86, Y:-4.09, Z:0.30 [[ 9.99428482e-01 3.32025101e-02 6.34846432e-03 6.18640909e+01] [-3.32024426e-02 9.99448640e-01 -1.16059795e-04 -4.09439359e+00] [-6.34881751e-03 -9.47910572e-05 9.99979842e-01 3.01739231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.89, Y:-4.09, Z:0.30 [[ 9.99460095e-01 3.21376963e-02 6.83275976e-03 6.18935304e+01] [-3.21375984e-02 9.99483446e-01 -1.24152965e-04 -4.09212598e+00] [-6.83322026e-03 -9.55025551e-05 9.99976649e-01 3.01440903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.92, Y:-4.09, Z:0.30 [[ 9.99468951e-01 3.15221853e-02 8.25635055e-03 6.19237290e+01] [-3.15220182e-02 9.99503046e-01 -1.50410001e-04 -4.09341918e+00] [-8.25698878e-03 -1.09926706e-04 9.99965904e-01 3.00274241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.392320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.96, Y:-4.10, Z:0.30 [[ 9.99505545e-01 3.05846047e-02 7.29703393e-03 6.19554949e+01] [-3.05844406e-02 9.99532178e-01 -1.34108208e-04 -4.09659671e+00] [-7.29772186e-03 -8.91338034e-05 9.99973367e-01 3.01763286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.99, Y:-4.10, Z:0.30 [[ 9.99505856e-01 3.07344355e-02 6.59083950e-03 6.19863995e+01] [-3.07343077e-02 9.99527582e-01 -1.20696122e-04 -4.09514461e+00] [-6.59143539e-03 -8.19284087e-05 9.99978273e-01 3.04590223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.02, Y:-4.09, Z:0.31 [[ 9.99528821e-01 2.99586854e-02 6.67934588e-03 6.20159566e+01] [-2.99585418e-02 9.99551135e-01 -1.21565102e-04 -4.09196609e+00] [-6.67998969e-03 -7.85956400e-05 9.99977686e-01 3.05570637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.05, Y:-4.09, Z:0.31 [[ 9.99493260e-01 3.08274569e-02 7.93040576e-03 6.20463875e+01] [-3.08272788e-02 9.99524716e-01 -1.44718401e-04 -4.09057840e+00] [-7.93109786e-03 -9.98277632e-05 9.99968543e-01 3.05148339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.08, Y:-4.09, Z:0.30 [[ 9.99409760e-01 3.32822215e-02 8.51025146e-03 6.20780449e+01] [-3.32820981e-02 9.99445985e-01 -1.56157316e-04 -4.09497381e+00] [-8.51073391e-03 -1.27173878e-04 9.99963775e-01 3.02987062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.11, Y:-4.09, Z:0.30 [[ 9.99426359e-01 3.28967616e-02 8.04713832e-03 6.21090202e+01] [-3.28966345e-02 9.99458748e-01 -1.48192260e-04 -4.09396609e+00] [-8.04765784e-03 -1.16616517e-04 9.99967610e-01 3.03061093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.572320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.14, Y:-4.09, Z:0.30 [[ 9.99411087e-01 3.39001220e-02 5.31608697e-03 6.21391659e+01] [-3.39000818e-02 9.99425222e-01 -9.76863015e-05 -4.09070030e+00] [-5.31634298e-03 -8.25870106e-05 9.99985865e-01 3.04031295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.17, Y:-4.09, Z:0.30 [[ 9.99427797e-01 3.35551173e-02 4.25831806e-03 6.21673997e+01] [-3.35551088e-02 9.99436866e-01 -7.34577131e-05 -4.08759186e+00] [-4.25838494e-03 -6.94726453e-05 9.99990931e-01 3.04067636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.20, Y:-4.09, Z:0.30 [[ 9.99502045e-01 3.14710700e-02 2.28765364e-03 6.21963326e+01] [-3.14710664e-02 9.99504663e-01 -3.75707382e-05 -4.09383669e+00] [-2.28770287e-03 -3.44428700e-05 9.99997383e-01 3.02916679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.22, Y:-4.10, Z:0.30 [[ 9.99573326e-01 2.90750223e-02 2.79436646e-03 6.22249901e+01] [-2.90750097e-02 9.99577232e-01 -4.51353089e-05 -4.09875450e+00] [-2.79449740e-03 -3.61301811e-05 9.99996095e-01 3.03816887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.25, Y:-4.10, Z:0.31 [[ 9.99651862e-01 2.59613347e-02 4.70795961e-03 6.22523737e+01] [-2.59612700e-02 9.99662947e-01 -7.48572554e-05 -4.09885234e+00] [-4.70831617e-03 -4.73934159e-05 9.99988915e-01 3.05827755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.28, Y:-4.10, Z:0.31 [[ 9.99699922e-01 2.36572071e-02 6.35635272e-03 6.22823278e+01] [-2.36570251e-02 9.99720128e-01 -1.03830215e-04 -4.09503911e+00] [-6.35703009e-03 -4.65733384e-05 9.99979793e-01 3.06512273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.31, Y:-4.09, Z:0.31 [[ 9.99733625e-01 2.18308955e-02 7.48938012e-03 6.23135568e+01] [-2.18305828e-02 9.99761677e-01 -1.23511867e-04 -4.09165510e+00] [-7.49029160e-03 -4.00185663e-05 9.99971947e-01 3.05740209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.782320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.35, Y:-4.09, Z:0.30 [[ 9.99788391e-01 1.88576605e-02 8.21964548e-03 6.23453979e+01] [-1.88571723e-02 9.99822178e-01 -1.36888690e-04 -4.08963471e+00] [-8.22076525e-03 -1.81395484e-05 9.99966209e-01 3.01897144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.38, Y:-4.09, Z:0.30 [[ 9.99784991e-01 1.88081844e-02 8.73064577e-03 6.23775355e+01] [-1.88076225e-02 9.99823110e-01 -1.46463671e-04 -4.08943454e+00] [-8.73185613e-03 -1.77705104e-05 9.99961876e-01 3.01816531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.41, Y:-4.09, Z:0.30 [[ 9.99776051e-01 1.97618924e-02 7.57069421e-03 6.24097530e+01] [-1.97614893e-02 9.99804715e-01 -1.28054128e-04 -4.08869345e+00] [-7.57174635e-03 -2.15827424e-05 9.99971334e-01 3.03451484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.44, Y:-4.09, Z:0.30 [[ 9.99745840e-01 2.14919217e-02 6.80826895e-03 6.24420629e+01] [-2.14916295e-02 9.99769022e-01 -1.16095345e-04 -4.08952749e+00] [-6.80919149e-03 -3.02549550e-05 9.99976817e-01 3.04013555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.47, Y:-4.09, Z:0.30 [[ 9.99732251e-01 2.21799660e-02 6.59362601e-03 6.24737187e+01] [-2.21797061e-02 9.99753994e-01 -1.12545110e-04 -4.09195996e+00] [-6.59450019e-03 -3.37297109e-05 9.99978255e-01 3.04177287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.50, Y:-4.09, Z:0.31 [[ 9.99702719e-01 2.35212862e-02 6.42051403e-03 6.25048441e+01] [-2.35210648e-02 9.99723335e-01 -1.10004562e-04 -4.09443978e+00] [-6.42132515e-03 -4.10454673e-05 9.99979382e-01 3.05177286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.962320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.54, Y:-4.09, Z:0.30 [[ 9.99690664e-01 2.40728304e-02 6.25101153e-03 6.25365194e+01] [-2.40726287e-02 9.99710207e-01 -1.07507635e-04 -4.09228701e+00] [-6.25178804e-03 -4.30039009e-05 9.99980456e-01 3.04338496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.57, Y:-4.09, Z:0.30 [[ 9.99685046e-01 2.41297571e-02 6.89656836e-03 6.25673977e+01] [-2.41295155e-02 9.99708834e-01 -1.18257174e-04 -4.09014862e+00] [-6.89741383e-03 -4.81909243e-05 9.99976211e-01 3.03674562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.60, Y:-4.09, Z:0.30 [[ 9.99724736e-01 2.15941827e-02 9.17299089e-03 6.25988185e+01] [-2.15936400e-02 9.99766818e-01 -1.58202737e-04 -4.09294507e+00] [-9.17426817e-03 -3.99190740e-05 9.99957915e-01 3.01793983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.63, Y:-4.10, Z:0.30 [[ 9.99768834e-01 2.00607469e-02 7.73599212e-03 6.26314782e+01] [-2.00602997e-02 9.99798763e-01 -1.35399233e-04 -4.09535463e+00] [-7.73715156e-03 -1.98183875e-05 9.99970068e-01 3.03485195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.66, Y:-4.09, Z:0.31 [[ 9.99814494e-01 1.77411454e-02 7.49860434e-03 6.26641256e+01] [-1.77406545e-02 9.99842613e-01 -1.31985156e-04 -4.09398360e+00] [-7.49976573e-03 -1.06947647e-06 9.99971876e-01 3.05510746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.70, Y:-4.09, Z:0.31 [[ 9.99847471e-01 1.62800682e-02 6.32415001e-03 6.26967178e+01] [-1.62796842e-02 9.99867471e-01 -1.12206743e-04 -4.09034164e+00] [-6.32513861e-03 9.23446340e-06 9.99979996e-01 3.07936402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.142320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.73, Y:-4.09, Z:0.31 [[ 9.99872316e-01 1.43268579e-02 7.07766409e-03 6.27290453e+01] [-1.43263221e-02 9.99897365e-01 -1.26394873e-04 -4.08721961e+00] [-7.07874851e-03 2.49818389e-05 9.99974945e-01 3.07283446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.76, Y:-4.09, Z:0.31 [[ 9.99896931e-01 1.30283555e-02 6.03241650e-03 6.27611420e+01] [-1.30279375e-02 9.99915127e-01 -1.08583182e-04 -4.08752954e+00] [-6.03331917e-03 2.99820455e-05 9.99981799e-01 3.05387717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.79, Y:-4.09, Z:0.30 [[ 9.99932353e-01 1.08058498e-02 4.30377577e-03 6.27935358e+01] [-1.08056134e-02 9.99941615e-01 -7.81884978e-05 -4.09471249e+00] [-4.30436939e-03 3.16782717e-05 9.99990736e-01 3.03190656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.82, Y:-4.10, Z:0.30 [[ 9.99944229e-01 9.21368031e-03 5.16212061e-03 6.28249422e+01] [-9.21331959e-03 9.99957552e-01 -9.36560106e-05 -4.09734695e+00] [-5.16276441e-03 4.60905203e-05 9.99986672e-01 3.03841314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.86, Y:-4.10, Z:0.31 [[ 9.99948157e-01 8.25829976e-03 5.95676501e-03 6.28573545e+01] [-8.25779643e-03 9.99965898e-01 -1.09086895e-04 -4.09893999e+00] [-5.95746274e-03 5.98914870e-05 9.99982252e-01 3.06125243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.89, Y:-4.10, Z:0.31 [[ 9.99939837e-01 6.96377369e-03 8.47518415e-03 6.28897680e+01] [-6.96270164e-03 9.99975748e-01 -1.55991905e-04 -4.09941074e+00] [-8.47606490e-03 9.69723416e-05 9.99964073e-01 3.07593273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.322320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.92, Y:-4.10, Z:0.31 [[ 9.99881058e-01 6.56016768e-03 1.39583218e-02 6.29216246e+01] [-6.55720179e-03 9.99978468e-01 -2.58237157e-04 -4.10328030e+00] [-1.39597153e-02 1.66678909e-04 9.99902545e-01 3.08188049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.95, Y:-4.11, Z:0.31 [[ 9.99834709e-01 6.76154399e-03 1.68770848e-02 6.29538491e+01] [-6.75720365e-03 9.99977120e-01 -3.14186077e-04 -4.10556300e+00] [-1.68788230e-02 2.00092245e-04 9.99857522e-01 3.06869909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.382320588 meters Centerline goodness [0,1] 0.9999509033778476 Centerline is valid? [True, True] Translation: X:62.99, Y:-4.11, Z:0.31 [[ 9.99843872e-01 6.22026238e-03 1.65390195e-02 6.29867839e+01] [-6.21585552e-03 9.99980631e-01 -3.17844596e-04 -4.10691465e+00] [-1.65406763e-02 2.14990816e-04 9.99863171e-01 3.05515359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.412320588 meters Centerline goodness [0,1] 0.9999509154272812 Centerline is valid? [True, True] Translation: X:63.02, Y:-4.11, Z:0.30 [[ 9.99890667e-01 4.72256741e-03 1.40125105e-02 6.30194669e+01] [-4.71924571e-03 9.99988828e-01 -2.70109200e-04 -4.10749601e+00] [-1.40136296e-02 2.03951188e-04 9.99901783e-01 3.03846126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.05, Y:-4.11, Z:0.30 [[ 9.99936232e-01 2.84417451e-03 1.09290108e-02 6.30522101e+01] [-2.84197443e-03 9.99995938e-01 -2.16831927e-04 -4.10854400e+00] [-1.09295831e-02 1.85758131e-04 9.99940253e-01 3.02028310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.09, Y:-4.11, Z:0.30 [[ 9.99968973e-01 -5.40630380e-05 7.87719156e-03 6.30853454e+01] [ 5.53331012e-05 9.99999986e-01 -1.61015149e-04 -4.11161331e+00] [-7.87718274e-03 1.61446022e-04 9.99968961e-01 3.01978403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.12, Y:-4.12, Z:0.31 [[ 9.99980927e-01 -3.30484544e-03 5.21771558e-03 6.31174207e+01] [ 3.30546090e-03 9.99994531e-01 -1.09336909e-04 -4.12193500e+00] [-5.21732570e-03 1.26581779e-04 9.99986382e-01 3.05948207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.532320588000005 meters Centerline goodness [0,1] 0.9998527968596663 Centerline is valid? [True, True] Translation: X:63.15, Y:-4.13, Z:0.31 [[ 9.99975091e-01 -1.97981808e-03 6.77476778e-03 6.31502351e+01] [ 1.98084555e-03 9.99998028e-01 -1.44954139e-04 -4.12617857e+00] [-6.77446743e-03 1.58370297e-04 9.99977040e-01 3.08324323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.18, Y:-4.13, Z:0.31 [[ 9.99960193e-01 5.36607140e-04 8.90647908e-03 6.31825613e+01] [-5.34944616e-04 9.99999839e-01 -1.89045783e-04 -4.12911909e+00] [-8.90657909e-03 1.84273785e-04 9.99960319e-01 3.08739178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.21, Y:-4.13, Z:0.31 [[ 9.99950221e-01 3.45673721e-03 9.35985010e-03 6.32149212e+01] [-3.45501853e-03 9.99994011e-01 -1.99786051e-04 -4.13028657e+00] [-9.36048465e-03 1.67437651e-04 9.99956176e-01 3.10041452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.25, Y:-4.13, Z:0.31 [[ 9.99882106e-01 1.09712556e-02 1.07426962e-02 6.32474351e+01] [-1.09694117e-02 9.99939808e-01 -2.30548772e-04 -4.13241744e+00] [-1.07445789e-02 1.12680535e-04 9.99942269e-01 3.08650450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.28, Y:-4.13, Z:0.31 [[ 9.99845580e-01 1.48397175e-02 9.41267264e-03 6.32798782e+01] [-1.48384615e-02 9.99889883e-01 -2.03259828e-04 -4.13405169e+00] [-9.41465247e-03 6.35588598e-05 9.99955679e-01 3.07066277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.31, Y:-4.14, Z:0.31 [[ 9.99829721e-01 1.76554400e-02 5.36782204e-03 6.33124163e+01] [-1.76550641e-02 9.99844130e-01 -1.17419675e-04 -4.13684895e+00] [-5.36905846e-03 2.26304387e-05 9.99985586e-01 3.06167790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.712320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.34, Y:-4.14, Z:0.31 [[ 9.99790544e-01 2.03027129e-02 2.58219767e-03 6.33439577e+01] [-2.03026347e-02 9.99793879e-01 -5.65305898e-05 -4.14179720e+00] [-2.58281315e-03 4.09333315e-06 9.99996665e-01 3.05933384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.37, Y:-4.15, Z:0.31 [[ 9.99776478e-01 2.11360952e-02 -5.10295478e-04 6.33731350e+01] [-2.11360921e-02 9.99776608e-01 1.13978607e-05 -4.15001633e+00] [ 5.10422388e-04 -6.09660738e-07 9.99999870e-01 3.08008453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.40, Y:-4.15, Z:0.31 [[ 9.99787306e-01 2.06175300e-02 -5.10252080e-04 6.34005130e+01] [-2.06175258e-02 9.99787436e-01 1.34252790e-05 -4.15092932e+00] [ 5.10420415e-04 -2.90228806e-06 9.99999870e-01 3.08146559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.802320588 meters Centerline goodness [0,1] 0.9999508309568296 Centerline is valid? [True, True] Translation: X:63.43, Y:-4.15, Z:0.31 [[ 9.99820791e-01 1.89154056e-02 -7.70385856e-04 6.34280492e+01] [-1.89153969e-02 9.99821088e-01 1.85339016e-05 -4.15155230e+00] [ 7.70598601e-04 -3.95842592e-06 9.99999703e-01 3.11150867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.46, Y:-4.15, Z:0.31 [[ 9.99857613e-01 1.68584281e-02 7.39807609e-04 6.34556807e+01] [-1.68584236e-02 9.99857887e-01 -1.23198227e-05 -4.15056288e+00] [-7.39910165e-04 -1.53921540e-07 9.99999726e-01 3.12591268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.48, Y:-4.15, Z:0.31 [[ 9.99895080e-01 1.35605249e-02 5.09315998e-03 6.34846102e+01] [-1.35602010e-02 9.99908051e-01 -9.81277352e-05 -4.15009232e+00] [-5.09402233e-03 2.90531667e-05 9.99987025e-01 3.12595345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.892320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.52, Y:-4.15, Z:0.31 [[ 9.99881588e-01 1.17775350e-02 9.90452102e-03 6.35163482e+01] [-1.17761651e-02 9.99930639e-01 -1.96623574e-04 -4.15184512e+00] [-9.90614977e-03 7.99630165e-05 9.99950930e-01 3.12297461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.55, Y:-4.16, Z:0.31 [[ 9.99858767e-01 9.45359372e-03 1.38951734e-02 6.35481305e+01] [-9.45064925e-03 9.99955303e-01 -2.77554728e-04 -4.15795779e+00] [-1.38971762e-02 1.46197118e-04 9.99903419e-01 3.11150199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.58, Y:-4.16, Z:0.31 [[ 9.99882921e-01 8.94650932e-03 1.24138666e-02 6.35807582e+01] [-8.94409991e-03 9.99959970e-01 -2.49595182e-04 -4.16072427e+00] [-1.24156026e-02 1.38535096e-04 9.99922914e-01 3.09699834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.61, Y:-4.16, Z:0.31 [[ 9.99920458e-01 8.30354000e-03 9.49357506e-03 6.36131884e+01] [-8.30208920e-03 9.99965519e-01 -1.92218606e-04 -4.16320142e+00] [-9.49484381e-03 1.13386810e-04 9.99954917e-01 3.08636946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.65, Y:-4.17, Z:0.31 [[ 9.99921880e-01 9.60626079e-03 7.99710483e-03 6.36450592e+01] [-9.60526417e-03 9.99953855e-01 -1.63022735e-04 -4.17009963e+00] [-7.99830184e-03 8.61956955e-05 9.99968009e-01 3.07508847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.68, Y:-4.17, Z:0.31 [[ 9.99902889e-01 1.16582649e-02 7.63533820e-03 6.36772609e+01] [-1.16574086e-02 9.99932038e-01 -1.56643896e-04 -4.17298944e+00] [-7.63664549e-03 6.76204275e-05 9.99970838e-01 3.10086693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.072320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.71, Y:-4.17, Z:0.31 [[ 9.99886014e-01 1.37416481e-02 6.25505367e-03 6.37096708e+01] [-1.37411084e-02 9.99905578e-01 -1.29248632e-04 -4.17422296e+00] [-6.25623915e-03 4.32825289e-05 9.99980429e-01 3.12039991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.74, Y:-4.18, Z:0.31 [[ 9.99867502e-01 1.52660670e-02 5.65027291e-03 6.37418349e+01] [-1.52656466e-02 9.99883466e-01 -1.17530661e-04 -4.17596881e+00] [-5.65140869e-03 3.12600197e-05 9.99984030e-01 3.12257727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.77, Y:-4.18, Z:0.31 [[ 9.99852453e-01 1.60890876e-02 6.01779042e-03 6.37743057e+01] [-1.60886191e-02 9.99870562e-01 -1.26258438e-04 -4.17951794e+00] [-6.01904287e-03 2.94218712e-05 9.99981885e-01 3.11686456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.81, Y:-4.19, Z:0.31 [[ 9.99782081e-01 1.80318703e-02 1.05186531e-02 6.38064933e+01] [-1.80305399e-02 9.99837412e-01 -2.21312807e-04 -4.18949061e+00] [-1.05209336e-02 3.16075845e-05 9.99944653e-01 3.06894374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.84, Y:-4.19, Z:0.31 [[ 9.99752672e-01 1.96813527e-02 1.03556086e-02 6.38396000e+01] [-1.96801275e-02 9.99806303e-01 -2.20216010e-04 -4.19236060e+00] [-1.03579369e-02 1.63618466e-05 9.99946355e-01 3.06773335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.87, Y:-4.19, Z:0.31 [[ 9.99750411e-01 1.99129331e-02 1.01287572e-02 6.38724512e+01] [-1.99117526e-02 9.99801718e-01 -2.17393468e-04 -4.19217177e+00] [-1.01310778e-02 1.56579014e-05 9.99948679e-01 3.07987341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.91, Y:-4.19, Z:0.31 [[ 9.99760605e-01 2.00324833e-02 8.79954060e-03 6.39050661e+01] [-2.00315887e-02 9.99799330e-01 -1.89801325e-04 -4.19184546e+00] [-8.80157698e-03 1.34871094e-05 9.99961265e-01 3.09201686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.282320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.94, Y:-4.19, Z:0.31 [[ 9.99779842e-01 1.98002966e-02 6.94369018e-03 6.39375037e+01] [-1.97997268e-02 9.99803955e-01 -1.50808691e-04 -4.19295125e+00] [-6.94531496e-03 1.32923206e-05 9.99975881e-01 3.10211707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.312320588 meters Centerline goodness [0,1] 0.999950874435056 Centerline is valid? [True, True] Translation: X:63.97, Y:-4.20, Z:0.31 [[ 9.99750790e-01 2.08842430e-02 7.88703551e-03 6.39695173e+01] [-2.08835339e-02 9.99781900e-01 -1.72253050e-04 -4.19562569e+00] [-7.88891273e-03 7.50094891e-06 9.99968882e-01 3.12625067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.00, Y:-4.19, Z:0.31 [[ 9.99730995e-01 2.20675487e-02 7.13870987e-03 6.40016416e+01] [-2.20669910e-02 9.99756482e-01 -1.56892860e-04 -4.19426823e+00] [-7.14043370e-03 -6.79190662e-07 9.99974507e-01 3.14241691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.03, Y:-4.19, Z:0.31 [[ 9.99699727e-01 2.33749481e-02 7.35303835e-03 6.40333956e+01] [-2.33743848e-02 9.99726769e-01 -1.62556313e-04 -4.19189935e+00] [-7.35482901e-03 -9.36524551e-06 9.99972953e-01 3.14509293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.07, Y:-4.19, Z:0.31 [[ 9.99655135e-01 2.52667620e-02 7.15551026e-03 6.40653918e+01] [-2.52662703e-02 9.99680744e-01 -1.59118112e-04 -4.19393608e+00] [-7.15724622e-03 -2.17298181e-05 9.99974386e-01 3.12350937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.10, Y:-4.20, Z:0.31 [[ 9.99662499e-01 2.49595646e-02 7.20469893e-03 6.40970912e+01] [-2.49590514e-02 9.99688461e-01 -1.61150719e-04 -4.19744274e+00] [-7.20647664e-03 -1.87261206e-05 9.99974033e-01 3.11312303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.462320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.13, Y:-4.20, Z:0.31 [[ 9.99680385e-01 2.41831362e-02 7.36911805e-03 6.41291809e+01] [-2.41825713e-02 9.99707545e-01 -1.65773784e-04 -4.19927984e+00] [-7.37097184e-03 -1.24834218e-05 9.99972834e-01 3.11069172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.16, Y:-4.20, Z:0.31 [[ 9.99689800e-01 2.33840412e-02 8.57260358e-03 6.41613867e+01] [-2.33832387e-02 9.99726556e-01 -1.93847648e-04 -4.19856037e+00] [-8.57479240e-03 -6.66771949e-06 9.99963236e-01 3.11880036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.19, Y:-4.20, Z:0.31 [[ 9.99726048e-01 2.17521163e-02 8.64149164e-03 6.41931795e+01] [-2.17512302e-02 9.99763395e-01 -1.96525789e-04 -4.19649313e+00] [-8.64372187e-03 8.50887584e-06 9.99962642e-01 3.12604996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.23, Y:-4.20, Z:0.31 [[ 9.99759235e-01 2.04175448e-02 8.03714434e-03 6.42250788e+01] [-2.04167265e-02 9.99791540e-01 -1.83868234e-04 -4.19630865e+00] [-8.03922306e-03 1.97317876e-05 9.99967685e-01 3.13352833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.26, Y:-4.20, Z:0.31 [[ 9.99828796e-01 1.80101062e-02 4.24427251e-03 6.42572486e+01] [-1.80098526e-02 9.99837805e-01 -9.79573003e-05 -4.20244403e+00] [-4.24534833e-03 2.15018073e-05 9.99990988e-01 3.12014535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.29, Y:-4.21, Z:0.31 [[ 9.99835776e-01 1.77428922e-02 3.68934061e-03 6.42883145e+01] [-1.77426988e-02 9.99842582e-01 -8.51427080e-05 -4.20546637e+00] [-3.69027052e-03 1.96698661e-05 9.99993191e-01 3.11177476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.642320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.32, Y:-4.21, Z:0.31 [[ 9.99835396e-01 1.77150722e-02 3.91877461e-03 6.43198396e+01] [-1.77148529e-02 9.99843076e-01 -9.06728852e-05 -4.20730559e+00] [-3.91976593e-03 2.12374446e-05 9.99992317e-01 3.11344443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.35, Y:-4.21, Z:0.31 [[ 9.99816496e-01 1.85104405e-02 4.93336130e-03 6.43513628e+01] [-1.85101015e-02 9.99828667e-01 -1.14375552e-04 -4.20885567e+00] [-4.93463320e-03 2.30375456e-05 9.99987824e-01 3.11981603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.38, Y:-4.21, Z:0.32 [[ 9.99791547e-01 1.95906443e-02 5.75056110e-03 6.43836757e+01] [-1.95901956e-02 9.99808085e-01 -1.34344039e-04 -4.21289974e+00] [-5.75208937e-03 2.16614177e-05 9.99983456e-01 3.15249988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.42, Y:-4.22, Z:0.32 [[ 9.99814961e-01 1.85109743e-02 5.23333676e-03 6.44162644e+01] [-1.85105841e-02 9.99828657e-01 -1.22997800e-04 -4.21549344e+00] [-5.23471688e-03 2.61029202e-05 9.99986298e-01 3.15227937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.762320588 meters Centerline goodness [0,1] 0.9999508816739525 Centerline is valid? [True, True] Translation: X:64.45, Y:-4.22, Z:0.31 [[ 9.99828922e-01 1.79090775e-02 4.62504421e-03 6.44483173e+01] [-1.79087631e-02 9.99839619e-01 -1.09386895e-04 -4.21732758e+00] [-4.62626146e-03 2.65393610e-05 9.99989298e-01 3.14262495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.48, Y:-4.22, Z:0.31 [[ 9.99814301e-01 1.85387646e-02 5.26090901e-03 6.44802789e+01] [-1.85383634e-02 9.99828142e-01 -1.25012674e-04 -4.21921444e+00] [-5.26232246e-03 2.74608158e-05 9.99986154e-01 3.12811540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.822320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.51, Y:-4.22, Z:0.31 [[ 9.99798502e-01 1.85936192e-02 7.56519984e-03 6.45120635e+01] [-1.85927859e-02 9.99827123e-01 -1.80462284e-04 -4.22091011e+00] [-7.56724744e-03 3.97677804e-05 9.99971367e-01 3.12562893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.54, Y:-4.22, Z:0.31 [[ 9.99793602e-01 1.82930433e-02 8.83838447e-03 6.45442960e+01] [-1.82918851e-02 9.99832667e-01 -2.11863960e-04 -4.22360561e+00] [-8.84078116e-03 5.01495184e-05 9.99960918e-01 3.13945592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.58, Y:-4.23, Z:0.32 [[ 9.99859362e-01 1.51911541e-02 7.10535388e-03 6.45770712e+01] [-1.51903142e-02 9.99884606e-01 -1.72168469e-04 -4.22839459e+00] [-7.10714940e-03 6.42116978e-05 9.99974742e-01 3.15995470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.61, Y:-4.23, Z:0.32 [[ 9.99890546e-01 1.35509554e-02 5.93872451e-03 6.46094742e+01] [-1.35503363e-02 9.99908180e-01 -1.44479742e-04 -4.23127811e+00] [-5.94013705e-03 6.39922139e-05 9.99982355e-01 3.15756275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.64, Y:-4.23, Z:0.31 [[ 9.99906720e-01 1.16300566e-02 7.16192100e-03 6.46419003e+01] [-1.16291014e-02 9.99932364e-01 -1.75009150e-04 -4.23418678e+00] [-7.16347197e-03 9.17061196e-05 9.99974338e-01 3.14997288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.67, Y:-4.24, Z:0.31 [[ 9.99903432e-01 1.08856849e-02 8.63879638e-03 6.46738507e+01] [-1.08842589e-02 9.99940742e-01 -2.12063001e-04 -4.23765251e+00] [-8.64059292e-03 1.18015625e-04 9.99962662e-01 3.14253306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.71, Y:-4.24, Z:0.32 [[ 9.99913406e-01 1.17504256e-02 5.92515866e-03 6.47062627e+01] [-1.17497644e-02 9.99930958e-01 -1.46380974e-04 -4.24447378e+00] [-5.92646961e-03 7.67490795e-05 9.99982435e-01 3.15163178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.032320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.74, Y:-4.25, Z:0.32 [[ 9.99886458e-01 1.46296987e-02 3.61153254e-03 6.47380545e+01] [-1.46294693e-02 9.99892980e-01 -8.99373891e-05 -4.24793524e+00] [-3.61246179e-03 3.70923730e-05 9.99993474e-01 3.16009095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.77, Y:-4.25, Z:0.32 [[ 9.99843791e-01 1.74978061e-02 2.49405598e-03 6.47699416e+01] [-1.74977043e-02 9.99846901e-01 -6.26346933e-05 -4.25090177e+00] [-2.49477012e-03 1.89846550e-05 9.99996888e-01 3.16197558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.80, Y:-4.26, Z:0.32 [[ 9.99666001e-01 2.52872426e-02 5.33313093e-03 6.47999911e+01] [-2.52868953e-02 9.99680227e-01 -1.32550386e-04 -4.25568662e+00] [-5.33477737e-03 -2.35220930e-06 9.99985770e-01 3.17243292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.83, Y:-4.26, Z:0.32 [[ 9.99548849e-01 2.85335198e-02 9.37741368e-03 6.48310347e+01] [-2.85325801e-02 9.99592836e-01 -2.34006048e-04 -4.25908300e+00] [-9.38027255e-03 -3.36613307e-05 9.99956004e-01 3.17697496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.86, Y:-4.26, Z:0.32 [[ 9.99449661e-01 3.13965482e-02 1.07066490e-02 6.48630458e+01] [-3.13954694e-02 9.99507005e-01 -2.68859076e-04 -4.26395492e+00] [-1.07098119e-02 -6.74291589e-05 9.99942646e-01 3.19075303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.89, Y:-4.27, Z:0.32 [[ 9.99374760e-01 3.36211973e-02 1.09409845e-02 6.48948197e+01] [-3.36201886e-02 9.99434644e-01 -2.76162131e-04 -4.26931974e+00] [-1.09440838e-02 -9.18484984e-05 9.99940108e-01 3.19777231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.212320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.93, Y:-4.27, Z:0.32 [[ 9.99316821e-01 3.59877912e-02 8.41244195e-03 6.49273918e+01] [-3.59872683e-02 9.99352226e-01 -2.13579720e-04 -4.27316470e+00] [-8.41467885e-03 -8.93069981e-05 9.99964592e-01 3.19696336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.96, Y:-4.27, Z:0.32 [[ 9.99255728e-01 3.82353201e-02 5.10388528e-03 6.49591529e+01] [-3.82351522e-02 9.99268761e-01 -1.30514845e-04 -4.27392387e+00] [-5.10514340e-03 -6.47301239e-05 9.99986967e-01 3.18812830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.99, Y:-4.27, Z:0.32 [[ 9.99139811e-01 4.13644244e-02 2.93630490e-03 6.49901242e+01] [-4.13643819e-02 9.99144125e-01 -7.52259975e-05 -4.27134163e+00] [-2.93690347e-03 -4.62971481e-05 9.99995686e-01 3.16291562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.02, Y:-4.27, Z:0.32 [[ 9.99122473e-01 4.17425694e-02 3.44110770e-03 6.50195956e+01] [-4.17425166e-02 9.99128398e-01 -8.72154455e-05 -4.27282858e+00] [-3.44174902e-03 -5.65015836e-05 9.99994076e-01 3.16638406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.05, Y:-4.28, Z:0.32 [[ 9.99058537e-01 4.31496802e-02 4.48835358e-03 6.50499474e+01] [-4.31496025e-02 9.99068616e-01 -1.14190472e-04 -4.27630454e+00] [-4.48910048e-03 -7.95877073e-05 9.99989921e-01 3.18177446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.08, Y:-4.28, Z:0.32 [[ 9.98967472e-01 4.53344820e-02 2.96218106e-03 6.50810650e+01] [-4.53344562e-02 9.98971862e-01 -7.58893532e-05 -4.27948952e+00] [-2.96257593e-03 -5.84778720e-05 9.99995610e-01 3.20399798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.392320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.11, Y:-4.28, Z:0.32 [[ 9.98868644e-01 4.74820193e-02 2.62489851e-03 6.51108836e+01] [-4.74820086e-02 9.98872091e-01 -6.64501344e-05 -4.27919054e+00] [-2.62509305e-03 -5.82604980e-05 9.99996553e-01 3.20993307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.14, Y:-4.28, Z:0.32 [[ 9.98794675e-01 4.89766403e-02 3.23833960e-03 6.51399817e+01] [-4.89766428e-02 9.98799921e-01 -7.85742455e-05 -4.27866012e+00] [-3.23830164e-03 -8.01234640e-05 9.99994753e-01 3.20361558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.17, Y:-4.28, Z:0.32 [[ 9.98694458e-01 5.09930453e-02 3.01477688e-03 6.51694500e+01] [-5.09930518e-02 9.98699005e-01 -7.47832545e-05 -4.27864656e+00] [-3.01466810e-03 -7.90470518e-05 9.99995453e-01 3.20093981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.20, Y:-4.27, Z:0.32 [[ 9.98558878e-01 5.35636594e-02 3.33201893e-03 6.51988189e+01] [-5.35636830e-02 9.98564432e-01 -8.21990713e-05 -4.27386170e+00] [-3.33163847e-03 -9.63945933e-05 9.99994445e-01 3.19829487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.23, Y:-4.27, Z:0.32 [[ 9.98607710e-01 5.26252121e-02 3.63723732e-03 6.52279445e+01] [-5.26252467e-02 9.98614328e-01 -8.62551356e-05 -4.26966912e+00] [-3.63673650e-03 -1.05275468e-04 9.99993382e-01 3.20414912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.26, Y:-4.27, Z:0.32 [[ 9.98707804e-01 5.05956563e-02 4.77521189e-03 6.52570136e+01] [-5.05956999e-02 9.98719211e-01 -1.11739496e-04 -4.26739332e+00] [-4.77474939e-03 -1.30010082e-04 9.99988592e-01 3.21058529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.572320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.29, Y:-4.27, Z:0.32 [[ 9.98861271e-01 4.73935343e-02 5.47852079e-03 6.52867040e+01] [-4.73935327e-02 9.98876287e-01 -1.30195696e-04 -4.26748312e+00] [-5.47853493e-03 -1.29599016e-04 9.99984984e-01 3.21356906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.32, Y:-4.27, Z:0.32 [[ 9.99030479e-01 4.36189743e-02 5.95709774e-03 6.53172671e+01] [-4.36189032e-02 9.99048233e-01 -1.41926991e-04 -4.27013530e+00] [-5.95761868e-03 -1.18052680e-04 9.99982246e-01 3.21712850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.35, Y:-4.27, Z:0.32 [[ 9.99404525e-01 3.32831984e-02 9.10075235e-03 6.53482523e+01] [-3.32826052e-02 9.99445957e-01 -2.16663626e-04 -4.27206879e+00] [-9.10292140e-03 -8.63621402e-05 9.99958564e-01 3.22044609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.38, Y:-4.27, Z:0.32 [[ 9.99400153e-01 3.34142477e-02 9.10070672e-03 6.53799328e+01] [-3.34136426e-02 9.99441584e-01 -2.18574706e-04 -4.27278810e+00] [-9.10292825e-03 -8.56441667e-05 9.99958564e-01 3.22204320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.41, Y:-4.27, Z:0.32 [[ 9.99550908e-01 2.86080678e-02 8.91973051e-03 6.54120244e+01] [-2.86072844e-02 9.99590705e-01 -2.15422202e-04 -4.27080457e+00] [-8.92224252e-03 -3.98438103e-05 9.99960195e-01 3.22352080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.44, Y:-4.27, Z:0.32 [[ 9.99652450e-01 2.49407631e-02 8.54035885e-03 6.54441313e+01] [-2.49399014e-02 9.99688931e-01 -2.07409351e-04 -4.26846525e+00] [-8.54287516e-03 -5.65844138e-06 9.99963509e-01 3.21844462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.48, Y:-4.27, Z:0.32 [[ 9.99717149e-01 2.26296377e-02 7.31588313e-03 6.54759949e+01] [-2.26289357e-02 9.99743917e-01 -1.78722402e-04 -4.26791094e+00] [-7.31805408e-03 1.31212011e-05 9.99973223e-01 3.20149262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.782320588000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.51, Y:-4.27, Z:0.32 [[ 9.99784945e-01 2.00414956e-02 5.32935528e-03 6.55079742e+01] [-2.00410818e-02 9.99799149e-01 -1.31055528e-04 -4.27002201e+00] [-5.33091142e-03 2.42212993e-05 9.99985790e-01 3.17401831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.54, Y:-4.27, Z:0.32 [[ 9.99786479e-01 1.99209718e-02 5.49106061e-03 6.55401662e+01] [-1.99205242e-02 9.99801557e-01 -1.36195822e-04 -4.27106223e+00] [-5.49268411e-03 2.67819356e-05 9.99984915e-01 3.17950175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.57, Y:-4.27, Z:0.32 [[ 9.99773180e-01 2.07562228e-02 4.77145812e-03 6.55720174e+01] [-2.07558919e-02 9.99784566e-01 -1.18870907e-04 -4.27151683e+00] [-4.77289750e-03 1.98080764e-05 9.99988609e-01 3.19636378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.60, Y:-4.27, Z:0.32 [[ 9.99748529e-01 2.18449089e-02 5.06735256e-03 6.56041838e+01] [-2.18445465e-02 9.99761371e-01 -1.26862058e-04 -4.27174192e+00] [-5.06891463e-03 1.61361375e-05 9.99987153e-01 3.20831265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.64, Y:-4.27, Z:0.32 [[ 9.99672371e-01 2.44034496e-02 7.72148436e-03 6.56356286e+01] [-2.44026857e-02 9.99702191e-01 -1.93136726e-04 -4.27380873e+00] [-7.72389804e-03 4.64849217e-06 9.99970170e-01 3.21602349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.67, Y:-4.28, Z:0.32 [[ 9.99631734e-01 2.58490923e-02 8.25964321e-03 6.56676031e+01] [-2.58482562e-02 9.99665856e-01 -2.07976658e-04 -4.27538107e+00] [-8.26225931e-03 -5.59730658e-06 9.99965867e-01 3.22284421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.962320588000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.70, Y:-4.28, Z:0.32 [[ 9.99603277e-01 2.68397425e-02 8.53918525e-03 6.57001472e+01] [-2.68388757e-02 9.99639749e-01 -2.16101842e-04 -4.27632522e+00] [-8.54190912e-03 -1.31660229e-05 9.99963517e-01 3.22168948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.73, Y:-4.28, Z:0.32 [[ 9.99589887e-01 2.76738990e-02 7.36296636e-03 6.57326989e+01] [-2.76732694e-02 9.99617004e-01 -1.87399109e-04 -4.27647830e+00] [-7.36533243e-03 -1.64350974e-05 9.99972875e-01 3.22036547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.76, Y:-4.28, Z:0.32 [[ 9.99578635e-01 2.84187392e-02 5.90990743e-03 6.57648204e+01] [-2.84183413e-02 9.99596106e-01 -1.51324468e-04 -4.27620057e+00] [-5.91182090e-03 -1.66890609e-05 9.99982525e-01 3.21495023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.80, Y:-4.28, Z:0.32 [[ 9.99570584e-01 2.90134826e-02 4.10673221e-03 6.57959708e+01] [-2.90132949e-02 9.99579020e-01 -1.05291991e-04 -4.27583087e+00] [-4.10805824e-03 -1.39030557e-05 9.99991562e-01 3.21431821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.83, Y:-4.28, Z:0.32 [[ 9.99562703e-01 2.94419740e-02 2.75206926e-03 6.58268339e+01] [-2.94418906e-02 9.99566491e-01 -7.08448880e-05 -4.27642608e+00] [-2.75296202e-03 -1.02122142e-05 9.99996211e-01 3.23407257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.86, Y:-4.28, Z:0.32 [[ 9.99546505e-01 2.99338986e-02 3.27807029e-03 6.58562029e+01] [-2.99337859e-02 9.99551880e-01 -8.34508530e-05 -4.27665283e+00] [-3.27909934e-03 -1.47120458e-05 9.99994624e-01 3.24054840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.89, Y:-4.28, Z:0.32 [[ 9.99562076e-01 2.92753089e-02 4.31426177e-03 6.58870155e+01] [-2.92751057e-02 9.99571386e-01 -1.10263962e-04 -4.27531509e+00] [-4.31564063e-03 -1.60847942e-05 9.99990687e-01 3.24271476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.92, Y:-4.27, Z:0.32 [[ 9.99667181e-01 2.48455331e-02 6.94460222e-03 6.59188691e+01] [-2.48448941e-02 9.99691302e-01 -1.78273669e-04 -4.27064999e+00] [-6.94688774e-03 5.67642906e-06 9.99975870e-01 3.23496830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.95, Y:-4.27, Z:0.32 [[ 9.99721772e-01 2.25694636e-02 6.85543422e-03 6.59515060e+01] [-2.25687790e-02 9.99745277e-01 -1.77221561e-04 -4.27137865e+00] [-6.85768778e-03 2.24534727e-05 9.99976486e-01 3.22987468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.98, Y:-4.27, Z:0.32 [[ 9.99786674e-01 1.94028698e-02 7.08060268e-03 6.59831723e+01] [-1.94020537e-02 9.99811746e-01 -1.83934890e-04 -4.27458375e+00] [-7.08283859e-03 4.65174181e-05 9.99974915e-01 3.20923002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.02, Y:-4.28, Z:0.32 [[ 9.99852878e-01 1.52530038e-02 7.84654555e-03 6.60150212e+01] [-1.52518665e-02 9.99883663e-01 -2.04763440e-04 -4.27783075e+00] [-7.84875596e-03 8.50588492e-05 9.99969194e-01 3.20671690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.292320588 meters Centerline goodness [0,1] 0.9999508454581203 Centerline is valid? [True, True] Translation: X:66.05, Y:-4.28, Z:0.32 [[ 9.99913062e-01 1.09733650e-02 7.31119268e-03 6.60472761e+01] [-1.09722562e-02 9.99939785e-01 -1.91760972e-04 -4.27871662e+00] [-7.31285670e-03 1.11524022e-04 9.99973254e-01 3.21804838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.08, Y:-4.28, Z:0.32 [[ 9.99969872e-01 5.34118063e-03 5.63273929e-03 6.60794191e+01] [-5.34040946e-03 9.99985728e-01 -1.51940538e-04 -4.27543919e+00] [-5.63347044e-03 1.21854826e-04 9.99984124e-01 3.23244836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.11, Y:-4.28, Z:0.32 [[ 9.99981199e-01 4.06913361e-03 4.58745202e-03 6.61120325e+01] [-4.06861149e-03 9.99991716e-01 -1.23141459e-04 -4.27769310e+00] [-4.58791509e-03 1.04474584e-04 9.99989470e-01 3.22737520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.382320588 meters Centerline goodness [0,1] 0.999950821284548 Centerline is valid? [True, True] Translation: X:66.14, Y:-4.28, Z:0.32 [[ 9.99987219e-01 2.57733053e-03 4.34967959e-03 6.61439059e+01] [-2.57684455e-03 9.99996673e-01 -1.17326629e-04 -4.28151969e+00] [-4.34996751e-03 1.06116682e-04 9.99990533e-01 3.23199834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.18, Y:-4.28, Z:0.32 [[ 9.99983869e-01 1.99444227e-03 5.31825690e-03 6.61761365e+01] [-1.99370468e-03 9.99998002e-01 -1.43988995e-04 -4.28369531e+00] [-5.31853346e-03 1.33383639e-04 9.99985848e-01 3.23915527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.21, Y:-4.28, Z:0.33 [[ 9.99985343e-01 2.10399927e-03 4.98862313e-03 6.62091743e+01] [-2.10334528e-03 9.99997779e-01 -1.36340474e-04 -4.28445398e+00] [-4.98889891e-03 1.25845679e-04 9.99987547e-01 3.25143467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.472320588 meters Centerline goodness [0,1] 0.9999508261211645 Centerline is valid? [True, True] Translation: X:66.24, Y:-4.29, Z:0.33 [[ 9.99984706e-01 3.16693380e-03 4.53419031e-03 6.62414145e+01] [-3.16640292e-03 9.99994979e-01 -1.24258461e-04 -4.28671598e+00] [-4.53456107e-03 1.09899487e-04 9.99989713e-01 3.25706898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.27, Y:-4.29, Z:0.33 [[ 9.99983601e-01 3.46505056e-03 4.55968022e-03 6.62733212e+01] [-3.46451418e-03 9.99993991e-01 -1.25529677e-04 -4.29083398e+00] [-4.56008778e-03 1.09730542e-04 9.99989597e-01 3.25749796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.31, Y:-4.30, Z:0.33 [[ 9.99980729e-01 3.40160600e-03 5.19341853e-03 6.63052365e+01] [-3.40090642e-03 9.99994207e-01 -1.43531875e-04 -4.29512683e+00] [-5.19387668e-03 1.25866779e-04 9.99986504e-01 3.26286960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.562320588 meters Centerline goodness [0,1] 0.9999016812506145 Centerline is valid? [True, True] Translation: X:66.34, Y:-4.30, Z:0.33 [[ 9.99975982e-01 1.36175131e-03 6.79563009e-03 6.63376956e+01] [-1.36047698e-03 9.99999056e-01 -1.92140593e-04 -4.29749687e+00] [-6.79588533e-03 1.82890680e-04 9.99976891e-01 3.26419000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.592320588 meters Centerline goodness [0,1] 0.9999507292077257 Centerline is valid? [True, True] Translation: X:66.37, Y:-4.30, Z:0.33 [[ 9.99977858e-01 4.87040913e-04 6.63668265e-03 6.63698068e+01] [-4.85810914e-04 9.99999865e-01 -1.86944315e-04 -4.29896878e+00] [-6.63677280e-03 1.83716003e-04 9.99977960e-01 3.25960476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.40, Y:-4.30, Z:0.32 [[ 9.99977387e-01 -3.22880574e-04 6.71721132e-03 6.64016420e+01] [ 3.24188720e-04 9.99999929e-01 -1.93657445e-04 -4.30142587e+00] [-6.71714831e-03 1.95830710e-04 9.99977421e-01 3.24311899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.652320588 meters Centerline goodness [0,1] 0.9999509226541029 Centerline is valid? [True, True] Translation: X:66.43, Y:-4.30, Z:0.32 [[ 9.99972952e-01 -1.73614041e-03 7.14715545e-03 6.64333785e+01] [ 1.73767826e-03 9.99998468e-01 -2.08965439e-04 -4.30492725e+00] [-7.14678171e-03 2.21379244e-04 9.99974437e-01 3.23347246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.47, Y:-4.31, Z:0.32 [[ 9.99971920e-01 -2.53450039e-03 7.05231125e-03 6.64653123e+01] [ 2.53603870e-03 9.99996762e-01 -2.09193922e-04 -4.30927041e+00] [-7.05175822e-03 2.27072982e-04 9.99975110e-01 3.23066082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.50, Y:-4.32, Z:0.32 [[ 9.99985853e-01 -3.21780494e-05 5.31916991e-03 6.64978106e+01] [ 3.30215383e-05 9.99999987e-01 -1.58487549e-04 -4.31644773e+00] [-5.31916474e-03 1.58660954e-04 9.99985841e-01 3.24269655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.53, Y:-4.32, Z:0.32 [[ 9.99978311e-01 3.87425535e-03 5.32618612e-03 6.65304457e+01] [-3.87346250e-03 9.99992485e-01 -1.59166755e-04 -4.32135646e+00] [-5.32676275e-03 1.38532521e-04 9.99985803e-01 3.24244653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.772320588 meters Centerline goodness [0,1] 0.9999508840864441 Centerline is valid? [True, True] Translation: X:66.56, Y:-4.33, Z:0.32 [[ 9.99955467e-01 7.49786381e-03 5.73115041e-03 6.65628721e+01] [-7.49700236e-03 9.99971882e-01 -1.71779555e-04 -4.32608138e+00] [-5.73227724e-03 1.28805457e-04 9.99983562e-01 3.24274161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.59, Y:-4.33, Z:0.33 [[ 9.99918185e-01 1.06224821e-02 7.12645239e-03 6.65945792e+01] [-1.06212214e-02 9.99943570e-01 -2.14719333e-04 -4.33040683e+00] [-7.12833110e-03 1.39010137e-04 9.99974583e-01 3.25057126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.63, Y:-4.34, Z:0.33 [[ 9.99798795e-01 1.74956176e-02 9.81182798e-03 6.66266800e+01] [-1.74935506e-02 9.99846932e-01 -2.96450851e-04 -4.33702413e+00] [-9.81551270e-03 1.24747494e-04 9.99951819e-01 3.27058902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.66, Y:-4.34, Z:0.33 [[ 9.99731840e-01 2.11757982e-02 9.37194276e-03 6.66584885e+01] [-2.11740624e-02 9.99775764e-01 -2.84411937e-04 -4.34177526e+00] [-9.37586388e-03 8.58935690e-05 9.99956042e-01 3.26819610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.69, Y:-4.35, Z:0.33 [[ 9.99671392e-01 2.43561473e-02 7.99293507e-03 6.66904805e+01] [-2.43549772e-02 9.99703344e-01 -2.43706025e-04 -4.34664796e+00] [-7.99649965e-03 4.89581895e-05 9.99968026e-01 3.26141010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.72, Y:-4.35, Z:0.33 [[ 9.99636129e-01 2.63182638e-02 5.91265727e-03 6.67228840e+01] [-2.63176522e-02 9.99653614e-01 -1.81233906e-04 -4.35067982e+00] [-5.91537897e-03 2.55607029e-05 9.99982504e-01 3.25511784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.76, Y:-4.35, Z:0.33 [[ 9.99702083e-01 2.40522272e-02 4.15164817e-03 6.67554096e+01] [-2.40519030e-02 9.99710703e-01 -1.27998936e-04 -4.35455613e+00] [-4.15352577e-03 2.81057638e-05 9.99991374e-01 3.27693201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.79, Y:-4.36, Z:0.33 [[ 9.99744816e-01 2.22206766e-02 4.06743518e-03 6.67874013e+01] [-2.22203481e-02 9.99753090e-01 -1.25948213e-04 -4.35778834e+00] [-4.06922954e-03 3.55362478e-05 9.99991720e-01 3.29893943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.82, Y:-4.36, Z:0.33 [[ 9.99760074e-01 2.14520474e-02 4.42763434e-03 6.68192711e+01] [-2.14516483e-02 9.99769877e-01 -1.37612982e-04 -4.36353609e+00] [-4.42956752e-03 4.25999104e-05 9.99990189e-01 3.30800768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.85, Y:-4.37, Z:0.33 [[ 9.99749595e-01 2.20006087e-02 4.08916703e-03 6.68513458e+01] [-2.20002705e-02 9.99757957e-01 -1.27678080e-04 -4.36883241e+00] [-4.09098627e-03 3.76833279e-05 9.99991631e-01 3.30809069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.88, Y:-4.37, Z:0.33 [[ 9.99658740e-01 2.56889617e-02 4.74133754e-03 6.68834166e+01] [-2.56885460e-02 9.99669984e-01 -1.48567339e-04 -4.37010659e+00] [-4.74358936e-03 2.67185718e-05 9.99988749e-01 3.28218406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.92, Y:-4.37, Z:0.33 [[ 9.99567796e-01 2.88282867e-02 5.75768418e-03 6.69158472e+01] [-2.88277221e-02 9.99584378e-01 -1.81040836e-04 -4.37006843e+00] [-5.76051026e-03 1.49816697e-05 9.99983408e-01 3.27041278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.95, Y:-4.37, Z:0.33 [[ 9.99430002e-01 3.27689891e-02 8.11574016e-03 6.69482135e+01] [-3.27679908e-02 9.99462952e-01 -2.55992183e-04 -4.37269358e+00] [-8.11977023e-03 -1.00902309e-05 9.99967034e-01 3.26082153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.98, Y:-4.38, Z:0.33 [[ 9.99308650e-01 3.55666050e-02 1.08276467e-02 6.69800795e+01] [-3.55649792e-02 9.99367307e-01 -3.42729323e-04 -4.37736635e+00] [-1.08329858e-02 -4.25926514e-05 9.99941321e-01 3.26888436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.01, Y:-4.38, Z:0.33 [[ 9.99251129e-01 3.69619347e-02 1.14454075e-02 6.70122677e+01] [-3.69601925e-02 9.99316672e-01 -3.63769587e-04 -4.38295827e+00] [-1.14510322e-02 -5.95272955e-05 9.99934433e-01 3.27757792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.04, Y:-4.39, Z:0.33 [[ 9.99348602e-01 3.51233437e-02 8.28989328e-03 6.70446103e+01] [-3.51223558e-02 9.99382985e-01 -2.64766847e-04 -4.39000379e+00] [-8.29407779e-03 -2.65662035e-05 9.99965603e-01 3.27402737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.08, Y:-4.39, Z:0.33 [[ 9.99457152e-01 3.22690388e-02 6.64155071e-03 6.70772811e+01] [-3.22683322e-02 9.99479219e-01 -2.13536522e-04 -4.39117290e+00] [-6.64498253e-03 -8.91160906e-07 9.99977922e-01 3.26879275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.11, Y:-4.39, Z:0.33 [[ 9.99509298e-01 3.07924723e-02 5.74339386e-03 6.71089686e+01] [-3.07919155e-02 9.99525799e-01 -1.85368147e-04 -4.39177080e+00] [-5.74637828e-03 8.42708783e-06 9.99983489e-01 3.27557210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.14, Y:-4.39, Z:0.33 [[ 9.99539752e-01 2.97629104e-02 5.86966328e-03 6.71410016e+01] [-2.97623065e-02 9.99556986e-01 -1.90215963e-04 -4.39105559e+00] [-5.87272432e-03 1.54336989e-05 9.99982755e-01 3.28897679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.17, Y:-4.39, Z:0.33 [[ 9.99492415e-01 3.12163302e-02 6.36031339e-03 6.71736332e+01] [-3.12156432e-02 9.99512652e-01 -2.07272331e-04 -4.38989035e+00] [-6.36368399e-03 8.62584852e-06 9.99979752e-01 3.32715368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.21, Y:-4.39, Z:0.33 [[ 9.99428351e-01 3.29580349e-02 7.53255329e-03 6.72061366e+01] [-3.29571155e-02 9.99456736e-01 -2.46183272e-04 -4.39205669e+00] [-7.53657485e-03 -2.20868678e-06 9.99971600e-01 3.33516608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.24, Y:-4.40, Z:0.33 [[ 9.99308161e-01 3.62489125e-02 8.31954230e-03 6.72383499e+01] [-3.62478963e-02 9.99342792e-01 -2.72943648e-04 -4.39655499e+00] [-8.32396854e-03 -2.88110915e-05 9.99965355e-01 3.34172324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.27, Y:-4.40, Z:0.33 [[ 9.99201421e-01 3.89635991e-02 8.85206451e-03 6.72708126e+01] [-3.89625450e-02 9.99240629e-01 -2.91565937e-04 -4.40121312e+00] [-8.85670297e-03 -5.35658632e-05 9.99960777e-01 3.33067977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.30, Y:-4.40, Z:0.33 [[ 9.99076248e-01 4.20388816e-02 8.90976950e-03 6.73026806e+01] [-4.20379253e-02 9.99115972e-01 -2.94663674e-04 -4.40404430e+00] [-8.91428035e-03 -8.01567468e-05 9.99960264e-01 3.30876979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.33, Y:-4.40, Z:0.33 [[ 9.99060156e-01 4.28513565e-02 6.52432611e-03 6.73346881e+01] [-4.28508541e-02 9.99081457e-01 -2.16829100e-04 -4.40367413e+00] [-6.52762466e-03 -6.29476318e-05 9.99978693e-01 3.31167464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.37, Y:-4.40, Z:0.33 [[ 9.99024230e-01 4.39351981e-02 4.50399514e-03 6.73664632e+01] [-4.39349660e-02 9.99034382e-01 -1.50497512e-04 -4.40304547e+00] [-4.50625814e-03 -4.75322122e-05 9.99989846e-01 3.31811310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.40, Y:-4.40, Z:0.33 [[ 9.99051283e-01 4.34691641e-02 2.63936934e-03 6.73983318e+01] [-4.34690811e-02 9.99054769e-01 -8.88252019e-05 -4.40260894e+00] [-2.64073569e-03 -2.59900282e-05 9.99996513e-01 3.32782431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.43, Y:-4.40, Z:0.33 [[ 9.99048390e-01 4.35355912e-02 2.63937479e-03 6.74291543e+01] [-4.35355089e-02 9.99051876e-01 -8.86614766e-05 -4.40362255e+00] [-2.64073227e-03 -2.63294193e-05 9.99996513e-01 3.32937836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.46, Y:-4.40, Z:0.33 [[ 9.99032895e-01 4.38884874e-02 2.65993840e-03 6.74601581e+01] [-4.38884045e-02 9.99036436e-01 -8.95258865e-05 -4.40410868e+00] [-2.66130453e-03 -2.73011469e-05 9.99996458e-01 3.33792397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.49, Y:-4.41, Z:0.33 [[ 9.98949208e-01 4.57422186e-02 2.85125464e-03 6.74917051e+01] [-4.57421305e-02 9.98953276e-01 -9.61300476e-05 -4.40665669e+00] [-2.85266736e-03 -3.43934268e-05 9.99995931e-01 3.33446137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.52, Y:-4.41, Z:0.33 [[ 9.98928600e-01 4.61347970e-02 3.63755267e-03 6.75231467e+01] [-4.61346557e-02 9.98935222e-01 -1.22790307e-04 -4.40775244e+00] [-3.63934439e-03 -4.51584909e-05 9.99993377e-01 3.33407565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.55, Y:-4.41, Z:0.33 [[ 9.98923263e-01 4.62531319e-02 3.60023332e-03 6.75547080e+01] [-4.62529934e-02 9.98929750e-01 -1.21775806e-04 -4.40815701e+00] [-3.60201269e-03 -4.48768827e-05 9.99993512e-01 3.34327328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.59, Y:-4.41, Z:0.33 [[ 9.98959419e-01 4.53364319e-02 4.96854937e-03 6.75863183e+01] [-4.53361557e-02 9.98971774e-01 -1.68259021e-04 -4.40537063e+00] [-4.97106884e-03 -5.71709936e-05 9.99987643e-01 3.34824881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.62, Y:-4.41, Z:0.33 [[ 9.98999768e-01 4.46272886e-02 2.80496823e-03 6.76180085e+01] [-4.46271954e-02 9.99003706e-01 -9.58585244e-05 -4.40618593e+00] [-2.80645156e-03 -2.94152215e-05 9.99996061e-01 3.34999755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.65, Y:-4.41, Z:0.33 [[ 9.99058573e-01 4.33407054e-02 1.88438125e-03 6.76488941e+01] [-4.33406610e-02 9.99060350e-01 -6.44061558e-05 -4.40717247e+00] [-1.88540200e-03 -1.73248067e-05 9.99998222e-01 3.34122512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.68, Y:-4.41, Z:0.33 [[ 9.99124052e-01 4.17261824e-02 3.17101952e-03 6.76798696e+01] [-4.17260486e-02 9.99129083e-01 -1.08363552e-04 -4.40716011e+00] [-3.17277942e-03 -2.40454832e-05 9.99994966e-01 3.34096959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.71, Y:-4.41, Z:0.33 [[ 9.99191529e-01 4.00707203e-02 3.25977633e-03 6.77113971e+01] [-4.00705694e-02 9.99196846e-01 -1.11608267e-04 -4.40558181e+00] [-3.26163045e-03 -1.91030591e-05 9.99994681e-01 3.34583134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.74, Y:-4.40, Z:0.34 [[ 9.99226651e-01 3.92693247e-02 2.00491429e-03 6.77428701e+01] [-3.92692655e-02 9.99228663e-01 -6.89075484e-05 -4.40378906e+00] [-2.00607378e-03 -9.87725266e-06 9.99997988e-01 3.36759809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.77, Y:-4.40, Z:0.34 [[ 9.99376471e-01 3.53062432e-02 -3.72214215e-04 6.77734183e+01] [-3.53062409e-02 9.99376540e-01 1.27300787e-05 -4.39988536e+00] [ 3.72431606e-04 4.19343612e-07 9.99999931e-01 3.36883716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.80, Y:-4.40, Z:0.34 [[ 9.99496356e-01 3.17211085e-02 -8.97323459e-04 6.78026827e+01] [-3.17210920e-02 9.99496759e-01 3.26464025e-05 -4.39924699e+00] [ 8.97907469e-04 -4.16588040e-06 9.99999597e-01 3.36048728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.83, Y:-4.40, Z:0.33 [[ 9.99598857e-01 2.83218044e-02 1.44961367e-05 6.78315907e+01] [-2.83218044e-02 9.99598857e-01 1.85292891e-06 -4.39924699e+00] [-1.44378433e-05 -2.26274237e-06 1.00000000e+00 3.34527081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.86, Y:-4.40, Z:0.33 [[ 9.99746409e-01 2.23733011e-02 2.55977053e-03 6.78609263e+01] [-2.23731576e-02 9.99749686e-01 -8.46520849e-05 -4.40120502e+00] [-2.56102373e-03 2.73604683e-05 9.99996720e-01 3.34374492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.89, Y:-4.40, Z:0.34 [[ 9.99821155e-01 1.88518841e-02 1.50477972e-03 6.78924827e+01] [-1.88518296e-02 9.99822287e-01 -5.03798849e-05 -4.40350019e+00] [-1.50546206e-03 2.20030239e-05 9.99998867e-01 3.36096922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.92, Y:-4.41, Z:0.34 [[ 9.99873188e-01 1.58422203e-02 1.62237316e-03 6.79241091e+01] [-1.58421529e-02 9.99874504e-01 -5.43923297e-05 -4.40527870e+00] [-1.62303125e-03 2.86835485e-05 9.99998682e-01 3.37099401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.96, Y:-4.41, Z:0.34 [[ 9.99912955e-01 1.31939459e-02 4.28573932e-05 6.79555361e+01] [-1.31939459e-02 9.99912956e-01 -1.75276514e-06 -4.40669424e+00] [-4.28767885e-05 1.18715445e-06 9.99999999e-01 3.38161530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.99, Y:-4.41, Z:0.34 [[ 9.99945654e-01 1.03731718e-02 -1.04211084e-03 6.79862823e+01] [-1.03731411e-02 9.99946197e-01 3.47976813e-05 -4.40889353e+00] [ 1.04241573e-03 -2.39858274e-05 9.99999456e-01 3.37524476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.02, Y:-4.42, Z:0.34 [[ 9.99966640e-01 8.13956169e-03 6.83205124e-04 6.80156370e+01] [-8.13954825e-03 9.99966873e-01 -2.24513088e-05 -4.41548156e+00] [-6.83365235e-04 1.68895787e-05 9.99999766e-01 3.37448724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.182320588 meters Centerline goodness [0,1] 0.9999508043488956 Centerline is valid? [True, True] Translation: X:68.05, Y:-4.42, Z:0.34 [[ 9.99955328e-01 9.28978023e-03 1.74423718e-03 6.80460909e+01] [-9.28969295e-03 9.99956848e-01 -5.81323848e-05 -4.41787338e+00] [-1.74470195e-03 4.19263601e-05 9.99998477e-01 3.38596926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.212320588 meters Centerline goodness [0,1] 0.9999508527055586 Centerline is valid? [True, True] Translation: X:68.08, Y:-4.42, Z:0.34 [[ 9.99926323e-01 1.17795330e-02 2.93114614e-03 6.80772069e+01] [-1.17792958e-02 9.99930617e-01 -9.81963197e-05 -4.41860802e+00] [-2.93209948e-03 6.36622476e-05 9.99995699e-01 3.39768669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.11, Y:-4.42, Z:0.34 [[ 9.99900100e-01 1.39333000e-02 2.37749078e-03 6.81091303e+01] [-1.39331483e-02 9.99902926e-01 -8.03435967e-05 -4.41960264e+00] [-2.37837944e-03 4.72096387e-05 9.99997171e-01 3.40234406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.272320588 meters Centerline goodness [0,1] 0.99995085995086 Centerline is valid? [True, True] Translation: X:68.14, Y:-4.42, Z:0.34 [[ 9.99875165e-01 1.57908558e-02 5.49900885e-04 6.81411071e+01] [-1.57908477e-02 9.99875317e-01 -1.91560856e-05 -4.42448853e+00] [-5.50134812e-04 1.04702932e-05 9.99999849e-01 3.39923176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.17, Y:-4.44, Z:0.34 [[ 9.99876411e-01 1.56850440e-02 -1.06879041e-03 6.81710542e+01] [-1.56850145e-02 9.99876982e-01 3.59648200e-05 -4.44210063e+00] [ 1.06922304e-03 -1.91963820e-05 9.99999428e-01 3.38724103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.20, Y:-4.45, Z:0.34 [[ 9.99897085e-01 1.43397853e-02 -4.36199213e-04 6.82006210e+01] [-1.43397801e-02 9.99897180e-01 1.49747509e-05 -4.44870006e+00] [ 4.36369097e-04 -8.71820893e-06 9.99999905e-01 3.39707693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.362320588 meters Centerline goodness [0,1] 0.9999507267799951 Centerline is valid? [True, True] Translation: X:68.23, Y:-4.45, Z:0.34 [[ 9.99895180e-01 1.44770917e-02 -2.04993131e-04 6.82313223e+01] [-1.44770906e-02 9.99895201e-01 6.88480580e-06 -4.45124189e+00] [ 2.05071320e-04 -3.91638001e-06 9.99999979e-01 3.41936239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.26, Y:-4.45, Z:0.34 [[ 9.99855811e-01 1.69567616e-02 9.08686256e-04 6.82617044e+01] [-1.69567409e-02 9.99856224e-01 -3.05187221e-05 -4.45199767e+00] [-9.09073108e-04 1.51059642e-05 9.99999587e-01 3.42385889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.29, Y:-4.46, Z:0.34 [[ 9.99654834e-01 2.62436521e-02 1.21834032e-03 6.82923583e+01] [-2.62436217e-02 9.99655576e-01 -4.09186222e-05 -4.45701843e+00] [-1.21899455e-03 8.93083607e-06 9.99999257e-01 3.41908263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.32, Y:-4.46, Z:0.34 [[ 9.99504936e-01 3.14356674e-02 1.29688523e-03 6.83235254e+01] [-3.14356368e-02 9.99505777e-01 -4.39778592e-05 -4.46178216e+00] [-1.29762675e-03 3.18767418e-06 9.99999158e-01 3.41243836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.35, Y:-4.47, Z:0.34 [[ 9.99369789e-01 3.54830328e-02 9.89734899e-04 6.83548106e+01] [-3.54830168e-02 9.99370279e-01 -3.37132458e-05 -4.46538742e+00] [-9.90307890e-04 -1.42678070e-06 9.99999510e-01 3.40634926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.39, Y:-4.47, Z:0.34 [[ 9.99240966e-01 3.89544517e-02 -2.05717115e-04 6.83864921e+01] [-3.89544512e-02 9.99240987e-01 6.61263598e-06 -4.46868817e+00] [ 2.05818565e-04 1.40598054e-06 9.99999979e-01 3.39713844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.42, Y:-4.48, Z:0.34 [[ 9.99050715e-01 4.35544217e-02 -8.25150287e-04 6.84179684e+01] [-4.35544137e-02 9.99051056e-01 2.75960239e-05 -4.47671667e+00] [ 8.25569194e-04 8.36910960e-06 9.99999659e-01 3.40733379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.45, Y:-4.48, Z:0.34 [[ 9.98961657e-01 4.55522156e-02 -7.77467314e-04 6.84483310e+01] [-4.55522089e-02 9.98961959e-01 2.63202216e-05 -4.47989477e+00] [ 7.77859215e-04 9.12246134e-06 9.99999697e-01 3.43130791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.48, Y:-4.48, Z:0.35 [[ 9.98878288e-01 4.73513949e-02 -1.03225454e-04 6.84788685e+01] [-4.73513948e-02 9.98878294e-01 3.49457370e-06 -4.47850624e+00] [ 1.03275139e-04 1.39721544e-06 9.99999995e-01 3.46359254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.51, Y:-4.47, Z:0.35 [[ 9.98746045e-01 5.00257601e-02 1.93916757e-03 6.85103283e+01] [-5.00257260e-02 9.98747927e-01 -6.61188835e-05 -4.47487293e+00] [-1.94004724e-03 -3.09722921e-05 9.99998118e-01 3.48028930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.54, Y:-4.47, Z:0.35 [[ 9.98605473e-01 5.25874018e-02 4.65559966e-03 6.85420441e+01] [-5.25872338e-02 9.98616322e-01 -1.58573469e-04 -4.47110883e+00] [-4.65749678e-03 -8.64727739e-05 9.99989150e-01 3.47756496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.57, Y:-4.47, Z:0.34 [[ 9.98327126e-01 5.75144954e-02 5.91883837e-03 6.85738348e+01] [-5.75143064e-02 9.98344662e-01 -2.02271197e-04 -4.47097388e+00] [-5.92067422e-03 -1.38485062e-04 9.99982463e-01 3.43582630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.61, Y:-4.47, Z:0.34 [[ 9.98260805e-01 5.87831623e-02 4.46158965e-03 6.86056955e+01] [-5.87830637e-02 9.98270769e-01 -1.53346408e-04 -4.47258422e+00] [-4.46288872e-03 -1.09186200e-04 9.99990035e-01 3.41755551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.64, Y:-4.47, Z:0.34 [[ 9.98273193e-01 5.87285951e-02 1.25904324e-03 6.86376567e+01] [-5.87285864e-02 9.98273986e-01 -4.39248342e-05 -4.47243966e+00] [-1.25944975e-03 -3.00928450e-05 9.99999206e-01 3.41565376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.67, Y:-4.47, Z:0.34 [[ 9.98350789e-01 5.73665635e-02 2.18616467e-03 6.86686396e+01] [-5.73665355e-02 9.98353181e-01 -7.55789808e-05 -4.46979071e+00] [-2.18690016e-03 -4.99583578e-05 9.99997607e-01 3.41212795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.70, Y:-4.46, Z:0.35 [[ 9.98647371e-01 5.17676812e-02 4.85133911e-03 6.86998597e+01] [-5.17674775e-02 9.98659151e-01 -1.67635443e-04 -4.46245305e+00] [-4.85351229e-03 -8.37328930e-05 9.99988218e-01 3.46351322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.73, Y:-4.46, Z:0.35 [[ 9.98814492e-01 4.81458740e-02 7.18233328e-03 6.87323818e+01] [-4.81453255e-02 9.98840310e-01 -2.49344029e-04 -4.46038209e+00] [-7.18600888e-03 -9.67473445e-05 9.99974176e-01 3.49110640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.76, Y:-4.46, Z:0.35 [[ 9.98908287e-01 4.57301107e-02 9.53891499e-03 6.87642902e+01] [-4.57290230e-02 9.98953826e-01 -3.32209841e-04 -4.45845707e+00] [-9.54412762e-03 -1.04358100e-04 9.99954448e-01 3.49811586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.80, Y:-4.46, Z:0.35 [[ 9.99079579e-01 4.16380768e-02 1.03085236e-02 6.87962811e+01] [-4.16365750e-02 9.99132757e-01 -3.60340483e-04 -4.45506438e+00] [-1.03145875e-02 -6.92027988e-05 9.99946801e-01 3.45769695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.83, Y:-4.46, Z:0.34 [[ 9.99170459e-01 3.96952880e-02 9.09272283e-03 6.88281270e+01] [-3.96940273e-02 9.99211831e-01 -3.19146370e-04 -4.45744644e+00] [-9.09822483e-03 -4.20451626e-05 9.99958609e-01 3.41979345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.86, Y:-4.46, Z:0.34 [[ 9.99293961e-01 3.68384914e-02 7.38271168e-03 6.88600809e+01] [-3.68375741e-02 9.99321232e-01 -2.60245683e-04 -4.46072879e+00] [-7.38728759e-03 -1.18992492e-05 9.99972714e-01 3.40890487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.89, Y:-4.46, Z:0.34 [[ 9.99392278e-01 3.44178819e-02 5.52131401e-03 6.88920907e+01] [-3.44173268e-02 9.99407529e-01 -1.95544432e-04 -4.46266224e+00] [-5.52477301e-03 5.39672693e-06 9.99984738e-01 3.41886466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.92, Y:-4.46, Z:0.34 [[ 9.99467742e-01 3.23983123e-02 3.81851918e-03 6.89239094e+01] [-3.23980293e-02 9.99475037e-01 -1.35960583e-04 -4.46123198e+00] [-3.82091949e-03 1.21757203e-05 9.99992700e-01 3.44447148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.96, Y:-4.46, Z:0.35 [[ 9.99509543e-01 3.11183437e-02 3.51041702e-03 6.89557274e+01] [-3.11180948e-02 9.99515707e-01 -1.25506906e-04 -4.45876429e+00] [-3.51262251e-03 1.62078606e-05 9.99993831e-01 3.46723696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.99, Y:-4.46, Z:0.35 [[ 9.99604673e-01 2.80876517e-02 1.25762063e-03 6.89883176e+01] [-2.80876166e-02 9.99605464e-01 -4.55520360e-05 -4.46073796e+00] [-1.25840390e-03 1.02104619e-05 9.99999208e-01 3.49830420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.112320588 meters Centerline goodness [0,1] 0.9999508671940255 Centerline is valid? [True, True] Translation: X:69.02, Y:-4.47, Z:0.35 [[ 9.99654524e-01 2.62701579e-02 8.43257639e-04 6.90198360e+01] [-2.62701415e-02 9.99654880e-01 -3.04870169e-05 -4.46762858e+00] [-8.43767512e-04 8.32398686e-06 9.99999644e-01 3.49252173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.05, Y:-4.47, Z:0.35 [[ 9.99679812e-01 2.52627728e-02 1.43701835e-03 6.90505422e+01] [-2.52627244e-02 9.99680845e-01 -5.18108593e-05 -4.47387910e+00] [-1.43786860e-03 1.54912716e-05 9.99998966e-01 3.47833230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.08, Y:-4.48, Z:0.35 [[ 9.99715396e-01 2.38463510e-02 6.92355102e-04 6.90814520e+01] [-2.38463392e-02 9.99715635e-01 -2.51773257e-05 -4.47702517e+00] [-6.92758608e-04 8.66002547e-06 9.99999760e-01 3.46025571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.11, Y:-4.48, Z:0.35 [[ 9.99709524e-01 2.39565335e-02 -2.63667168e-03 6.91122012e+01] [-2.39563672e-02 9.99713001e-01 9.46302299e-05 -4.47680939e+00] [ 2.63818197e-03 -3.14376670e-05 9.99996519e-01 3.46006890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.14, Y:-4.48, Z:0.35 [[ 9.99664857e-01 2.56801660e-02 -3.27143012e-03 6.91409896e+01] [-2.56799166e-02 9.99670210e-01 1.18228782e-04 -4.47964010e+00] [ 3.27338737e-03 -3.41791057e-05 9.99994642e-01 3.47387944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.17, Y:-4.49, Z:0.35 [[ 9.99576645e-01 2.89825611e-02 -2.55785842e-03 6.91697722e+01] [-2.89824225e-02 9.99579917e-01 9.12507073e-05 -4.48527342e+00] [ 2.55942859e-03 -1.70791423e-05 9.99996725e-01 3.50589283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.20, Y:-4.49, Z:0.35 [[ 9.99464767e-01 3.27135431e-02 -5.23158658e-05 6.91988431e+01] [-3.27135429e-02 9.99464769e-01 4.21196289e-06 -4.49106284e+00] [ 5.24256530e-05 -2.49827119e-06 9.99999999e-01 3.53321190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.23, Y:-4.49, Z:0.35 [[ 9.99323497e-01 3.67194571e-02 2.05655153e-03 6.92296729e+01] [-3.67193880e-02 9.99325613e-01 -7.13537630e-05 -4.49412971e+00] [-2.05778469e-03 -4.20982148e-06 9.99997883e-01 3.53559901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.26, Y:-4.50, Z:0.35 [[ 9.99050624e-01 4.33604530e-02 4.20966886e-03 6.92608664e+01] [-4.33602198e-02 9.99059493e-01 -1.46679779e-04 -4.49646449e+00] [-4.21206974e-03 -3.59916426e-05 9.99991129e-01 3.47629863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.29, Y:-4.50, Z:0.34 [[ 9.98934117e-01 4.59525621e-02 4.35798308e-03 6.92924733e+01] [-4.59523328e-02 9.98943622e-01 -1.52771781e-04 -4.50085153e+00] [-4.36039965e-03 -4.76505447e-05 9.99990492e-01 3.44943467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.32, Y:-4.51, Z:0.35 [[ 9.98810586e-01 4.86481252e-02 3.28229204e-03 6.93247931e+01] [-4.86480077e-02 9.98815978e-01 -1.15671970e-04 -4.50522843e+00] [-3.28403296e-03 -4.41425808e-05 9.99994607e-01 3.46532939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.36, Y:-4.51, Z:0.35 [[ 9.98714836e-01 5.06665604e-02 1.25546517e-03 6.93573341e+01] [-5.06665441e-02 9.98715625e-01 -4.48333015e-05 -4.50650254e+00] [-1.25612423e-03 -1.88343978e-05 9.99999211e-01 3.49851982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.39, Y:-4.51, Z:0.35 [[ 9.98711442e-01 5.07334220e-02 1.25547422e-03 6.93881542e+01] [-5.07334061e-02 9.98712231e-01 -4.45753982e-05 -4.50757173e+00] [-1.25611892e-03 -1.91765233e-05 9.99999211e-01 3.50007409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.42, Y:-4.50, Z:0.36 [[ 9.98439998e-01 5.58259773e-02 -1.01496659e-03 6.94192461e+01] [-5.58259699e-02 9.98440514e-01 3.56292603e-05 -4.50086967e+00] [ 1.01537280e-03 2.10878157e-05 9.99999484e-01 3.55949005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.45, Y:-4.50, Z:0.36 [[ 9.98324941e-01 5.78556354e-02 -1.93867679e-04 6.94502553e+01] [-5.78556352e-02 9.98324960e-01 6.83756957e-06 -4.49950449e+00] [ 1.93938535e-04 4.39022149e-06 9.99999981e-01 3.55404223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.48, Y:-4.50, Z:0.35 [[ 9.98228315e-01 5.94331911e-02 2.81541379e-03 6.94803162e+01] [-5.94331480e-02 9.98232283e-01 -9.90397208e-05 -4.49978092e+00] [-2.81632319e-03 -6.84646511e-05 9.99996032e-01 3.53461616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.51, Y:-4.50, Z:0.35 [[ 9.97965637e-01 6.37257997e-02 1.89992484e-03 6.95120466e+01] [-6.37257851e-02 9.97967444e-01 -6.82900122e-05 -4.49947461e+00] [-1.90041498e-03 -5.29231168e-05 9.99998193e-01 3.51970189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.54, Y:-4.50, Z:0.35 [[ 9.97830632e-01 6.58126182e-02 1.65198111e-03 6.95435358e+01] [-6.58126107e-02 9.97831998e-01 -5.89699649e-05 -4.49822744e+00] [-1.65228058e-03 -4.98791523e-05 9.99998634e-01 3.50924240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.57, Y:-4.50, Z:0.35 [[ 9.97734490e-01 6.72744222e-02 2.01312906e-04 6.95745988e+01] [-6.72744221e-02 9.97734510e-01 -7.48442186e-06 -4.49651040e+00] [-2.01360344e-04 -6.07574360e-06 9.99999980e-01 3.52187304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.61, Y:-4.49, Z:0.36 [[ 9.97580329e-01 6.93935605e-02 4.24503679e-03 6.96051877e+01] [-6.93935457e-02 9.97589351e-01 -1.50955869e-04 -4.49122505e+00] [-4.24527886e-03 -1.43987549e-04 9.99990978e-01 3.55588058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.64, Y:-4.49, Z:0.36 [[ 9.97538568e-01 6.98445561e-02 6.20827795e-03 6.96365478e+01] [-6.98445287e-02 9.97557864e-01 -2.21488080e-04 -4.48667821e+00] [-6.20858623e-03 -2.12671345e-04 9.99980704e-01 3.57494092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.67, Y:-4.48, Z:0.36 [[ 9.97513468e-01 7.01275528e-02 7.00048722e-03 6.96692009e+01] [-7.01275166e-02 9.97538004e-01 -2.50939160e-04 -4.48163335e+00] [-7.00084980e-03 -2.40611592e-04 9.99975465e-01 3.57869611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.70, Y:-4.48, Z:0.35 [[ 9.97657960e-01 6.80291262e-02 7.11567806e-03 6.97016330e+01] [-6.80290289e-02 9.97683309e-01 -2.55992327e-04 -4.47574272e+00] [-7.11660817e-03 -2.28679886e-04 9.99974650e-01 3.53270737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.73, Y:-4.48, Z:0.35 [[ 9.97815831e-01 6.55760847e-02 7.95896244e-03 6.97341509e+01] [-6.55758774e-02 9.97847544e-01 -2.87289572e-04 -4.47574451e+00] [-7.96067045e-03 -2.35253862e-04 9.99968286e-01 3.52172714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.77, Y:-4.47, Z:0.35 [[ 9.97941140e-01 6.35417530e-02 8.71354827e-03 6.97668309e+01] [-6.35414137e-02 9.97979153e-01 -3.16054146e-04 -4.47498953e+00] [-8.71602216e-03 -2.38267741e-04 9.99961986e-01 3.53201985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.80, Y:-4.47, Z:0.36 [[ 9.98267151e-01 5.78335834e-02 1.08615141e-02 6.97989224e+01] [-5.78327065e-02 9.98326210e-01 -3.95058747e-04 -4.47174444e+00] [-1.08661819e-02 -2.33776589e-04 9.99940934e-01 3.55262236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.83, Y:-4.47, Z:0.36 [[ 9.98420947e-01 5.54789602e-02 8.81462335e-03 6.98307948e+01] [-5.54782795e-02 9.98459842e-01 -3.21908519e-04 -4.47120073e+00] [-8.81890659e-03 -1.67619929e-04 9.99961099e-01 3.56858302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.86, Y:-4.47, Z:0.36 [[ 9.98512457e-01 5.40975799e-02 6.80622323e-03 6.98632365e+01] [-5.40971346e-02 9.98535647e-01 -2.49632073e-04 -4.47084227e+00] [-6.80976101e-03 -1.18936440e-04 9.99976806e-01 3.56373534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.90, Y:-4.46, Z:0.35 [[ 9.98601974e-01 5.28132057e-02 2.20507660e-03 6.98956500e+01] [-5.28131542e-02 9.98604408e-01 -8.16296141e-05 -4.46420788e+00] [-2.20631034e-03 -3.49415567e-05 9.99997565e-01 3.52187937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.93, Y:-4.46, Z:0.35 [[ 9.98563301e-01 5.34895224e-02 3.19440634e-03 6.99250525e+01] [-5.34894226e-02 9.98568409e-01 -1.16726035e-04 -4.46058343e+00] [-3.19607688e-03 -5.43086164e-05 9.99994891e-01 3.49732039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.96, Y:-4.46, Z:0.35 [[ 9.98476200e-01 5.49980288e-02 4.52712187e-03 6.99556700e+01] [-5.49978418e-02 9.98486460e-01 -1.65899229e-04 -4.45946625e+00] [-4.52939401e-03 -8.33354998e-05 9.99989739e-01 3.50226292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.99, Y:-4.46, Z:0.35 [[ 9.98319304e-01 5.75093112e-02 7.15860819e-03 6.99858201e+01] [-5.75089080e-02 9.98344959e-01 -2.62331701e-04 -4.46050129e+00] [-7.16184691e-03 -1.49792938e-04 9.99974342e-01 3.53041161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.02, Y:-4.46, Z:0.36 [[ 9.98233383e-01 5.90709866e-02 6.38216521e-03 7.00182214e+01] [-5.90706882e-02 9.98253775e-01 -2.35401753e-04 -4.45677003e+00] [-6.38492593e-03 -1.42013003e-04 9.99979606e-01 3.59371193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.05, Y:-4.45, Z:0.36 [[ 9.98249736e-01 5.89042706e-02 5.26792131e-03 7.00497211e+01] [-5.89040644e-02 9.98263629e-01 -1.94435104e-04 -4.45202168e+00] [-5.27022730e-03 -1.16207184e-04 9.99986106e-01 3.58824769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.08, Y:-4.45, Z:0.36 [[ 9.98316219e-01 5.78001202e-02 4.88593118e-03 7.00808495e+01] [-5.77999311e-02 9.98328170e-01 -1.80025148e-04 -4.44720544e+00] [-4.88816821e-03 -1.02684461e-04 9.99988048e-01 3.56218897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.11, Y:-4.44, Z:0.35 [[ 9.98495849e-01 5.38789013e-02 1.01540137e-02 7.01113345e+01] [-5.38778817e-02 9.98547462e-01 -3.74130899e-04 -4.44210411e+00] [-1.01594224e-02 -1.73508601e-04 9.99948377e-01 3.52695828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.14, Y:-4.44, Z:0.35 [[ 9.98596351e-01 5.16820996e-02 1.15883221e-02 7.01437895e+01] [-5.16805980e-02 9.98663573e-01 -4.29195448e-04 -4.44155073e+00] [-1.15950169e-02 -1.70298408e-04 9.99932761e-01 3.54092030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.18, Y:-4.44, Z:0.36 [[ 9.98749075e-01 4.86626330e-02 1.14992967e-02 7.01764068e+01] [-4.86609367e-02 9.98815263e-01 -4.27419517e-04 -4.44028740e+00] [-1.15064725e-02 -1.32681704e-04 9.99933790e-01 3.56419125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.21, Y:-4.44, Z:0.36 [[ 9.98910795e-01 4.55894568e-02 9.94106257e-03 7.02085931e+01] [-4.55880230e-02 9.98960257e-01 -3.70908254e-04 -4.43916223e+00] [-9.94763593e-03 -8.26891295e-05 9.99950518e-01 3.57131922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.24, Y:-4.44, Z:0.35 [[ 9.99260321e-01 3.78881897e-02 6.57997297e-03 7.02408853e+01] [-3.78873872e-02 9.99281985e-01 -2.46613519e-04 -4.43545484e+00] [-6.58459219e-03 -2.86687932e-06 9.99978321e-01 3.53926079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.27, Y:-4.43, Z:0.35 [[ 9.99392403e-01 3.39299453e-02 7.97391684e-03 7.02722058e+01] [-3.39286405e-02 9.99424213e-01 -2.98892474e-04 -4.43226692e+00] [-7.97946697e-03 2.81667099e-05 9.99968163e-01 3.54048679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.30, Y:-4.43, Z:0.35 [[ 9.99478691e-01 3.03556336e-02 1.09946430e-02 7.03045728e+01] [-3.03529184e-02 9.99539158e-01 -4.13772079e-04 -4.42972428e+00] [-1.10021365e-02 7.98368752e-05 9.99939471e-01 3.53962863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.34, Y:-4.43, Z:0.36 [[ 9.99619422e-01 2.44514486e-02 1.27725292e-02 7.03365401e+01] [-2.44472827e-02 9.99701004e-01 -4.82212681e-04 -4.43128455e+00] [-1.27805010e-02 1.69775530e-04 9.99918312e-01 3.56332306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.37, Y:-4.43, Z:0.36 [[ 9.99698386e-01 2.20611209e-02 1.07909168e-02 7.03693364e+01] [-2.20579815e-02 9.99756609e-01 -4.09876860e-04 -4.43459002e+00] [-1.07973327e-02 1.71727393e-04 9.99941692e-01 3.56566990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.40, Y:-4.44, Z:0.36 [[ 9.99747039e-01 2.04491622e-02 9.36432583e-03 7.04026288e+01] [-2.04467095e-02 9.99790880e-01 -3.57591121e-04 -4.43675674e+00] [-9.36968000e-03 1.66031015e-04 9.99956090e-01 3.55623845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.43, Y:-4.44, Z:0.35 [[ 9.99807685e-01 1.75284469e-02 8.79470825e-03 7.04347726e+01] [-1.75261631e-02 9.99846348e-01 -3.36682835e-04 -4.43590192e+00] [-8.79925846e-03 1.82480594e-04 9.99961269e-01 3.52941589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.47, Y:-4.44, Z:0.35 [[ 9.99839779e-01 1.53025206e-02 9.28701595e-03 7.04672470e+01] [-1.52998677e-02 9.99882887e-01 -3.56645217e-04 -4.43823485e+00] [-9.29138589e-03 2.14497960e-04 9.99956811e-01 3.52793231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.522320588 meters Centerline goodness [0,1] 0.9999508816739525 Centerline is valid? [True, True] Translation: X:70.50, Y:-4.44, Z:0.35 [[ 9.99899516e-01 1.23353242e-02 6.98553640e-03 7.04990115e+01] [-1.23337437e-02 9.99923900e-01 -2.69284328e-04 -4.44355772e+00] [-6.98832651e-03 1.83099453e-04 9.99975565e-01 3.53292910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.53, Y:-4.46, Z:0.35 [[ 9.99975215e-01 5.76103245e-03 4.04719120e-03 7.05309886e+01] [-5.76044509e-03 9.99983396e-01 -1.56770195e-04 -4.45547555e+00] [-4.04802716e-03 1.33452687e-04 9.99991798e-01 3.54072815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.56, Y:-4.46, Z:0.35 [[ 9.99973545e-01 3.09820156e-03 6.58110292e-03 7.05629631e+01] [-3.09658804e-03 9.99995173e-01 -2.55350162e-04 -4.45903451e+00] [-6.58186227e-03 2.34964443e-04 9.99978312e-01 3.54817012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.612320588 meters Centerline goodness [0,1] 0.9999508792612241 Centerline is valid? [True, True] Translation: X:70.59, Y:-4.46, Z:0.36 [[ 9.99954755e-01 1.43617132e-03 9.40350675e-03 7.05946806e+01] [-1.43275837e-03 9.99998905e-01 -3.69671486e-04 -4.46127429e+00] [-9.40402737e-03 3.56181807e-04 9.99955718e-01 3.55232269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.642320588 meters Centerline goodness [0,1] 0.9999508261211645 Centerline is valid? [True, True] Translation: X:70.63, Y:-4.46, Z:0.36 [[ 9.99933145e-01 5.99830241e-04 1.15475080e-02 7.06271265e+01] [-5.94574765e-04 9.99999718e-01 -4.58545436e-04 -4.46407967e+00] [-1.15477797e-02 4.51648923e-04 9.99933220e-01 3.56098988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.66, Y:-4.47, Z:0.36 [[ 9.99951999e-01 1.99605594e-04 9.79592918e-03 7.06600609e+01] [-1.95752005e-04 9.99999903e-01 -3.94344052e-04 -4.47185210e+00] [-9.79600694e-03 3.92407550e-04 9.99951941e-01 3.56636456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.702320588 meters Centerline goodness [0,1] 0.9998524711089255 Centerline is valid? [True, True] Translation: X:70.69, Y:-4.48, Z:0.35 [[ 9.99953499e-01 4.11389540e-04 9.63487974e-03 7.06929653e+01] [-4.07626609e-04 9.99999840e-01 -3.92513501e-04 -4.47823742e+00] [-9.63503967e-03 3.88567815e-04 9.99953506e-01 3.54635402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73232058800001 meters Centerline goodness [0,1] 0.9999016957483411 Centerline is valid? [True, True] Translation: X:70.73, Y:-4.49, Z:0.35 [[ 9.99960363e-01 1.51684458e-03 8.77334323e-03 7.07250724e+01] [-1.51377161e-03 9.99998791e-01 -3.56891664e-04 -4.48507379e+00] [-8.77387396e-03 3.43596680e-04 9.99961450e-01 3.53830071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.76, Y:-4.50, Z:0.35 [[ 9.99943634e-01 4.16020823e-03 9.76844389e-03 7.07572356e+01] [-4.15650933e-03 9.99991282e-01 -3.98929886e-04 -4.49665083e+00] [-9.77001836e-03 3.58304771e-04 9.99952208e-01 3.53813805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.792320588 meters Centerline goodness [0,1] 0.9999507898233355 Centerline is valid? [True, True] Translation: X:70.79, Y:-4.50, Z:0.35 [[ 9.99935105e-01 5.28646864e-03 1.00914853e-02 7.07890347e+01] [-5.28256767e-03 9.99985962e-01 -4.13176535e-04 -4.50359098e+00] [-1.00935279e-02 3.59840768e-04 9.99948994e-01 3.54442157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.822320588 meters Centerline goodness [0,1] 0.9999507946661418 Centerline is valid? [True, True] Translation: X:70.82, Y:-4.51, Z:0.35 [[ 9.99927292e-01 5.92196794e-03 1.05043438e-02 7.08205746e+01] [-5.91776288e-03 9.99982397e-01 -4.31352743e-04 -4.50974372e+00] [-1.05067134e-02 3.69159164e-04 9.99944735e-01 3.54998782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.852320588 meters Centerline goodness [0,1] 0.9999508671940255 Centerline is valid? [True, True] Translation: X:70.85, Y:-4.52, Z:0.35 [[ 9.99916039e-01 9.18067534e-03 9.14493360e-03 7.08525982e+01] [-9.17761333e-03 9.99957814e-01 -3.76740967e-04 -4.51997980e+00] [-9.14800654e-03 2.92780671e-04 9.99958113e-01 3.54882136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.88, Y:-4.53, Z:0.35 [[ 9.99880577e-01 1.26243062e-02 8.91399780e-03 7.08841990e+01] [-1.26215235e-02 9.99920278e-01 -3.68358246e-04 -4.52672987e+00] [-8.91793743e-03 2.55806023e-04 9.99960202e-01 3.54866319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.92, Y:-4.53, Z:0.36 [[ 9.99833845e-01 1.66236608e-02 7.47901216e-03 7.09160590e+01] [-1.66218059e-02 9.99861800e-01 -3.10117716e-04 -4.53349285e+00] [-7.48313386e-03 1.85751500e-04 9.99971984e-01 3.55444203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.95, Y:-4.54, Z:0.36 [[ 9.99746739e-01 2.14932693e-02 6.67067493e-03 7.09485398e+01] [-2.14918934e-02 9.99768984e-01 -2.77888245e-04 -4.54068508e+00] [-6.67510662e-03 1.34452432e-04 9.99977712e-01 3.55631138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.98, Y:-4.55, Z:0.36 [[ 9.99534135e-01 2.98892209e-02 6.17639961e-03 7.09804777e+01] [-2.98881972e-02 9.99553215e-01 -2.58008988e-04 -4.54783715e+00] [-6.18135177e-03 7.32873414e-05 9.99980893e-01 3.56243125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.01, Y:-4.55, Z:0.36 [[ 9.99405896e-01 3.34000416e-02 8.50243491e-03 7.10121977e+01] [-3.33982210e-02 9.99442060e-01 -3.56060991e-04 -4.54893134e+00] [-8.50958352e-03 7.18832536e-05 9.99963790e-01 3.56419834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.05, Y:-4.55, Z:0.36 [[ 9.99260775e-01 3.70823752e-02 1.01390405e-02 7.10453573e+01] [-3.70799531e-02 9.99312211e-01 -4.26828161e-04 -4.55057151e+00] [-1.01478948e-02 5.05574926e-05 9.99948508e-01 3.56886909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.062320588 meters Centerline goodness [0,1] 0.9999508671940255 Centerline is valid? [True, True] Translation: X:71.08, Y:-4.55, Z:0.36 [[ 9.99152565e-01 3.91692721e-02 1.26459852e-02 7.10773372e+01] [-3.91656574e-02 9.99232589e-01 -5.33460061e-04 -4.55343015e+00] [-1.26571758e-02 3.77196633e-05 9.99919894e-01 3.56881370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.11, Y:-4.56, Z:0.36 [[ 9.98989185e-01 4.37125883e-02 1.04793957e-02 7.11094369e+01] [-4.37103402e-02 9.99044148e-01 -4.43576125e-04 -4.55936470e+00] [-1.04887688e-02 -1.49301977e-05 9.99944991e-01 3.57055448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.14, Y:-4.56, Z:0.36 [[ 9.98972816e-01 4.47304028e-02 7.24591492e-03 7.11419780e+01] [-4.47293432e-02 9.98999094e-01 -3.08300671e-04 -4.56205469e+00] [-7.25245286e-03 -1.61210263e-05 9.99973700e-01 3.56806627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.17, Y:-4.56, Z:0.36 [[ 9.98915443e-01 4.61967823e-02 5.81327097e-03 7.11738393e+01] [-4.61961205e-02 9.98932359e-01 -2.48126179e-04 -4.56468430e+00] [-5.81852711e-03 -2.06934942e-05 9.99983072e-01 3.55346027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.21, Y:-4.57, Z:0.35 [[ 9.98907524e-01 4.62257123e-02 6.85148784e-03 7.12059054e+01] [-4.62247882e-02 9.98931020e-01 -2.93253506e-04 -4.56657670e+00] [-6.85771959e-03 -2.37754409e-05 9.99976485e-01 3.53459793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.24, Y:-4.57, Z:0.35 [[ 9.98890721e-01 4.66027456e-02 6.74617185e-03 7.12384301e+01] [-4.66018465e-02 9.98913502e-01 -2.90490377e-04 -4.56756211e+00] [-6.75237979e-03 -2.42159228e-05 9.99977202e-01 3.53929077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.27, Y:-4.57, Z:0.35 [[ 9.98801931e-01 4.84048155e-02 7.18868588e-03 7.12709500e+01] [-4.84038374e-02 9.98827799e-01 -3.10088655e-04 -4.56782384e+00] [-7.19526908e-03 -3.82428345e-05 9.99974113e-01 3.54052332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.30, Y:-4.57, Z:0.36 [[ 9.98467829e-01 5.41807492e-02 1.12446154e-02 7.13033939e+01] [-5.41787093e-02 9.98531137e-01 -4.86172445e-04 -4.56584048e+00] [-1.12544398e-02 -1.23791204e-04 9.99936659e-01 3.55603440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.34, Y:-4.57, Z:0.36 [[ 9.98242292e-01 5.80377614e-02 1.19976993e-02 7.13353802e+01] [-5.80356990e-02 9.98314373e-01 -5.20280748e-04 -4.56563759e+00] [-1.20076716e-02 -1.76928618e-04 9.99927890e-01 3.57284664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.37, Y:-4.57, Z:0.36 [[ 9.98072832e-01 6.09986534e-02 1.13923617e-02 7.13680252e+01] [-6.09969688e-02 9.98137828e-01 -4.95591408e-04 -4.56615185e+00] [-1.14013776e-02 -2.00263210e-04 9.99934982e-01 3.56540393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.40, Y:-4.57, Z:0.36 [[ 9.97899327e-01 6.42161702e-02 8.55665227e-03 7.14005319e+01] [-6.42153271e-02 9.97935996e-01 -3.73519289e-04 -4.56679481e+00] [-8.56297729e-03 -1.76733578e-04 9.99963321e-01 3.56472495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.43, Y:-4.57, Z:0.35 [[ 9.97681301e-01 6.79090253e-02 4.51506756e-03 7.14326636e+01] [-6.79088241e-02 9.97691512e-01 -1.98012066e-04 -4.56886364e+00] [-4.51809139e-03 -1.09059994e-04 9.99989787e-01 3.54385086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.46, Y:-4.57, Z:0.35 [[ 9.97672296e-01 6.80411996e-02 4.51504135e-03 7.14643172e+01] [-6.80409971e-02 9.97682506e-01 -1.98609710e-04 -4.57021783e+00] [-4.51809142e-03 -1.09060511e-04 9.99989787e-01 3.54544756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.50, Y:-4.57, Z:0.35 [[ 9.97708167e-01 6.74295076e-02 5.62799750e-03 7.14967524e+01] [-6.74291800e-02 9.97724032e-01 -2.48152527e-04 -4.57143596e+00] [-5.63192116e-03 -1.31907454e-04 9.99984132e-01 3.53914443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.53, Y:-4.57, Z:0.35 [[ 9.97786355e-01 6.60719698e-02 7.54218140e-03 7.15287077e+01] [-6.60713338e-02 9.97814846e-01 -3.33726579e-04 -4.57120736e+00] [-7.54775054e-03 -1.65334158e-04 9.99971502e-01 3.54131922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.56, Y:-4.57, Z:0.35 [[ 9.97777283e-01 6.60265356e-02 8.99949393e-03 7.15608757e+01] [-6.60256202e-02 9.97817848e-01 -3.99102268e-04 -4.57124709e+00] [-9.00620700e-03 -1.95981992e-04 9.99959424e-01 3.54168169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.59, Y:-4.57, Z:0.35 [[ 9.97788067e-01 6.53735548e-02 1.20528739e-02 7.15930057e+01] [-6.53718488e-02 9.97860829e-01 -5.35880560e-04 -4.56836989e+00] [-1.20621232e-02 -2.53223424e-04 9.99927218e-01 3.52514008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.63, Y:-4.57, Z:0.35 [[ 9.97734665e-01 6.61153909e-02 1.24214818e-02 7.16251775e+01] [-6.61136162e-02 9.97811948e-01 -5.53901372e-04 -4.56756304e+00] [-1.24309243e-02 -2.68582478e-04 9.99922697e-01 3.53027515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.66, Y:-4.57, Z:0.35 [[ 9.97662834e-01 6.73985033e-02 1.12388070e-02 7.16577666e+01] [-6.73971021e-02 9.97726103e-01 -5.03800900e-04 -4.56675754e+00] [-1.12472065e-02 -2.54839590e-04 9.99936716e-01 3.53895672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.69, Y:-4.56, Z:0.36 [[ 9.97318914e-01 7.30787234e-02 3.80568070e-03 7.16898966e+01] [-7.30786009e-02 9.97326170e-01 -1.71413934e-04 -4.56452913e+00] [-3.80803167e-03 -1.07159463e-04 9.99992744e-01 3.55244535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.72, Y:-4.56, Z:0.35 [[ 9.97070081e-01 7.64745202e-02 1.70304464e-03 7.17214364e+01] [-7.64745004e-02 9.97071534e-01 -7.68489565e-05 -4.56222779e+00] [-1.70393432e-03 -5.36156926e-05 9.99998547e-01 3.54578577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.75, Y:-4.56, Z:0.35 [[ 9.96915790e-01 7.84635540e-02 1.54202821e-03 7.17513372e+01] [-7.84635413e-02 9.96916981e-01 -6.88627706e-05 -4.55749948e+00] [-1.54267733e-03 -5.23426109e-05 9.99998809e-01 3.53793962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.78, Y:-4.55, Z:0.35 [[ 9.96888243e-01 7.84236881e-02 7.97225096e-03 7.17817029e+01] [-7.84233391e-02 9.96920083e-01 -3.56859179e-04 -4.54901202e+00] [-7.97568331e-03 -2.69461821e-04 9.99968157e-01 3.53113656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.81, Y:-4.55, Z:0.35 [[ 9.96943063e-01 7.73911315e-02 1.07304275e-02 7.18138996e+01] [-7.73904128e-02 9.97000748e-01 -4.82809256e-04 -4.55068231e+00] [-1.07356094e-02 -3.49098879e-04 9.99942311e-01 3.53601455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.85, Y:-4.55, Z:0.35 [[ 9.97070422e-01 7.55957121e-02 1.16559521e-02 7.18456727e+01] [-7.55947245e-02 9.97138486e-01 -5.25917468e-04 -4.55402873e+00] [-1.16623555e-02 -3.56751735e-04 9.99931929e-01 3.54741613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.88, Y:-4.56, Z:0.35 [[ 9.97234195e-01 7.34800308e-02 1.11645056e-02 7.18777667e+01] [-7.34789755e-02 9.97296638e-01 -5.05238528e-04 -4.55634117e+00] [-1.11714489e-02 -3.16515299e-04 9.99937547e-01 3.54839384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.91, Y:-4.55, Z:0.35 [[ 9.97665988e-01 6.77562991e-02 8.46524012e-03 7.19093668e+01] [-6.77554830e-02 9.97701883e-01 -3.83481389e-04 -4.54930394e+00] [-8.47176929e-03 -1.90980094e-04 9.99964096e-01 3.54433913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.94, Y:-4.54, Z:0.35 [[ 9.97839949e-01 6.52804296e-02 7.34174635e-03 7.19418844e+01] [-6.52797388e-02 9.97866947e-01 -3.33951762e-04 -4.54466976e+00] [-7.34788653e-03 -1.46036875e-04 9.99972993e-01 3.54910465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.97, Y:-4.54, Z:0.36 [[ 9.98017561e-01 6.24920252e-02 7.46284181e-03 7.19744425e+01] [-6.24912259e-02 9.98045455e-01 -3.40465894e-04 -4.54142957e+00] [-7.46953175e-03 -1.26571192e-04 9.99972095e-01 3.55399156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.01, Y:-4.54, Z:0.36 [[ 9.98258170e-01 5.87451150e-02 5.44399705e-03 7.20068396e+01] [-5.87446290e-02 9.98273012e-01 -2.49273981e-04 -4.53943497e+00] [-5.44923896e-03 -7.09657992e-05 9.99985150e-01 3.56251178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.04, Y:-4.54, Z:0.36 [[ 9.98379015e-01 5.68241490e-02 3.21835738e-03 7.20376695e+01] [-5.68239687e-02 9.98384202e-01 -1.47515178e-04 -4.54142339e+00] [-3.22153959e-03 -3.56037815e-05 9.99994810e-01 3.55419606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.07, Y:-4.54, Z:0.35 [[ 9.98476408e-01 5.51458297e-02 1.94954138e-03 7.20678965e+01] [-5.51457607e-02 9.98478311e-01 -8.91549551e-05 -4.54342114e+00] [-1.95149131e-03 -1.84898231e-05 9.99998096e-01 3.54640516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.10, Y:-4.54, Z:0.35 [[ 9.98566532e-01 5.33582478e-02 4.21638725e-03 7.20979551e+01] [-5.33579119e-02 9.98575433e-01 -1.92203768e-04 -4.54408356e+00] [-4.22063638e-03 -3.30493687e-05 9.99991093e-01 3.53771924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.13, Y:-4.54, Z:0.36 [[ 9.98622258e-01 5.15160101e-02 9.98434348e-03 7.21289935e+01] [-5.15140213e-02 9.98672167e-01 -4.56432107e-04 -4.54015144e+00] [-9.99459950e-03 -5.85304214e-05 9.99950051e-01 3.55177936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.16, Y:-4.54, Z:0.35 [[ 9.98698001e-01 4.98160335e-02 1.09847653e-02 7.21612746e+01] [-4.98135020e-02 9.98758410e-01 -5.04112801e-04 -4.53859493e+00] [-1.09962396e-02 -4.37331819e-05 9.99939539e-01 3.54935144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.19, Y:-4.54, Z:0.35 [[ 9.98840181e-01 4.71255507e-02 9.87297665e-03 7.21938603e+01] [-4.71233605e-02 9.98888974e-01 -4.54472614e-04 -4.53870862e+00] [-9.88342479e-03 -1.13023302e-05 9.99951158e-01 3.54894677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.23, Y:-4.54, Z:0.35 [[ 9.98990825e-01 4.45099755e-02 6.01615016e-03 7.22255242e+01] [-4.45091085e-02 9.99008940e-01 -2.77991486e-04 -4.54161598e+00] [-6.02256119e-03 9.93746314e-06 9.99981864e-01 3.54721608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.26, Y:-4.55, Z:0.35 [[ 9.99137283e-01 4.13910850e-02 3.38647077e-03 7.22572134e+01] [-4.13907899e-02 9.99143022e-01 -1.57211454e-04 -4.54903207e+00] [-3.39007579e-03 1.69071254e-05 9.99994254e-01 3.54320946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.29, Y:-4.55, Z:0.36 [[ 9.99165918e-01 4.06805252e-02 3.54435851e-03 7.22887008e+01] [-4.06801979e-02 9.99172205e-01 -1.64408984e-04 -4.54926906e+00] [-3.54811275e-03 2.00866476e-05 9.99993705e-01 3.57089751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.32, Y:-4.55, Z:0.36 [[ 9.99154315e-01 4.06174276e-02 6.39373856e-03 7.23204808e+01] [-4.06163603e-02 9.99174771e-01 -2.96737737e-04 -4.54720517e+00] [-6.40051498e-03 3.67964015e-05 9.99979516e-01 3.57303948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.35, Y:-4.55, Z:0.36 [[ 9.99106895e-01 4.07498058e-02 1.11742878e-02 7.23525640e+01] [-4.07465369e-02 9.99169380e-01 -5.20139520e-04 -4.54533884e+00] [-1.11862018e-02 6.43614503e-05 9.99937430e-01 3.56400503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.39, Y:-4.55, Z:0.35 [[ 9.99093589e-01 4.09732706e-02 1.15408390e-02 7.23859018e+01] [-4.09697689e-02 9.99160241e-01 -5.39773867e-04 -4.54765914e+00] [-1.15532638e-02 6.64591027e-05 9.99933257e-01 3.54762589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.42, Y:-4.55, Z:0.35 [[ 9.99051434e-01 4.23288216e-02 1.02227019e-02 7.24177322e+01] [-4.23261335e-02 9.99103733e-01 -4.79256350e-04 -4.54978878e+00] [-1.02338260e-02 4.61142979e-05 9.99947632e-01 3.53997552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.45, Y:-4.55, Z:0.35 [[ 9.99032377e-01 4.31362197e-02 8.57760468e-03 7.24500157e+01] [-4.31343428e-02 9.99069200e-01 -4.03780436e-04 -4.55192094e+00] [-8.58703820e-03 3.34003879e-05 9.99963130e-01 3.53238667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.48, Y:-4.56, Z:0.35 [[ 9.98961504e-01 4.52227433e-02 5.55136286e-03 7.24822944e+01] [-4.52219846e-02 9.98976928e-01 -2.62194200e-04 -4.55940246e+00] [-5.55754055e-03 1.08782667e-05 9.99984557e-01 3.54148024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.51, Y:-4.56, Z:0.36 [[ 9.98888646e-01 4.65883242e-02 7.14150609e-03 7.25143357e+01] [-4.65870979e-02 9.98914175e-01 -3.38062989e-04 -4.56437107e+00] [-7.14950145e-03 4.98523865e-06 9.99974442e-01 3.55182109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.55, Y:-4.57, Z:0.36 [[ 9.98825650e-01 4.77343384e-02 8.29176362e-03 7.25463368e+01] [-4.77327165e-02 9.98860067e-01 -3.93498754e-04 -4.56768796e+00] [-8.30109496e-03 -2.75175360e-06 9.99965545e-01 3.57116466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.58, Y:-4.57, Z:0.36 [[ 9.98703940e-01 5.02277519e-02 8.22272739e-03 7.25788377e+01] [-5.02262325e-02 9.98737790e-01 -3.91313364e-04 -4.56776852e+00] [-8.23200337e-03 -2.21904190e-05 9.99966116e-01 3.57540302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.61, Y:-4.57, Z:0.36 [[ 9.98594812e-01 5.25936165e-02 6.50482610e-03 7.26111158e+01] [-5.25927093e-02 9.98615998e-01 -3.10558061e-04 -4.56921738e+00] [-6.51215678e-03 -3.19847604e-05 9.99978795e-01 3.56352278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.64, Y:-4.57, Z:0.36 [[ 9.98478988e-01 5.49388794e-02 4.62917875e-03 7.26431094e+01] [-5.49384414e-02 9.98489719e-01 -2.21823627e-04 -4.57142234e+00] [-4.63437413e-03 -3.28336350e-05 9.99989261e-01 3.55238262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.67, Y:-4.57, Z:0.35 [[ 9.98372434e-01 5.67429553e-02 5.72011815e-03 7.26740887e+01] [-5.67423168e-02 9.98388819e-01 -2.73983688e-04 -4.57326082e+00] [-5.72644865e-03 -5.10349947e-05 9.99983602e-01 3.54593290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.71, Y:-4.57, Z:0.36 [[ 9.98308974e-01 5.76937244e-02 7.11528742e-03 7.27060728e+01] [-5.76927521e-02 9.98334327e-01 -3.42004149e-04 -4.57487498e+00] [-7.12316717e-03 -6.90747019e-05 9.99974628e-01 3.57648770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.74, Y:-4.58, Z:0.36 [[ 9.98369819e-01 5.62899059e-02 9.44195930e-03 7.27379256e+01] [-5.62881210e-02 9.98414463e-01 -4.54881587e-04 -4.57919836e+00] [-9.45259397e-03 -7.73301002e-05 9.99955320e-01 3.59917830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.77, Y:-4.58, Z:0.36 [[ 9.98459176e-01 5.43947484e-02 1.09765417e-02 7.27699330e+01] [-5.43922069e-02 9.98519507e-01 -5.30160716e-04 -4.58477765e+00] [-1.09891290e-02 -6.76944967e-05 9.99939615e-01 3.61756472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.80, Y:-4.59, Z:0.36 [[ 9.98576221e-01 5.17179162e-02 1.30686051e-02 7.28019589e+01] [-5.17140626e-02 9.98661732e-01 -6.32862673e-04 -4.59047776e+00] [-1.30838462e-02 -4.38690473e-05 9.99914402e-01 3.58830640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.83, Y:-4.59, Z:0.36 [[ 9.98624055e-01 5.12631905e-02 1.10490946e-02 7.28343913e+01] [-5.12603908e-02 9.98685178e-01 -5.36620725e-04 -4.59062067e+00] [-1.10620759e-02 -3.04985438e-05 9.99938813e-01 3.55719840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.87, Y:-4.59, Z:0.35 [[ 9.98608000e-01 5.20572793e-02 8.49125060e-03 7.28662687e+01] [-5.20556436e-02 9.98644100e-01 -4.13686053e-04 -4.59181967e+00] [-8.50127269e-03 -2.89073125e-05 9.99963863e-01 3.53051033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.90, Y:-4.60, Z:0.35 [[ 9.98542362e-01 5.37056376e-02 5.37176559e-03 7.28983806e+01] [-5.37050016e-02 9.98556811e-01 -2.62669010e-04 -4.59580969e+00] [-5.37811992e-03 -2.62045463e-05 9.99985537e-01 3.52887291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.93, Y:-4.61, Z:0.36 [[ 9.98366285e-01 5.69065849e-02 5.13832371e-03 7.29297315e+01] [-5.69060417e-02 9.98379506e-01 -2.51965529e-04 -4.60533941e+00] [-5.14433559e-03 -4.08477742e-05 9.99986767e-01 3.59227180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.96, Y:-4.61, Z:0.36 [[ 9.98177390e-01 6.00910368e-02 5.56469089e-03 7.29612829e+01] [-6.00904493e-02 9.98192899e-01 -2.72853862e-04 -4.60915462e+00] [-5.57103101e-03 -6.20282201e-05 9.99984480e-01 3.62262935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.99, Y:-4.61, Z:0.36 [[ 9.97949575e-01 6.38941086e-02 3.76678444e-03 7.29929796e+01] [-6.38938629e-02 9.97956682e-01 -1.85648623e-04 -4.61110081e+00] [-3.77094956e-03 -5.54064438e-05 9.99992888e-01 3.64179261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.02, Y:-4.61, Z:0.36 [[ 9.97421301e-01 7.15727821e-02 5.29951562e-03 7.30244442e+01] [-7.15724055e-02 9.97435373e-01 -2.60926646e-04 -4.61339334e+00] [-5.30459958e-03 -1.19045286e-04 9.99985923e-01 3.59988120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.06, Y:-4.62, Z:0.36 [[ 9.97200957e-01 7.42023199e-02 9.17969715e-03 7.30560748e+01] [-7.42012813e-02 9.97243182e-01 -4.54140699e-04 -4.61505762e+00] [-9.18808869e-03 -2.28275751e-04 9.99957763e-01 3.58450405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.09, Y:-4.62, Z:0.36 [[ 9.96969350e-01 7.70667748e-02 1.06220178e-02 7.30878020e+01] [-7.70655365e-02 9.97025890e-01 -5.26440010e-04 -4.61717274e+00] [-1.06309977e-02 -2.93746944e-04 9.99943446e-01 3.59372488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.12, Y:-4.62, Z:0.36 [[ 9.96744213e-01 7.97128650e-02 1.21174552e-02 7.31201788e+01] [-7.97114309e-02 9.96817799e-01 -6.02041754e-04 -4.61870095e+00] [-1.21268855e-02 -3.65818057e-04 9.99926400e-01 3.59809034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.15, Y:-4.62, Z:0.36 [[ 9.96563387e-01 8.22353743e-02 9.93775159e-03 7.31524236e+01] [-8.22345209e-02 9.96612883e-01 -4.95165318e-04 -4.62082070e+00] [-9.94481137e-03 -3.23762615e-04 9.99950497e-01 3.60027801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.18, Y:-4.62, Z:0.36 [[ 9.96410898e-01 8.44735708e-02 5.43495952e-03 7.31842656e+01] [-8.44733434e-02 9.96425702e-01 -2.71795013e-04 -4.62119075e+00] [-5.43849285e-03 -1.88289689e-04 9.99985194e-01 3.57732069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.22, Y:-4.62, Z:0.36 [[ 9.96317504e-01 8.56430921e-02 4.08563512e-03 7.32157508e+01] [-8.56429730e-02 9.96325870e-01 -2.04416360e-04 -4.62033623e+00] [-4.08813081e-03 -1.46242341e-04 9.99991633e-01 3.58616108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.25, Y:-4.62, Z:0.36 [[ 9.96125132e-01 8.78490368e-02 4.15557569e-03 7.32471945e+01] [-8.78489317e-02 9.96133787e-01 -2.08173410e-04 -4.61786745e+00] [-4.15779718e-03 -1.57696119e-04 9.99991344e-01 3.61324523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.28, Y:-4.62, Z:0.36 [[ 9.95872100e-01 9.05745992e-02 5.91621983e-03 7.32781608e+01] [-9.05744369e-02 9.95889644e-01 -2.95914869e-04 -4.61551031e+00] [-5.91870443e-03 -2.41164917e-04 9.99982455e-01 3.64911536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.31, Y:-4.61, Z:0.37 [[ 9.95539628e-01 9.40370676e-02 7.60779742e-03 7.33091149e+01] [-9.40368970e-02 9.95568640e-01 -3.80924561e-04 -4.61089014e+00] [-7.60990556e-03 -3.36188167e-04 9.99970988e-01 3.67190112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.34, Y:-4.61, Z:0.37 [[ 9.95408638e-01 9.54299976e-02 7.39999657e-03 7.33409139e+01] [-9.54298700e-02 9.95436086e-01 -3.71143818e-04 -4.60959925e+00] [-7.40164188e-03 -3.36740948e-04 9.99972551e-01 3.65392609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.37, Y:-4.61, Z:0.36 [[ 9.95280595e-01 9.67895996e-02 6.95056997e-03 7.33720743e+01] [-9.67895169e-02 9.95304811e-01 -3.49057937e-04 -4.60778539e+00] [-6.95172091e-03 -3.25331718e-04 9.99975784e-01 3.61591743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.40, Y:-4.61, Z:0.36 [[ 9.95196606e-01 9.77107642e-02 6.02671335e-03 7.34032517e+01] [-9.77107164e-02 9.95214813e-01 -3.03081433e-04 -4.60501547e+00] [-6.02748872e-03 -2.87248865e-04 9.99981793e-01 3.59825724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.43, Y:-4.60, Z:0.36 [[ 9.95076964e-01 9.89789808e-02 4.99965339e-03 7.34335088e+01] [-9.89789683e-02 9.95089494e-01 -2.50539441e-04 -4.59601276e+00] [-4.99990070e-03 -2.45554508e-04 9.99987470e-01 3.58782541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.46, Y:-4.60, Z:0.36 [[ 9.95120515e-01 9.85401577e-02 4.99985859e-03 7.34617828e+01] [-9.85401603e-02 9.95133044e-01 -2.46430193e-04 -4.59768884e+00] [-4.99980777e-03 -2.47459126e-04 9.99987470e-01 3.58925304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.49, Y:-4.59, Z:0.36 [[ 9.95162877e-01 9.81190175e-02 4.84829849e-03 7.34910270e+01] [-9.81190256e-02 9.95174658e-01 -2.36749496e-04 -4.59222633e+00] [-4.84813342e-03 -2.40106014e-04 9.99988219e-01 3.60905145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.52, Y:-4.58, Z:0.36 [[ 9.95238786e-01 9.73240308e-02 5.27181826e-03 7.35195549e+01] [-9.73240439e-02 9.95252714e-01 -2.54661367e-04 -4.58459521e+00] [-5.27157610e-03 -2.59625802e-04 9.99986071e-01 3.62163385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.55, Y:-4.57, Z:0.36 [[ 9.95418789e-01 9.54837665e-02 4.92802037e-03 7.35490286e+01] [-9.54837656e-02 9.95430959e-01 -2.36008925e-04 -4.57119961e+00] [-4.92803906e-03 -2.35618223e-04 9.99987829e-01 3.62616364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.58, Y:-4.57, Z:0.36 [[ 9.95663956e-01 9.28751103e-02 5.24417499e-03 7.35780086e+01] [-9.28750846e-02 9.95677737e-01 -2.48951118e-04 -4.56924101e+00] [-5.24462966e-03 -2.39181541e-04 9.99986218e-01 3.62486321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.61, Y:-4.57, Z:0.36 [[ 9.95990554e-01 8.92599512e-02 5.95623633e-03 7.36073891e+01] [-8.92598425e-02 9.96008333e-01 -2.84600932e-04 -4.56663797e+00] [-5.95786449e-03 -2.48192877e-04 9.99982221e-01 3.62559552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.64, Y:-4.56, Z:0.36 [[ 9.96360082e-01 8.49009405e-02 7.64314282e-03 7.36361859e+01] [-8.49006429e-02 9.96389356e-01 -3.63973281e-04 -4.56332121e+00] [-7.64644782e-03 -2.86259290e-04 9.99970725e-01 3.62990529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.67, Y:-4.55, Z:0.36 [[ 9.97003127e-01 7.66145265e-02 1.07228515e-02 7.36664011e+01] [-7.66134630e-02 9.97060739e-01 -5.10515047e-04 -4.55067898e+00] [-1.07304471e-02 -3.12529690e-04 9.99942378e-01 3.63373680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.70, Y:-4.55, Z:0.36 [[ 9.97313890e-01 7.23127618e-02 1.16563384e-02 7.36972785e+01] [-7.23112073e-02 9.97381963e-01 -5.55316303e-04 -4.54577033e+00] [-1.16659782e-02 -2.89059243e-04 9.99931908e-01 3.62414078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.73, Y:-4.54, Z:0.36 [[ 9.97653898e-01 6.72793776e-02 1.26564127e-02 7.37276973e+01] [-6.72771400e-02 9.97734144e-01 -6.02960555e-04 -4.54381014e+00] [-1.26683019e-02 -2.49941299e-04 9.99919723e-01 3.61490886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.76, Y:-4.54, Z:0.36 [[ 9.97981694e-01 6.24514125e-02 1.15048041e-02 7.37595191e+01] [-6.24492238e-02 9.98047991e-01 -5.49734924e-04 -4.54392199e+00] [-1.15166784e-02 -1.69840696e-04 9.99933666e-01 3.61969968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.79, Y:-4.55, Z:0.36 [[ 9.98537215e-01 5.27113991e-02 1.20390711e-02 7.37912220e+01] [-5.27082870e-02 9.98609786e-01 -5.75868700e-04 -4.54542181e+00] [-1.20526891e-02 -5.95324871e-05 9.99927362e-01 3.62751925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.82, Y:-4.55, Z:0.36 [[ 9.98755491e-01 4.85447600e-02 1.14401035e-02 7.38231080e+01] [-4.85416555e-02 9.98821008e-01 -5.49053035e-04 -4.54725270e+00] [-1.14532693e-02 -6.95182808e-06 9.99934409e-01 3.62656475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.85, Y:-4.55, Z:0.36 [[ 9.99032836e-01 4.28059945e-02 1.00518230e-02 7.38548484e+01] [-4.28032932e-02 9.99083402e-01 -4.83815210e-04 -4.54841266e+00] [-1.00633197e-02 5.30961523e-05 9.99949362e-01 3.61775321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.89, Y:-4.55, Z:0.36 [[ 9.99286910e-01 3.69735613e-02 7.65689401e-03 7.38871466e+01] [-3.69718140e-02 9.99316240e-01 -3.69669168e-04 -4.54992788e+00] [-7.66532652e-03 8.63162995e-05 9.99970617e-01 3.61267571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.92, Y:-4.55, Z:0.36 [[ 9.99574727e-01 2.81294312e-02 7.68763656e-03 7.39186038e+01] [-2.81274039e-02 9.99604277e-01 -3.71717030e-04 -4.55356870e+00] [-7.69505058e-03 1.55325690e-04 9.99970381e-01 3.59764378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.95, Y:-4.56, Z:0.36 [[ 9.99624548e-01 2.60411877e-02 8.52176910e-03 7.39502816e+01] [-2.60386111e-02 9.99660852e-01 -4.13184423e-04 -4.55848216e+00] [-8.52963878e-03 1.91134260e-04 9.99963604e-01 3.59720412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.98, Y:-4.56, Z:0.36 [[ 9.99648590e-01 2.48799484e-02 9.14790106e-03 7.39820638e+01] [-2.48769207e-02 9.99690423e-01 -4.44634014e-04 -4.56356984e+00] [-9.15613154e-03 2.16906156e-04 9.99958058e-01 3.60805506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.01, Y:-4.57, Z:0.36 [[ 9.99600737e-01 2.62661808e-02 1.04141740e-02 7.40137957e+01] [-2.62623194e-02 9.99654957e-01 -5.07385830e-04 -4.57400225e+00] [-1.04239078e-02 2.33682886e-04 9.99945642e-01 3.60063694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.05, Y:-4.58, Z:0.36 [[ 9.99510775e-01 2.94762684e-02 1.04575830e-02 7.40461253e+01] [-2.94725267e-02 9.99565460e-01 -5.11761218e-04 -4.58191940e+00] [-1.04681236e-02 2.03299458e-04 9.99945187e-01 3.60376583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.08, Y:-4.59, Z:0.36 [[ 9.99412979e-01 3.27119773e-02 1.01795595e-02 7.40781380e+01] [-3.27085893e-02 9.99464806e-01 -4.99175891e-04 -4.58829876e+00] [-1.01904405e-02 1.65923833e-04 9.99948062e-01 3.60369132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.11, Y:-4.59, Z:0.36 [[ 9.99246760e-01 3.76232372e-02 9.50814433e-03 7.41104071e+01] [-3.76204918e-02 9.99291989e-01 -4.67494990e-04 -4.59264171e+00] [-9.51900114e-03 1.09441787e-04 9.99954687e-01 3.61575065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.14, Y:-4.59, Z:0.36 [[ 9.99013493e-01 4.32819841e-02 9.93531439e-03 7.41430658e+01] [-4.32792489e-02 9.99062894e-01 -4.90235539e-04 -4.59457715e+00] [-9.94722231e-03 5.97589742e-05 9.99950523e-01 3.61940362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.17, Y:-4.60, Z:0.36 [[ 9.98470143e-01 5.43260115e-02 1.02984440e-02 7.41749747e+01] [-5.43236426e-02 9.98523251e-01 -5.09824567e-04 -4.59969263e+00] [-1.03109325e-02 -5.04043832e-05 9.99946840e-01 3.62349286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.21, Y:-4.61, Z:0.36 [[ 9.98186406e-01 5.96892299e-02 7.81631212e-03 7.42066708e+01] [-5.96880212e-02 9.98217005e-01 -3.88023313e-04 -4.60517830e+00] [-7.82553649e-03 -7.92206078e-05 9.99969377e-01 3.63188363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.24, Y:-4.61, Z:0.36 [[ 9.97884850e-01 6.46803791e-02 6.50183094e-03 7.42381333e+01] [-6.46796450e-02 9.97906027e-01 -3.23332941e-04 -4.60884272e+00] [-6.50912958e-03 -9.78870742e-05 9.99978811e-01 3.64529244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.27, Y:-4.61, Z:0.37 [[ 9.97576178e-01 6.94046220e-02 4.97664593e-03 7.42682035e+01] [-6.94042558e-02 9.97588587e-01 -2.46458300e-04 -4.60915558e+00] [-4.98175053e-03 -9.95394782e-05 9.99987586e-01 3.65738823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.30, Y:-4.60, Z:0.36 [[ 9.96902414e-01 7.83509571e-02 6.83410433e-03 7.42977002e+01] [-7.83504813e-02 9.96925819e-01 -3.37733200e-04 -4.60427264e+00] [-6.83955677e-03 -1.98768321e-04 9.99976590e-01 3.62874918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.33, Y:-4.60, Z:0.36 [[ 9.96645238e-01 8.13777092e-02 8.71420935e-03 7.43272317e+01] [-8.13770536e-02 9.96683295e-01 -4.30373380e-04 -4.60331647e+00] [-8.72032968e-03 -2.80207102e-04 9.99961938e-01 3.61795085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.36, Y:-4.60, Z:0.36 [[ 9.96463385e-01 8.34298941e-02 1.00087127e-02 7.43567132e+01] [-8.34291387e-02 9.96513590e-01 -4.93700737e-04 -4.60282033e+00] [-1.00150076e-02 -3.43063571e-04 9.99949790e-01 3.60852916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.39, Y:-4.60, Z:0.36 [[ 9.96268699e-01 8.56446563e-02 1.06617312e-02 7.43871778e+01] [-8.56439220e-02 9.96325670e-01 -5.26263030e-04 -4.60236178e+00] [-1.06676281e-02 -3.88813087e-04 9.99943024e-01 3.60378775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.42, Y:-4.60, Z:0.36 [[ 9.96370783e-01 8.45626889e-02 9.71669396e-03 7.44175125e+01] [-8.45620323e-02 9.96418102e-01 -4.79135365e-04 -4.59894992e+00] [-9.72240672e-03 -3.44266909e-04 9.99952677e-01 3.60986611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.45, Y:-4.60, Z:0.36 [[ 9.96563416e-01 8.24528620e-02 7.92991554e-03 7.44470398e+01] [-8.24523636e-02 9.96594930e-01 -3.90312763e-04 -4.59886393e+00] [-7.93509603e-03 -2.64868859e-04 9.99968482e-01 3.61356227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.48, Y:-4.60, Z:0.36 [[ 9.96847990e-01 7.90985200e-02 6.12453127e-03 7.44759905e+01] [-7.90981895e-02 9.96866786e-01 -2.96550310e-04 -4.59899432e+00] [-6.12879849e-03 -1.88823755e-04 9.99981201e-01 3.61840518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.51, Y:-4.59, Z:0.36 [[ 9.97249550e-01 7.39006760e-02 5.65904508e-03 7.45050310e+01] [-7.39003258e-02 9.97265596e-01 -2.71249088e-04 -4.59353711e+00] [-5.66361645e-03 -1.47702243e-04 9.99983951e-01 3.62251262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.53, Y:-4.59, Z:0.36 [[ 9.97361044e-01 7.24421830e-02 4.80392718e-03 7.45341091e+01] [-7.24419261e-02 9.97372606e-01 -2.27690476e-04 -4.59108476e+00] [-4.80779977e-03 -1.20916126e-04 9.99988435e-01 3.61786568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.56, Y:-4.59, Z:0.36 [[ 9.97420190e-01 7.16053101e-02 5.06394096e-03 7.45619387e+01] [-7.16050285e-02 9.97433037e-01 -2.37111523e-04 -4.59053564e+00] [-5.06792045e-03 -1.26103817e-04 9.99987150e-01 3.61560391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.59, Y:-4.59, Z:0.36 [[ 9.97368316e-01 7.22601108e-02 5.90926122e-03 7.45907839e+01] [-7.22597504e-02 9.97385809e-01 -2.74752234e-04 -4.59186633e+00] [-5.91366691e-03 -1.52972568e-04 9.99982502e-01 3.60761415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.62, Y:-4.59, Z:0.36 [[ 9.97414445e-01 7.11859394e-02 9.84818208e-03 7.46199322e+01] [-7.11849152e-02 9.97463032e-01 -4.54930785e-04 -4.59103298e+00] [-9.85558224e-03 -2.47287470e-04 9.99951402e-01 3.61581336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.65, Y:-4.59, Z:0.36 [[ 9.97485749e-01 6.98759931e-02 1.18121067e-02 7.46500452e+01] [-6.98743951e-02 9.97555647e-01 -5.48425896e-04 -4.58965485e+00] [-1.18215556e-02 -2.78316797e-04 9.99930084e-01 3.63522463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.68, Y:-4.59, Z:0.36 [[ 9.97552557e-01 6.87185271e-02 1.29096704e-02 7.46816657e+01] [-6.87165065e-02 9.97636046e-01 -6.00551694e-04 -4.58825586e+00] [-1.29204216e-02 -2.88025573e-04 9.99916486e-01 3.64434870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.71, Y:-4.59, Z:0.36 [[ 9.97762650e-01 6.57224852e-02 1.22576021e-02 7.47128599e+01] [-6.57204275e-02 9.97837912e-01 -5.71040968e-04 -4.58817783e+00] [-1.22686303e-02 -2.35811502e-04 9.99924710e-01 3.62622230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.74, Y:-4.59, Z:0.36 [[ 9.97904651e-01 6.41290755e-02 8.58892336e-03 7.47440397e+01] [-6.41279966e-02 9.97941601e-01 -4.01229877e-04 -4.58821035e+00] [-8.59697443e-03 -1.50401288e-04 9.99963034e-01 3.61354836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.77, Y:-4.58, Z:0.36 [[ 9.98236012e-01 5.92496615e-02 3.78718027e-03 7.47739401e+01] [-5.92494197e-02 9.98243194e-01 -1.76112681e-04 -4.58204810e+00] [-3.79096154e-03 -4.85862127e-05 9.99992813e-01 3.59264254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.80, Y:-4.58, Z:0.36 [[ 9.98362153e-01 5.70826606e-02 3.81851636e-03 7.48021930e+01] [-5.70824152e-02 9.98369455e-01 -1.73298664e-04 -4.57639006e+00] [-3.82218244e-03 -4.49553084e-05 9.99992694e-01 3.61124418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.83, Y:-4.57, Z:0.36 [[ 9.98481212e-01 5.48936327e-02 4.68592170e-03 7.48305234e+01] [-5.48932478e-02 9.98492207e-01 -2.10816525e-04 -4.57270847e+00] [-4.69042879e-03 -4.67291214e-05 9.99988999e-01 3.63378209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.86, Y:-4.58, Z:0.36 [[ 9.98793406e-01 4.88011090e-02 5.49404506e-03 7.48589500e+01] [-4.88004973e-02 9.98808516e-01 -2.45416293e-04 -4.57510250e+00] [-5.49947558e-03 -2.29919557e-05 9.99984878e-01 3.63676854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.89, Y:-4.58, Z:0.36 [[ 9.98981176e-01 4.46794082e-02 6.35293804e-03 7.48871086e+01] [-4.46785277e-02 9.99001377e-01 -2.80532435e-04 -4.57822544e+00] [-6.35912787e-03 -3.59329552e-06 9.99979781e-01 3.60196503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.92, Y:-4.58, Z:0.36 [[ 9.99134085e-01 4.11576916e-02 6.09294127e-03 7.49167432e+01] [-4.11568052e-02 9.99152663e-01 -2.70844395e-04 -4.57898279e+00] [-6.09892582e-03 1.98438705e-05 9.99981401e-01 3.57848229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.95, Y:-4.58, Z:0.36 [[ 9.99208553e-01 3.91198337e-02 7.20456233e-03 7.49464142e+01] [-3.91185443e-02 9.99234526e-01 -3.19862958e-04 -4.57689510e+00] [-7.21156041e-03 3.77778126e-05 9.99973996e-01 3.56535577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.98, Y:-4.57, Z:0.36 [[ 9.99374326e-01 3.47010947e-02 6.84042505e-03 7.49769034e+01] [-3.46998272e-02 9.99397733e-01 -3.03934416e-04 -4.56614409e+00] [-6.84685215e-03 6.63826852e-05 9.99976558e-01 3.59862292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.01, Y:-4.56, Z:0.36 [[ 9.99400622e-01 3.41443303e-02 5.70633742e-03 7.50073107e+01] [-3.41434390e-02 9.99416911e-01 -2.53567981e-04 -4.56388733e+00] [-5.71166802e-03 5.85820149e-05 9.99983687e-01 3.62858831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.04, Y:-4.56, Z:0.36 [[ 9.99421826e-01 3.35244115e-02 5.66811838e-03 7.50371839e+01] [-3.35235259e-02 9.99437897e-01 -2.51196598e-04 -4.56394409e+00] [-5.67335353e-03 6.10360489e-05 9.99983905e-01 3.64419382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.07, Y:-4.56, Z:0.36 [[ 9.99472525e-01 3.19317881e-02 5.91879460e-03 7.50670324e+01] [-3.19307967e-02 9.99490048e-01 -2.61940000e-04 -4.56495490e+00] [-5.92414051e-03 7.28100062e-05 9.99982449e-01 3.63629445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.10, Y:-4.57, Z:0.36 [[ 9.99529076e-01 2.99633484e-02 6.61993966e-03 7.50977334e+01] [-2.99620627e-02 9.99550994e-01 -2.93327700e-04 -4.56613016e+00] [-6.62575635e-03 9.48425174e-05 9.99978045e-01 3.62142713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.13, Y:-4.57, Z:0.36 [[ 9.99661194e-01 2.49759980e-02 7.32777206e-03 7.51294728e+01] [-2.49742830e-02 9.99688041e-01 -3.25459177e-04 -4.56629581e+00] [-7.33361477e-03 1.42343057e-04 9.99973099e-01 3.56499186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.16, Y:-4.57, Z:0.36 [[ 9.99740392e-01 2.18365710e-02 6.50475311e-03 7.51619760e+01] [-2.18351458e-02 9.99761543e-01 -2.90035850e-04 -4.56774671e+00] [-6.50953540e-03 1.47928322e-04 9.99978802e-01 3.55581519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.19, Y:-4.57, Z:0.36 [[ 9.99793206e-01 1.92354652e-02 6.59862718e-03 7.51939820e+01] [-1.92339367e-02 9.99814967e-01 -2.95025564e-04 -4.56798216e+00] [-6.60308117e-03 1.68046977e-04 9.99978185e-01 3.56467117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.23, Y:-4.56, Z:0.36 [[ 9.99863800e-01 1.58940944e-02 4.44510156e-03 7.52259945e+01] [-1.58933645e-02 9.99873673e-01 -1.99472004e-04 -4.56442891e+00] [-4.44771045e-03 1.28797217e-04 9.99990101e-01 3.61585176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.26, Y:-4.56, Z:0.36 [[ 9.99880655e-01 1.50460228e-02 3.50618394e-03 7.52572098e+01] [-1.50455634e-02 9.99886797e-01 -1.57372247e-04 -4.56368265e+00] [-3.50815485e-03 1.04600953e-04 9.99993841e-01 3.62411271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.29, Y:-4.57, Z:0.36 [[ 9.99880411e-01 1.51250071e-02 3.22442835e-03 7.52877670e+01] [-1.51246199e-02 9.99885606e-01 -1.44447104e-04 -4.56555263e+00] [-3.22624426e-03 9.56615765e-05 9.99994791e-01 3.62249491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.32, Y:-4.57, Z:0.36 [[ 9.99868466e-01 1.53552515e-02 5.22181344e-03 7.53182516e+01] [-1.53542390e-02 9.99882089e-01 -2.33925442e-04 -4.56994207e+00] [-5.22478971e-03 1.53717701e-04 9.99986339e-01 3.59274819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.35, Y:-4.58, Z:0.36 [[ 9.99864223e-01 1.48655055e-02 7.10996553e-03 7.53505115e+01] [-1.48636057e-02 9.99889479e-01 -3.19978749e-04 -4.57755025e+00] [-7.11393638e-03 2.14255579e-04 9.99974673e-01 3.56765815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.202320588 meters Centerline goodness [0,1] 0.9999508792612241 Centerline is valid? [True, True] Translation: X:75.38, Y:-4.58, Z:0.36 [[ 9.99877197e-01 1.42552229e-02 6.50995987e-03 7.53827540e+01] [-1.42536118e-02 9.99898369e-01 -2.93816406e-04 -4.57950081e+00] [-6.51348667e-03 2.00989884e-04 9.99978767e-01 3.57841191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23232058800001 meters Centerline goodness [0,1] 0.9999508792612241 Centerline is valid? [True, True] Translation: X:75.41, Y:-4.58, Z:0.36 [[ 9.99875474e-01 1.43755768e-02 6.50992460e-03 7.54144330e+01] [-1.43739632e-02 9.99896646e-01 -2.94597616e-04 -4.58089180e+00] [-6.51348678e-03 2.00987514e-04 9.99978767e-01 3.58000889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.45, Y:-4.58, Z:0.36 [[ 9.99897210e-01 1.32929305e-02 5.37287970e-03 7.54467588e+01] [-1.32918117e-02 9.99911630e-01 -2.43894565e-04 -4.58232510e+00] [-5.37564698e-03 1.72454190e-04 9.99985536e-01 3.59708487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.48, Y:-4.58, Z:0.36 [[ 9.99907393e-01 1.29406699e-02 4.21235683e-03 7.54788664e+01] [-1.29399764e-02 9.99916257e-01 -1.91856677e-04 -4.58409342e+00] [-4.21448683e-03 1.37331112e-04 9.99991110e-01 3.61554497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.322320588 meters Centerline goodness [0,1] 0.9999509419152276 Centerline is valid? [True, True] Translation: X:75.51, Y:-4.59, Z:0.36 [[ 9.99887891e-01 1.34298478e-02 6.62159830e-03 7.55106230e+01] [-1.34281419e-02 9.99909793e-01 -3.02023755e-04 -4.58866656e+00] [-6.62505712e-03 2.13074134e-04 9.99978031e-01 3.62773838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.352320588 meters Centerline goodness [0,1] 0.9999509250625706 Centerline is valid? [True, True] Translation: X:75.54, Y:-4.59, Z:0.36 [[ 9.99855967e-01 1.49372197e-02 8.05761264e-03 7.55431643e+01] [-1.49347325e-02 9.99888403e-01 -3.68762486e-04 -4.59199494e+00] [-8.06222172e-03 2.48371083e-04 9.99967469e-01 3.61269165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.57, Y:-4.59, Z:0.36 [[ 9.99810421e-01 1.65208019e-02 1.03046009e-02 7.55748303e+01] [-1.65168086e-02 9.99863477e-01 -4.72508999e-04 -4.59395936e+00] [-1.03110003e-02 3.02220300e-04 9.99946795e-01 3.58773553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.61, Y:-4.60, Z:0.36 [[ 9.99789143e-01 1.75600702e-02 1.06448506e-02 7.56068739e+01] [-1.75558544e-02 9.99845764e-01 -4.89359110e-04 -4.59660837e+00] [-1.06518019e-02 3.02376479e-04 9.99943222e-01 3.57185491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.64, Y:-4.60, Z:0.36 [[ 9.99805190e-01 1.81373367e-02 7.78576235e-03 7.56388788e+01] [-1.81350904e-02 9.99835481e-01 -3.59019109e-04 -4.59973044e+00] [-7.79099310e-03 2.17753665e-04 9.99969626e-01 3.56826411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.67, Y:-4.60, Z:0.36 [[ 9.99831076e-01 1.72023674e-02 6.47284600e-03 7.56708016e+01] [-1.72007874e-02 9.99852011e-01 -2.99690288e-04 -4.60280827e+00] [-6.47704347e-03 1.88301615e-04 9.99979006e-01 3.57152141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.502320588 meters Centerline goodness [0,1] 0.9999017585224482 Centerline is valid? [True, True] Translation: X:75.70, Y:-4.61, Z:0.36 [[ 9.99837306e-01 1.68562544e-02 6.42091536e-03 7.57025145e+01] [-1.68546884e-02 9.99857905e-01 -2.97927724e-04 -4.60585025e+00] [-6.42502493e-03 1.89656725e-04 9.99979341e-01 3.57838652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.73, Y:-4.61, Z:0.36 [[ 9.99861669e-01 1.58808131e-02 4.94403260e-03 7.57346078e+01] [-1.58798691e-02 9.99873880e-01 -2.30129208e-04 -4.60987058e+00] [-4.94706370e-03 1.51586784e-04 9.99987752e-01 3.58539877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.77, Y:-4.61, Z:0.36 [[ 9.99881848e-01 1.48950922e-02 3.79824159e-03 7.57667980e+01] [-1.48945257e-02 9.99889055e-01 -1.77400257e-04 -4.61358713e+00] [-3.80046259e-03 1.20806290e-04 9.99992771e-01 3.58449545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.80, Y:-4.62, Z:0.36 [[ 9.99890587e-01 1.41411235e-02 4.34075663e-03 7.57984238e+01] [-1.41403758e-02 9.99899999e-01 -2.02894143e-04 -4.61573111e+00] [-4.34319170e-03 1.41492014e-04 9.99990558e-01 3.58470224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.83, Y:-4.62, Z:0.36 [[ 9.99881915e-01 1.44001874e-02 5.36561099e-03 7.58310012e+01] [-1.43990450e-02 9.99896297e-01 -2.51477970e-04 -4.61751434e+00] [-5.36867589e-03 1.74188601e-04 9.99985573e-01 3.58334353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.86, Y:-4.62, Z:0.36 [[ 9.99883643e-01 1.39091106e-02 6.26389151e-03 7.58634810e+01] [-1.39075400e-02 9.99903242e-01 -2.94238426e-04 -4.62162942e+00] [-6.26737803e-03 2.07088868e-04 9.99980338e-01 3.57790345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.682320588 meters Centerline goodness [0,1] 0.9999508382085444 Centerline is valid? [True, True] Translation: X:75.89, Y:-4.63, Z:0.36 [[ 9.99866672e-01 1.45419714e-02 7.42755410e-03 7.58947913e+01] [-1.45397745e-02 9.99894231e-01 -3.49697302e-04 -4.63271690e+00] [-7.43185378e-03 2.41655716e-04 9.99972354e-01 3.56964330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.93, Y:-4.64, Z:0.36 [[ 9.99847683e-01 1.55198617e-02 7.98401569e-03 7.59270131e+01] [-1.55173470e-02 9.99879528e-01 -3.76821023e-04 -4.63764674e+00] [-7.98890205e-03 2.52872885e-04 9.99968056e-01 3.57856737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.96, Y:-4.64, Z:0.36 [[ 9.99804517e-01 1.78796029e-02 8.44082880e-03 7.59593165e+01] [-1.78768679e-02 9.99840116e-01 -3.99373448e-04 -4.64066963e+00] [-8.44661988e-03 2.48399796e-04 9.99964296e-01 3.58585369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.99, Y:-4.64, Z:0.36 [[ 9.99751403e-01 2.08350719e-02 7.93932797e-03 7.59911885e+01] [-2.08327322e-02 9.99782904e-01 -3.77288890e-04 -4.64439563e+00] [-7.94546522e-03 2.11797203e-04 9.99968412e-01 3.59554011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.02, Y:-4.65, Z:0.36 [[ 9.99657890e-01 2.47176376e-02 8.55222436e-03 7.60231978e+01] [-2.47150582e-02 9.99694453e-01 -4.07169856e-04 -4.65214297e+00] [-8.55967553e-03 1.95661837e-04 9.99963346e-01 3.58000710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.06, Y:-4.66, Z:0.36 [[ 9.99619275e-01 2.57963808e-02 9.79041080e-03 7.60553469e+01] [-2.57930411e-02 9.99667195e-01 -4.67247938e-04 -4.65674886e+00] [-9.79920581e-03 2.14545576e-04 9.99951964e-01 3.58474586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.09, Y:-4.66, Z:0.36 [[ 9.99577951e-01 2.64872060e-02 1.19309383e-02 7.60876140e+01] [-2.64822795e-02 9.99649120e-01 -5.70744093e-04 -4.66088245e+00] [-1.19418694e-02 2.54544768e-04 9.99928661e-01 3.58030475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.12, Y:-4.67, Z:0.36 [[ 9.99551418e-01 2.72954272e-02 1.23257002e-02 7.61204687e+01] [-2.72901796e-02 9.99627377e-01 -5.93764601e-04 -4.66568787e+00] [-1.23373144e-02 2.57127676e-04 9.99923859e-01 3.58118533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.15, Y:-4.68, Z:0.36 [[ 9.99427881e-01 3.08668205e-02 1.38256731e-02 7.61522883e+01] [-3.08605481e-02 9.99523477e-01 -6.66845744e-04 -4.67550781e+00] [-1.38396682e-02 2.39796381e-04 9.99904198e-01 3.56597388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.18, Y:-4.68, Z:0.36 [[ 9.99313772e-01 3.39259278e-02 1.48666278e-02 7.61838473e+01] [-3.39189867e-02 9.99424327e-01 -7.18859986e-04 -4.67981244e+00] [-1.48824575e-02 2.14105734e-04 9.99889227e-01 3.57424817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.22, Y:-4.68, Z:0.36 [[ 9.99279551e-01 3.57712118e-02 1.26806853e-02 7.62159535e+01] [-3.57662889e-02 9.99359992e-01 -6.14857690e-04 -4.68130438e+00] [-1.26945638e-02 1.60873662e-04 9.99919408e-01 3.58752191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.25, Y:-4.68, Z:0.36 [[ 9.99251157e-01 3.73499265e-02 1.01048807e-02 7.62480305e+01] [-3.73468669e-02 9.99302242e-01 -4.91382560e-04 -4.68063124e+00] [-1.01161831e-02 1.13628956e-04 9.99948824e-01 3.58981823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.28, Y:-4.68, Z:0.36 [[ 9.99070732e-01 4.25160241e-02 7.07536055e-03 7.62801372e+01] [-4.25146431e-02 9.99095784e-01 -3.45550083e-04 -4.68177845e+00] [-7.08365432e-03 4.44225458e-05 9.99974910e-01 3.59946935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.31, Y:-4.69, Z:0.36 [[ 9.98991282e-01 4.41869402e-02 7.99574492e-03 7.63113033e+01] [-4.41852305e-02 9.99023279e-01 -3.90436208e-04 -4.68602739e+00] [-8.00518749e-03 3.67485353e-05 9.99967957e-01 3.60113484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.34, Y:-4.69, Z:0.36 [[ 9.98892499e-01 4.62727427e-02 8.52111655e-03 7.63429188e+01] [-4.62708647e-02 9.98928843e-01 -4.17502229e-04 -4.69029045e+00] [-8.53130806e-03 2.27604133e-05 9.99963607e-01 3.60870873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.37, Y:-4.69, Z:0.36 [[ 9.98843613e-01 4.72223663e-02 9.02693434e-03 7.63746241e+01] [-4.72202874e-02 9.98884402e-01 -4.43416897e-04 -4.69105422e+00] [-9.03780310e-03 1.66497017e-05 9.99959158e-01 3.61993750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.41, Y:-4.69, Z:0.36 [[ 9.98795500e-01 4.85944826e-02 6.79153165e-03 7.64068711e+01] [-4.85933304e-02 9.98818590e-01 -3.34658136e-04 -4.68610904e+00] [-6.79977061e-03 4.23189884e-06 9.99976881e-01 3.62622116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.44, Y:-4.69, Z:0.36 [[ 9.98733992e-01 4.97574836e-02 7.38963465e-03 7.64373680e+01] [-4.97561567e-02 9.98761329e-01 -3.63417422e-04 -4.68616969e+00] [-7.39856406e-03 -4.72248754e-06 9.99972630e-01 3.61903630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.47, Y:-4.69, Z:0.36 [[ 9.98651299e-01 5.10064361e-02 9.69161673e-03 7.64679111e+01] [-5.10042125e-02 9.98698324e-01 -4.76627402e-04 -4.68738287e+00] [-9.70331246e-03 -1.83287052e-05 9.99952922e-01 3.61966913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.50, Y:-4.69, Z:0.36 [[ 9.98561790e-01 5.21810228e-02 1.23082646e-02 7.65001797e+01] [-5.21774975e-02 9.98637642e-01 -6.07580472e-04 -4.68768520e+00] [-1.23232006e-02 -3.55078049e-05 9.99924066e-01 3.62853726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.53, Y:-4.69, Z:0.36 [[ 9.98508723e-01 5.26713242e-02 1.43548535e-02 7.65320258e+01] [-5.26665631e-02 9.98611901e-01 -7.09760934e-04 -4.68567975e+00] [-1.43723116e-02 -4.73183139e-05 9.99896712e-01 3.64034366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.56, Y:-4.68, Z:0.36 [[ 9.98409131e-01 5.48347248e-02 1.31285941e-02 7.65639315e+01] [-5.48309045e-02 9.98495442e-01 -6.51027885e-04 -4.68245253e+00] [-1.31445403e-02 -6.98605059e-05 9.99913604e-01 3.64412602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.60, Y:-4.68, Z:0.36 [[ 9.98340279e-01 5.64402338e-02 1.14537113e-02 7.65960832e+01] [-5.64374134e-02 9.98405977e-01 -5.69567110e-04 -4.68403458e+00] [-1.14676004e-02 -7.77960555e-05 9.99934242e-01 3.64267135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.63, Y:-4.68, Z:0.37 [[ 9.98349493e-01 5.65645108e-02 9.93709505e-03 7.66276045e+01] [-5.65623854e-02 9.98398944e-01 -4.95021122e-04 -4.68346991e+00] [-9.94918583e-03 -6.78617141e-05 9.99950503e-01 3.66341219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.66, Y:-4.68, Z:0.37 [[ 9.98547546e-01 5.32032134e-02 8.49799629e-03 7.66580900e+01] [-5.32015409e-02 9.98583706e-01 -4.22916312e-04 -4.67626322e+00] [-8.50846113e-03 -2.98044509e-05 9.99963802e-01 3.66853374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.69, Y:-4.68, Z:0.37 [[ 9.98657449e-01 5.10687276e-02 8.67668739e-03 7.66888882e+01] [-5.10669034e-02 9.98695141e-01 -4.31809159e-04 -4.67689124e+00] [-8.68741748e-03 -1.18621232e-05 9.99962264e-01 3.65850542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.72, Y:-4.68, Z:0.36 [[ 9.98732739e-01 4.92826101e-02 1.02049645e-02 7.67195160e+01] [-4.92799883e-02 9.98784874e-01 -5.08362642e-04 -4.68189179e+00] [-1.02176176e-02 4.81788158e-06 9.99947799e-01 3.63135945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.75, Y:-4.69, Z:0.36 [[ 9.98774050e-01 4.77433861e-02 1.30754214e-02 7.67518213e+01] [-4.77389220e-02 9.98859634e-01 -6.53490169e-04 -4.68826423e+00] [-1.30917105e-02 2.84824975e-05 9.99914299e-01 3.61849397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.78, Y:-4.69, Z:0.36 [[ 9.98770677e-01 4.71492861e-02 1.52996742e-02 7.67836959e+01] [-4.71430754e-02 9.98887853e-01 -7.66539157e-04 -4.69194016e+00] [-1.53188005e-02 4.43231397e-05 9.99882659e-01 3.63232284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.82, Y:-4.69, Z:0.37 [[ 9.98756969e-01 4.73997327e-02 1.54201741e-02 7.68171773e+01] [-4.73934020e-02 9.98876000e-01 -7.75926979e-04 -4.68750554e+00] [-1.54396206e-02 4.41479676e-05 9.99880801e-01 3.67165037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.85, Y:-4.69, Z:0.37 [[ 9.98795875e-01 4.75674277e-02 1.20058072e-02 7.68491724e+01] [-4.75635850e-02 9.98868029e-01 -6.05556282e-04 -4.68814315e+00] [-1.20210217e-02 3.37878862e-05 9.99927744e-01 3.67806303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.88, Y:-4.69, Z:0.37 [[ 9.98813205e-01 4.79375906e-02 8.61219044e-03 7.68815382e+01] [-4.79356159e-02 9.98850333e-01 -4.35683953e-04 -4.69335252e+00] [-8.62317492e-03 2.23362329e-05 9.99962819e-01 3.65006621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.91, Y:-4.70, Z:0.36 [[ 9.98812994e-01 4.83245524e-02 6.11077486e-03 7.69122997e+01] [-4.83235639e-02 9.98831686e-01 -3.09394910e-04 -4.69926607e+00] [-6.11858693e-03 1.37332367e-05 9.99981281e-01 3.63803401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.94, Y:-4.70, Z:0.37 [[ 9.98828868e-01 4.78607841e-02 7.08787555e-03 7.69421172e+01] [-4.78594480e-02 9.98854016e-01 -3.58097704e-04 -4.70247867e+00] [-7.09689180e-03 1.84565128e-05 9.99974817e-01 3.65638800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.97, Y:-4.70, Z:0.37 [[ 9.98857210e-01 4.68390876e-02 9.50648192e-03 7.69728562e+01] [-4.68366357e-02 9.98902447e-01 -4.80510822e-04 -4.70354226e+00] [-9.51855474e-03 3.47100684e-05 9.99954697e-01 3.66136303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.00, Y:-4.71, Z:0.37 [[ 9.99003513e-01 4.36285914e-02 9.40884034e-03 7.70048598e+01] [-4.36260295e-02 9.99047817e-01 -4.77447295e-04 -4.70696445e+00] [-9.42071176e-03 6.65011789e-05 9.99955622e-01 3.66717574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.04, Y:-4.71, Z:0.37 [[ 9.99154427e-01 3.96644106e-02 1.08242688e-02 7.70362244e+01] [-3.96607789e-02 9.99213050e-01 -5.50052410e-04 -4.71358720e+00] [-1.08375681e-02 1.20288370e-04 9.99941265e-01 3.65977674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.07, Y:-4.73, Z:0.37 [[ 9.99356552e-01 3.40168326e-02 1.13726762e-02 7.70672797e+01] [-3.40124456e-02 9.99421242e-01 -5.78993542e-04 -4.72541761e+00] [-1.13857897e-02 1.91808459e-04 9.99935161e-01 3.65437566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.10, Y:-4.73, Z:0.36 [[ 9.99367496e-01 3.35309174e-02 1.18441796e-02 7.70992203e+01] [-3.35261059e-02 9.99437659e-01 -6.04605705e-04 -4.73033372e+00] [-1.18577921e-02 2.07134072e-04 9.99929672e-01 3.64381444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.13, Y:-4.73, Z:0.36 [[ 9.99388090e-01 3.35812279e-02 9.78504496e-03 7.71316879e+01] [-3.35779332e-02 9.99435977e-01 -5.00838923e-04 -4.73393613e+00] [-9.79634475e-03 1.71970869e-04 9.99952000e-01 3.63110145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.16, Y:-4.74, Z:0.36 [[ 9.99218635e-01 3.86991566e-02 8.03080096e-03 7.71632680e+01] [-3.86970935e-02 9.99250902e-01 -4.12176732e-04 -4.73958713e+00] [-8.04073600e-03 1.01086016e-04 9.99967668e-01 3.62483064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.20, Y:-4.74, Z:0.36 [[ 9.99009991e-01 4.37535625e-02 8.04133901e-03 7.71951597e+01] [-4.37516494e-02 9.99042352e-01 -4.13752418e-04 -4.74324674e+00] [-8.05174139e-03 6.15209539e-05 9.99967582e-01 3.62304866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.23, Y:-4.75, Z:0.36 [[ 9.98797010e-01 4.84058343e-02 7.83636480e-03 7.72263249e+01] [-4.84041591e-02 9.98827750e-01 -4.03405692e-04 -4.74639099e+00] [-7.84670581e-03 2.36077503e-05 9.99969214e-01 3.63125750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.26, Y:-4.75, Z:0.36 [[ 9.98536610e-01 5.33636429e-02 8.77273441e-03 7.72582887e+01] [-5.33617220e-02 9.98575146e-01 -4.53050205e-04 -4.74986643e+00] [-8.78441095e-03 -1.57409995e-05 9.99961416e-01 3.63441785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.29, Y:-4.76, Z:0.36 [[ 9.98047172e-01 6.09459328e-02 1.36907453e-02 7.72901567e+01] [-6.09419480e-02 9.98141061e-01 -7.08446496e-04 -4.75672376e+00] [-1.37084720e-02 -1.27277667e-04 9.99906026e-01 3.63780733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.32, Y:-4.76, Z:0.36 [[ 9.97841447e-01 6.36386483e-02 1.62040109e-02 7.73225504e+01] [-6.36333885e-02 9.97972988e-01 -8.40503077e-04 -4.76041702e+00] [-1.62246537e-02 -1.92427315e-04 9.99868353e-01 3.64003846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.35, Y:-4.76, Z:0.36 [[ 9.97670511e-01 6.61784715e-02 1.65517568e-02 7.73546791e+01] [-6.61732972e-02 9.97807774e-01 -8.60698314e-04 -4.76287484e+00] [-1.65724313e-02 -2.36590994e-04 9.99862640e-01 3.63830282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.39, Y:-4.76, Z:0.36 [[ 9.97587096e-01 6.76814574e-02 1.54662925e-02 7.73880848e+01] [-6.76770674e-02 9.97706952e-01 -8.07654608e-04 -4.76334374e+00] [-1.54854908e-02 -2.41007506e-04 9.99880064e-01 3.62728706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.42, Y:-4.76, Z:0.36 [[ 9.97573674e-01 6.78790341e-02 1.54661317e-02 7.74205792e+01] [-6.78746202e-02 9.97693529e-01 -8.10730338e-04 -4.76498857e+00] [-1.54854911e-02 -2.40994573e-04 9.99880064e-01 3.62892586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.45, Y:-4.76, Z:0.36 [[ 9.97517203e-01 6.91032128e-02 1.35710997e-02 7.74524492e+01] [-6.90999062e-02 9.97609490e-01 -7.12964447e-04 -4.76451711e+00] [-1.35879260e-02 -2.26567418e-04 9.99907654e-01 3.61442713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.48, Y:-4.77, Z:0.36 [[ 9.97353710e-01 7.17783268e-02 1.15520385e-02 7.74846888e+01] [-7.17760913e-02 9.97420585e-01 -6.08526023e-04 -4.76512761e+00] [-1.15659200e-02 -2.22244483e-04 9.99933088e-01 3.61760570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.52, Y:-4.77, Z:0.36 [[ 9.97265883e-01 7.30023797e-02 1.14634533e-02 7.75166493e+01] [-7.30002416e-02 9.97331739e-01 -6.05392727e-04 -4.76694542e+00] [-1.14770609e-02 -2.33097348e-04 9.99934109e-01 3.62765399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.55, Y:-4.77, Z:0.37 [[ 9.97126447e-01 7.49886822e-02 1.07492859e-02 7.75486843e+01] [-7.49869019e-02 9.97184356e-01 -5.69131601e-04 -4.76750032e+00] [-1.07616981e-02 -2.38559474e-04 9.99942063e-01 3.65646387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.58, Y:-4.77, Z:0.37 [[ 9.97030491e-01 7.61524677e-02 1.14455611e-02 7.75801471e+01] [-7.61505216e-02 9.97096149e-01 -6.06374642e-04 -4.76645287e+00] [-1.14585018e-02 -2.67011438e-04 9.99934314e-01 3.66320278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.61, Y:-4.76, Z:0.36 [[ 9.96880952e-01 7.78720380e-02 1.28184932e-02 7.76113101e+01] [-7.78697289e-02 9.96963311e-01 -6.79905714e-04 -4.76283499e+00] [-1.28325131e-02 -3.20387537e-04 9.99917609e-01 3.64548541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.64, Y:-4.76, Z:0.36 [[ 9.96826075e-01 7.86561292e-02 1.22877553e-02 7.76431137e+01] [-7.86540426e-02 9.96901758e-01 -6.53724802e-04 -4.76396559e+00] [-1.23011043e-02 -3.14831699e-04 9.99924289e-01 3.63209728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.68, Y:-4.76, Z:0.36 [[ 9.96738860e-01 7.98171603e-02 1.18686544e-02 7.76754668e+01] [-7.98152771e-02 9.96809471e-01 -6.33009725e-04 -4.76421710e+00] [-1.18813122e-02 -3.16354550e-04 9.99929365e-01 3.63387427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.71, Y:-4.76, Z:0.37 [[ 9.96771379e-01 7.96442309e-02 1.01791197e-02 7.77074442e+01] [-7.96428273e-02 9.96823317e-01 -5.43819540e-04 -4.76193960e+00] [-1.01900959e-02 -2.68630119e-04 9.99948044e-01 3.65177452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.74, Y:-4.75, Z:0.37 [[ 9.97021600e-01 7.58144631e-02 1.41455269e-02 7.77380655e+01] [-7.58113769e-02 9.97121891e-01 -7.55040789e-04 -4.75434579e+00] [-1.41620575e-02 -3.19599893e-04 9.99899662e-01 3.66710488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.77, Y:-4.75, Z:0.37 [[ 9.97267823e-01 7.21205413e-02 1.59848881e-02 7.77708136e+01] [-7.21160707e-02 9.97395879e-01 -8.56674203e-04 -4.75473205e+00] [-1.60050454e-02 -2.98433706e-04 9.99871867e-01 3.66778889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.80, Y:-4.76, Z:0.37 [[ 9.97563179e-01 6.76446517e-02 1.70852252e-02 7.78032598e+01] [-6.76388534e-02 9.97709448e-01 -9.17663673e-04 -4.75566179e+00] [-1.71081657e-02 -2.40197554e-04 9.99853616e-01 3.66928484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.84, Y:-4.76, Z:0.37 [[ 9.97810628e-01 6.37545848e-02 1.75870367e-02 7.78351367e+01] [-6.37477963e-02 9.97965592e-01 -9.46906422e-04 -4.75552627e+00] [-1.76116271e-02 -1.76301538e-04 9.99844888e-01 3.67192065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.87, Y:-4.75, Z:0.37 [[ 9.98189489e-01 5.80555144e-02 1.57258107e-02 7.78677736e+01] [-5.80493454e-02 9.98313354e-01 -8.48851292e-04 -4.74967382e+00] [-1.57485673e-02 -6.55585804e-05 9.99875981e-01 3.66859236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.90, Y:-4.75, Z:0.37 [[ 9.98354413e-01 5.57777656e-02 1.33156748e-02 7.78998918e+01] [-5.57731159e-02 9.98443208e-01 -7.20564551e-04 -4.74908177e+00] [-1.33351366e-02 -2.32778749e-05 9.99911083e-01 3.66764457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.93, Y:-4.75, Z:0.37 [[ 9.98438125e-01 5.44487880e-02 1.25155924e-02 7.79323025e+01] [-5.44445548e-02 9.98516564e-01 -6.78954152e-04 -4.75079370e+00] [-1.25339946e-02 -3.51214721e-06 9.99921446e-01 3.65562139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.96, Y:-4.75, Z:0.37 [[ 9.98470289e-01 5.37273158e-02 1.30559432e-02 7.79641755e+01] [-5.37226256e-02 9.98555645e-01 -7.09937879e-04 -4.75371452e+00] [-1.30752288e-02 7.45233258e-06 9.99914516e-01 3.65324314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.00, Y:-4.76, Z:0.37 [[ 9.98553083e-01 5.24182900e-02 1.20026303e-02 7.79965080e+01] [-5.24142119e-02 9.98625216e-01 -6.54290666e-04 -4.75802517e+00] [-1.20204261e-02 2.42355515e-05 9.99927752e-01 3.67452443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.03, Y:-4.76, Z:0.37 [[ 9.98574989e-01 5.23589422e-02 1.03214474e-02 7.80283478e+01] [-5.23559089e-02 9.98628330e-01 -5.64058737e-04 -4.76087766e+00] [-1.03368233e-02 2.28661872e-05 9.99946573e-01 3.68866205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.06, Y:-4.76, Z:0.37 [[ 9.98672457e-01 5.07562259e-02 8.78230085e-03 7.80605191e+01] [-5.07539571e-02 9.98711071e-01 -4.81167596e-04 -4.76311656e+00] [-8.79540334e-03 3.47923055e-05 9.99961319e-01 3.69852964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.09, Y:-4.76, Z:0.37 [[ 9.98819845e-01 4.79400393e-02 7.78912320e-03 7.80920200e+01] [-4.79381670e-02 9.98850214e-01 -4.27006961e-04 -4.76498172e+00] [-7.80063810e-03 5.31067382e-05 9.99969573e-01 3.70204097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.12, Y:-4.77, Z:0.37 [[ 9.99106459e-01 4.15073649e-02 7.96385818e-03 7.81233506e+01] [-4.15051994e-02 9.99138192e-01 -4.37079133e-04 -4.76784251e+00] [-7.97513687e-03 1.06147063e-04 9.99968192e-01 3.67431832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.15, Y:-4.77, Z:0.37 [[ 9.99268759e-01 3.75015616e-02 7.45522059e-03 7.81547217e+01] [-3.74995487e-02 9.99296561e-01 -4.09650280e-04 -4.77147306e+00] [-7.46533882e-03 1.29783319e-04 9.99972126e-01 3.67582293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.19, Y:-4.78, Z:0.37 [[ 9.99355239e-01 3.48598290e-02 8.59644327e-03 7.81858802e+01] [-3.48570507e-02 9.99392197e-01 -4.72848642e-04 -4.77594247e+00] [-8.60770174e-03 1.72897109e-04 9.99962938e-01 3.67376623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.22, Y:-4.78, Z:0.37 [[ 9.99478647e-01 3.15018367e-02 7.07591375e-03 7.82181556e+01] [-3.14998615e-02 9.99503680e-01 -3.90452807e-04 -4.77981963e+00] [-7.08470182e-03 1.67358941e-04 9.99974889e-01 3.69308650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.25, Y:-4.79, Z:0.37 [[ 9.99576851e-01 2.88458654e-02 3.74641827e-03 7.82499154e+01] [-2.88452902e-02 9.99583867e-01 -2.07485670e-04 -4.78544123e+00] [-3.75084436e-03 9.93313504e-05 9.99992961e-01 3.69339143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.28, Y:-4.79, Z:0.37 [[ 9.99556080e-01 2.94273395e-02 4.65565241e-03 7.82805813e+01] [-2.94264611e-02 9.99566915e-01 -2.57067264e-04 -4.79170286e+00] [-4.66120092e-03 1.19953772e-04 9.99989129e-01 3.68288113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.31, Y:-4.80, Z:0.37 [[ 9.99533530e-01 3.01008941e-02 5.16323375e-03 7.83115497e+01] [-3.00998195e-02 9.99546857e-01 -2.85721862e-04 -4.79929555e+00] [-5.16949455e-03 1.30176177e-04 9.99986630e-01 3.68933300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.34, Y:-4.81, Z:0.37 [[ 9.99490933e-01 3.11007820e-02 7.11447093e-03 7.83430918e+01] [-3.10987648e-02 9.99516239e-01 -3.94020581e-04 -4.80532322e+00] [-7.12328358e-03 1.72568740e-04 9.99974614e-01 3.70403154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.37, Y:-4.81, Z:0.37 [[ 9.99464309e-01 3.20593821e-02 6.57961315e-03 7.83748353e+01] [-3.20576699e-02 9.99485954e-01 -3.65552668e-04 -4.80912651e+00] [-6.58795032e-03 1.54429779e-04 9.99978287e-01 3.71554014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.41, Y:-4.81, Z:0.37 [[ 9.99429260e-01 3.33887362e-02 5.13290359e-03 7.84071419e+01] [-3.33877077e-02 9.99442434e-01 -2.85962148e-04 -4.81210649e+00] [-5.13958958e-03 1.14423053e-04 9.99986786e-01 3.71669830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.44, Y:-4.82, Z:0.37 [[ 9.99395383e-01 3.39426832e-02 7.53416513e-03 7.84376915e+01] [-3.39404840e-02 9.99423768e-01 -4.19599917e-04 -4.81949906e+00] [-7.54406605e-03 1.63633008e-04 9.99971530e-01 3.69367274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.47, Y:-4.82, Z:0.37 [[ 9.99378620e-01 3.35971097e-02 1.06587101e-02 7.84691556e+01] [-3.35926773e-02 9.99435430e-01 -5.94656229e-04 -4.82475936e+00] [-1.06726713e-02 2.36232113e-04 9.99943018e-01 3.69473304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.50, Y:-4.83, Z:0.37 [[ 9.99380353e-01 3.31252613e-02 1.19006776e-02 7.85007779e+01] [-3.31196837e-02 9.99451171e-01 -6.65513739e-04 -4.83072771e+00] [-1.19161915e-02 2.70954677e-04 9.99928963e-01 3.70862360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.53, Y:-4.84, Z:0.37 [[ 9.99354346e-01 3.39503266e-02 1.17586542e-02 7.85322308e+01] [-3.39449209e-02 9.99423488e-01 -6.59059756e-04 -4.83660637e+00] [-1.17742504e-02 2.59487647e-04 9.99930647e-01 3.70223699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.56, Y:-4.85, Z:0.37 [[ 9.99292236e-01 3.73213493e-02 4.70581957e-03 7.85630780e+01] [-3.73205178e-02 9.99303312e-01 -2.64423255e-04 -4.84935253e+00] [-4.71240971e-03 8.86124826e-05 9.99988893e-01 3.68763176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.59, Y:-4.86, Z:0.37 [[ 9.99226898e-01 3.89944500e-02 5.00382928e-03 7.85943547e+01] [-3.89935302e-02 9.99239424e-01 -2.81300337e-04 -4.85634742e+00] [-5.01099264e-03 8.59658957e-05 9.99987441e-01 3.67889996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.63, Y:-4.86, Z:0.37 [[ 9.99125475e-01 4.12075687e-02 7.08675680e-03 7.86263207e+01] [-4.12057714e-02 9.99150602e-01 -3.99499390e-04 -4.86239079e+00] [-7.09719972e-03 1.07134737e-04 9.99974809e-01 3.68295494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.66, Y:-4.87, Z:0.37 [[ 9.99079188e-01 4.17070861e-02 1.00645721e-02 7.86587382e+01] [-4.17034760e-02 9.99129870e-01 -5.68386840e-04 -4.86603972e+00] [-1.00795204e-02 1.48135821e-04 9.99949189e-01 3.70779727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.69, Y:-4.87, Z:0.37 [[ 9.99054644e-01 4.23900311e-02 9.63863106e-03 7.86909307e+01] [-4.23867398e-02 9.99101129e-01 -5.45588735e-04 -4.87206112e+00] [-9.65309470e-03 1.36522813e-04 9.99953398e-01 3.73487241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.72, Y:-4.88, Z:0.37 [[ 9.99021463e-01 4.32941610e-02 9.04058701e-03 7.87228770e+01] [-4.32912916e-02 9.99062361e-01 -5.12939588e-04 -4.87710166e+00] [-9.05431749e-03 1.21058969e-04 9.99959001e-01 3.72103679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.75, Y:-4.88, Z:0.37 [[ 9.98995725e-01 4.40225090e-02 8.34029117e-03 7.87546734e+01] [-4.40200829e-02 9.99030534e-01 -4.74322793e-04 -4.88170299e+00] [-8.35308641e-03 1.06706134e-04 9.99965107e-01 3.70115082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.79, Y:-4.89, Z:0.37 [[ 9.98966116e-01 4.44236004e-02 9.65623716e-03 7.87866799e+01] [-4.44203561e-02 9.99012777e-01 -5.50301468e-04 -4.88642493e+00] [-9.67115068e-03 1.20799027e-04 9.99953226e-01 3.67933341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.82, Y:-4.90, Z:0.37 [[ 9.98905898e-01 4.53888868e-02 1.12630143e-02 7.88185252e+01] [-4.53845189e-02 9.98969385e-01 -6.43230703e-04 -4.89794611e+00] [-1.12806020e-02 1.31360456e-04 9.99936363e-01 3.66939485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.85, Y:-4.91, Z:0.37 [[ 9.98875159e-01 4.62088988e-02 1.06373707e-02 7.88503664e+01] [-4.62050343e-02 9.98931791e-01 -6.08899710e-04 -4.90668023e+00] [-1.06541443e-02 1.16714718e-04 9.99943236e-01 3.68888858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.88, Y:-4.91, Z:0.37 [[ 9.98860596e-01 4.67860979e-02 9.41119327e-03 7.88820105e+01] [-4.67830863e-02 9.98904926e-01 -5.40007767e-04 -4.91378347e+00] [-9.42615218e-03 9.91078129e-05 9.99955568e-01 3.72030905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.91, Y:-4.92, Z:0.37 [[ 9.98812963e-01 4.78523155e-02 9.10064245e-03 7.89137701e+01] [-4.78495326e-02 9.98854418e-01 -5.23404625e-04 -4.91836183e+00] [-9.11526304e-03 8.73218367e-05 9.99958451e-01 3.74443148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.95, Y:-4.92, Z:0.37 [[ 9.98652552e-01 5.10096685e-02 9.54436169e-03 7.89457985e+01] [-5.10067399e-02 9.98698158e-01 -5.50165662e-04 -4.92331201e+00] [-9.56000020e-03 6.25975676e-05 9.99954300e-01 3.72958789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.98, Y:-4.93, Z:0.37 [[ 9.98486840e-01 5.35767784e-02 1.23918847e-02 7.89775656e+01] [-5.35720214e-02 9.98563732e-01 -7.15743939e-04 -4.93017731e+00] [-1.24124338e-02 5.08025942e-05 9.99922961e-01 3.70192315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.01, Y:-4.94, Z:0.37 [[ 9.98395570e-01 5.48693980e-02 1.39869238e-02 7.90096864e+01] [-5.48634395e-02 9.98493539e-01 -8.09642621e-04 -4.93835177e+00] [-1.40102777e-02 4.09728578e-05 9.99901850e-01 3.69486855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.04, Y:-4.95, Z:0.37 [[ 9.98300624e-01 5.61049039e-02 1.57513151e-02 7.90413241e+01] [-5.60974693e-02 9.98424879e-01 -9.13788435e-04 -4.94547092e+00] [-1.57777729e-02 2.86266520e-05 9.99875523e-01 3.69514236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.07, Y:-4.95, Z:0.37 [[ 9.98201297e-01 5.75696375e-02 1.67304149e-02 7.90736589e+01] [-5.75614188e-02 9.98341493e-01 -9.72778085e-04 -4.95002950e+00] [-1.67586698e-02 8.00193065e-06 9.99859564e-01 3.70952208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.11, Y:-4.96, Z:0.37 [[ 9.98104822e-01 6.02634979e-02 1.24529294e-02 7.91059206e+01] [-6.02591243e-02 9.98182503e-01 -7.26470016e-04 -4.95570220e+00] [-1.24740759e-02 -2.53093957e-05 9.99922195e-01 3.73387708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.14, Y:-4.96, Z:0.37 [[ 9.98061746e-01 6.14057321e-02 1.01038122e-02 7.91381712e+01] [-6.14028977e-02 9.98112887e-01 -5.90799080e-04 -4.96081814e+00] [-1.01210236e-02 -3.07493833e-05 9.99948781e-01 3.72687462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.17, Y:-4.97, Z:0.37 [[ 9.97943595e-01 6.33314336e-02 9.88491439e-03 7.91709223e+01] [-6.33287918e-02 9.97992549e-01 -5.80349092e-04 -4.96594378e+00] [-9.90182525e-03 -4.68440266e-05 9.99950975e-01 3.71910912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.20, Y:-4.97, Z:0.37 [[ 9.97770448e-01 6.56171835e-02 1.21868390e-02 7.92029451e+01] [-6.56133256e-02 9.97844867e-01 -7.16554745e-04 -4.96977351e+00] [-1.22075930e-02 -8.46618861e-05 9.99925481e-01 3.71362432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.24, Y:-4.97, Z:0.37 [[ 9.97560912e-01 6.82552796e-02 1.46097247e-02 7.92351920e+01] [-6.82499909e-02 9.97667879e-01 -8.60856969e-04 -4.97278119e+00] [-1.46344111e-02 -1.38356315e-04 9.99892902e-01 3.71869114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.27, Y:-4.98, Z:0.37 [[ 9.96967325e-01 7.58857872e-02 1.72481702e-02 7.92665740e+01] [-7.58794044e-02 9.97116475e-01 -1.02514233e-03 -4.97651391e+00] [-1.72762284e-02 -2.86747478e-04 9.99850714e-01 3.73396200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.30, Y:-4.98, Z:0.38 [[ 9.96679672e-01 7.95418208e-02 1.73991531e-02 7.92988686e+01] [-7.95358688e-02 9.96831467e-01 -1.03490082e-03 -4.98001473e+00] [-1.74263412e-02 -3.52392150e-04 9.99848088e-01 3.75472310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.33, Y:-4.98, Z:0.38 [[ 9.96321872e-01 8.39371010e-02 1.72421118e-02 7.93309207e+01] [-8.39318742e-02 9.96470965e-01 -1.02783227e-03 -4.98212582e+00] [-1.72675370e-02 -4.23110988e-04 9.99850815e-01 3.75544687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.36, Y:-4.98, Z:0.37 [[ 9.95792056e-01 9.01544369e-02 1.64426057e-02 7.93636121e+01] [-9.01504952e-02 9.95927670e-01 -9.82285727e-04 -4.97571181e+00] [-1.64642034e-02 -5.04156719e-04 9.99864329e-01 3.74327393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.40, Y:-4.97, Z:0.37 [[ 9.95532033e-01 9.31853070e-02 1.52469651e-02 7.93958418e+01] [-9.31822423e-02 9.95648651e-01 -9.12845732e-04 -4.97317036e+00] [-1.52656841e-02 -5.11979232e-04 9.99883342e-01 3.73752266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.43, Y:-4.98, Z:0.37 [[ 9.95513971e-01 9.33780997e-02 1.52467681e-02 7.94283169e+01] [-9.33750073e-02 9.95630588e-01 -9.16133336e-04 -4.97506744e+00] [-1.52656955e-02 -5.11643544e-04 9.99883342e-01 3.73916215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.46, Y:-4.98, Z:0.37 [[ 9.95357128e-01 9.50339759e-02 1.52555412e-02 7.94605043e+01] [-9.50310492e-02 9.95473885e-01 -9.18291206e-04 -4.97606575e+00] [-1.52737617e-02 -5.35722390e-04 9.99883206e-01 3.72395823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.49, Y:-4.98, Z:0.37 [[ 9.95160702e-01 9.67630639e-02 1.70905421e-02 7.94927023e+01] [-9.67596098e-02 9.95307247e-01 -1.03083758e-03 -4.97996972e+00] [-1.71100874e-02 -6.27825132e-04 9.99853415e-01 3.72322041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.53, Y:-4.98, Z:0.37 [[ 9.95197620e-01 9.63943653e-02 1.70241776e-02 7.95252074e+01] [-9.63908473e-02 9.95343029e-01 -1.02898356e-03 -4.98311630e+00] [-1.70440848e-02 -6.16932919e-04 9.99854549e-01 3.74964648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.56, Y:-4.99, Z:0.38 [[ 9.95304323e-01 9.51837187e-02 1.75887718e-02 7.95572659e+01] [-9.51797353e-02 9.95459534e-01 -1.06535211e-03 -4.98553483e+00] [-1.76103148e-02 -6.13745082e-04 9.99844738e-01 3.75399145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.59, Y:-4.98, Z:0.38 [[ 9.95892988e-01 8.89016923e-02 1.71360707e-02 7.95894452e+01] [-8.88969405e-02 9.96040286e-01 -1.04033885e-03 -4.98156664e+00] [-1.71607047e-02 -4.87278092e-04 9.99852626e-01 3.75422154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.62, Y:-4.98, Z:0.37 [[ 9.96176457e-01 8.58017301e-02 1.64477870e-02 7.96222947e+01] [-8.57968540e-02 9.96312147e-01 -1.00316708e-03 -4.98055458e+00] [-1.64732035e-02 -4.11836957e-04 9.99864223e-01 3.74077310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.66, Y:-4.98, Z:0.37 [[ 9.96432342e-01 8.30522136e-02 1.49972539e-02 7.96550570e+01] [-8.30478164e-02 9.96545142e-01 -9.16820208e-04 -4.98110211e+00] [-1.50215845e-02 -3.31939885e-04 9.99887115e-01 3.73795448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.69, Y:-4.98, Z:0.37 [[ 9.96626175e-01 8.12114152e-02 1.18732399e-02 7.96869444e+01] [-8.12085097e-02 9.96696869e-01 -7.27426078e-04 -4.98308175e+00] [-1.18930964e-02 -2.39236250e-04 9.99929246e-01 3.74336824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.72, Y:-4.98, Z:0.38 [[ 9.96704236e-01 8.03329071e-02 1.12823025e-02 7.97196093e+01] [-8.03302039e-02 9.96768066e-01 -6.93290152e-04 -4.98359637e+00] [-1.13015329e-02 -2.15304429e-04 9.99936112e-01 3.77982336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.75, Y:-4.98, Z:0.38 [[ 9.96677442e-01 8.04060110e-02 1.29980669e-02 7.97520853e+01] [-8.04024107e-02 9.96762164e-01 -8.00162571e-04 -4.98309691e+00] [-1.30203192e-02 -2.47571926e-04 9.99915201e-01 3.78199049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.78, Y:-4.98, Z:0.38 [[ 9.96595646e-01 8.11960065e-02 1.42943300e-02 7.97841618e+01] [-8.11917073e-02 9.96698113e-01 -8.81789961e-04 -4.98370006e+00] [-1.43187296e-02 -2.81793024e-04 9.99897442e-01 3.78764367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.82, Y:-4.99, Z:0.38 [[ 9.96602172e-01 8.10765589e-02 1.45156094e-02 7.98169809e+01] [-8.10720657e-02 9.96707837e-01 -8.98681097e-04 -4.98696222e+00] [-1.45406836e-02 -2.81182903e-04 9.99894239e-01 3.78211889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.85, Y:-4.99, Z:0.38 [[ 9.96679019e-01 8.02098690e-02 1.40467214e-02 7.98488392e+01] [-8.02055534e-02 9.96777964e-01 -8.71208230e-04 -4.99189530e+00] [-1.40713418e-02 -2.58310098e-04 9.99900960e-01 3.78083868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.88, Y:-5.00, Z:0.38 [[ 9.96834691e-01 7.83104099e-02 1.37141575e-02 7.98807549e+01] [-7.83060913e-02 9.96928999e-01 -8.52418368e-04 -4.99696186e+00] [-1.37387945e-02 -2.24181869e-04 9.99905593e-01 3.77626006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.91, Y:-5.00, Z:0.38 [[ 9.97042526e-01 7.54922510e-02 1.43917098e-02 7.99125023e+01] [-7.54871742e-02 9.97146370e-01 -8.96431721e-04 -4.99906137e+00] [-1.44183148e-02 -1.92608956e-04 9.99896032e-01 3.79267302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.94, Y:-5.00, Z:0.38 [[ 9.97221055e-01 7.29953115e-02 1.48947053e-02 7.99444628e+01] [-7.29895653e-02 9.97332271e-01 -9.29756128e-04 -4.99826158e+00] [-1.49228381e-02 -1.59985680e-04 9.99888635e-01 3.79648576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.98, Y:-5.00, Z:0.38 [[ 9.97299312e-01 7.15486394e-02 1.65793234e-02 7.99767609e+01] [-7.15412844e-02 9.97437100e-01 -1.03705985e-03 -4.99823138e+00] [-1.66110325e-02 -1.51847014e-04 9.99862016e-01 3.79285482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.01, Y:-5.00, Z:0.38 [[ 9.97611026e-01 6.73659645e-02 1.52992532e-02 8.00091901e+01] [-6.73591771e-02 9.97728330e-01 -9.59101864e-04 -5.00007579e+00] [-1.53291092e-02 -7.37345113e-05 9.99882500e-01 3.79538161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.04, Y:-5.00, Z:0.38 [[ 9.97716150e-01 6.61038673e-02 1.38839130e-02 8.00410621e+01] [-6.60981289e-02 9.97812746e-01 -8.72284613e-04 -5.00270618e+00] [-1.39112068e-02 -4.74082262e-05 9.99903233e-01 3.79647328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.07, Y:-5.01, Z:0.38 [[ 9.97754533e-01 6.59667690e-02 1.15878316e-02 8.00729453e+01] [-6.59627431e-02 9.97821820e-01 -7.29696893e-04 -5.00578244e+00] [-1.16107270e-02 -3.63067794e-05 9.99932593e-01 3.79546748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.11, Y:-5.01, Z:0.38 [[ 9.97711469e-01 6.66072757e-02 1.16316835e-02 8.01057694e+01] [-6.66032310e-02 9.97779269e-01 -7.35176830e-04 -5.00878931e+00] [-1.16548208e-02 -4.12133507e-05 9.99932079e-01 3.79245635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.14, Y:-5.01, Z:0.38 [[ 9.97621300e-01 6.78079529e-02 1.24025510e-02 8.01380219e+01] [-6.78034316e-02 9.97698390e-01 -7.85149992e-04 -5.01118808e+00] [-1.24272446e-02 -5.76531642e-05 9.99922777e-01 3.79419643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.17, Y:-5.01, Z:0.38 [[ 9.97530227e-01 6.91111009e-02 1.25340250e-02 8.01707525e+01] [-6.91065501e-02 9.97608967e-01 -7.96344448e-04 -5.01183999e+00] [-1.25590920e-02 -7.18055693e-05 9.99921129e-01 3.80611578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.20, Y:-5.02, Z:0.38 [[ 9.97511436e-01 6.96082798e-02 1.12081405e-02 8.02024642e+01] [-6.96046579e-02 9.97574400e-01 -7.13376579e-04 -5.01502982e+00] [-1.12306110e-02 -6.85374915e-05 9.99936932e-01 3.80799668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.23, Y:-5.02, Z:0.38 [[ 9.97520220e-01 6.97223912e-02 9.60201283e-03 8.02346268e+01] [-6.97197250e-02 9.97566431e-01 -6.12536375e-04 -5.01959732e+00] [-9.62135317e-03 -5.84322746e-05 9.99953712e-01 3.80513843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.27, Y:-5.02, Z:0.38 [[ 9.97546555e-01 6.95651467e-02 7.84603825e-03 8.02666556e+01] [-6.95633523e-02 9.97577410e-01 -5.01702241e-04 -5.02406955e+00] [-7.86193151e-03 -4.53253815e-05 9.99969094e-01 3.80427598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.30, Y:-5.03, Z:0.38 [[ 9.97698492e-01 6.73778785e-02 7.61191176e-03 8.02988564e+01] [-6.73761179e-02 9.97727528e-01 -4.87788108e-04 -5.02540862e+00] [-7.62748003e-03 -2.61956038e-05 9.99970910e-01 3.80615755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.33, Y:-5.03, Z:0.38 [[ 9.97759792e-01 6.64258990e-02 7.93708155e-03 8.03315709e+01] [-6.64239464e-02 9.97791361e-01 -5.09659621e-04 -5.02560542e+00] [-7.95340600e-03 -1.86944023e-05 9.99968371e-01 3.81144159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.36, Y:-5.03, Z:0.38 [[ 9.97803487e-01 6.59667859e-02 6.04856724e-03 8.03637970e+01] [-6.59656375e-02 9.97821819e-01 -3.89375140e-04 -5.02689723e+00] [-6.06107819e-03 -1.04777214e-05 9.99981631e-01 3.81910190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.40, Y:-5.03, Z:0.38 [[ 9.97780875e-01 6.64365949e-02 4.41638627e-03 8.03963120e+01] [-6.64359824e-02 9.97790649e-01 -2.85399449e-04 -5.03007620e+00] [-4.42558989e-03 -8.64084873e-06 9.99990207e-01 3.83096316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.43, Y:-5.04, Z:0.38 [[ 9.97761629e-01 6.68216884e-02 2.56788524e-03 8.04283950e+01] [-6.68214813e-02 9.97764933e-01 -1.66473781e-04 -5.03748549e+00] [-2.57326990e-03 -5.48874424e-06 9.99996689e-01 3.84918302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.46, Y:-5.04, Z:0.38 [[ 9.97729519e-01 6.72508614e-02 3.62346927e-03 8.04608487e+01] [-6.72504510e-02 9.97736098e-01 -2.35122762e-04 -5.04172287e+00] [-3.63107830e-03 -9.09102187e-06 9.99993408e-01 3.84745909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.49, Y:-5.05, Z:0.38 [[ 9.97728942e-01 6.71662479e-02 5.06491638e-03 8.04925637e+01] [-6.71654428e-02 9.97741798e-01 -3.29080001e-04 -5.04560943e+00] [-5.07558185e-03 -1.18547102e-05 9.99987119e-01 3.83814385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.52, Y:-5.05, Z:0.38 [[ 9.97657351e-01 6.81123621e-02 6.36516121e-03 8.05241206e+01] [-6.81111054e-02 9.97677656e-01 -4.14247410e-04 -5.04927159e+00] [-6.37859448e-03 -2.02611918e-05 9.99979656e-01 3.83332393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.56, Y:-5.05, Z:0.38 [[ 9.97539162e-01 6.96825091e-02 7.74386563e-03 8.05562082e+01] [-6.96806894e-02 9.97569219e-01 -5.04868141e-04 -5.05216003e+00] [-7.76022247e-03 -3.59721538e-05 9.99969888e-01 3.82491104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.59, Y:-5.05, Z:0.38 [[ 9.97408168e-01 7.15543713e-02 7.54438293e-03 8.05895629e+01] [-7.15526832e-02 9.97436700e-01 -4.93775271e-04 -5.05313756e+00] [-7.56037619e-03 -4.73253531e-05 9.99971419e-01 3.83284175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.62, Y:-5.05, Z:0.39 [[ 9.97172410e-01 7.47017852e-02 8.17483620e-03 8.06218432e+01] [-7.46999035e-02 9.97205915e-01 -5.35701536e-04 -5.04935477e+00] [-8.19201288e-03 -7.64726835e-05 9.99966442e-01 3.85628416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.65, Y:-5.05, Z:0.39 [[ 9.97050164e-01 7.62105032e-02 9.10654731e-03 8.06544245e+01] [-7.62082204e-02 9.97091746e-01 -5.97921752e-04 -5.05088111e+00] [-9.12563108e-03 -9.78357843e-05 9.99958356e-01 3.87393481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.69, Y:-5.05, Z:0.39 [[ 9.96935360e-01 7.76389349e-02 9.59604713e-03 8.06868790e+01] [-7.76364542e-02 9.96981536e-01 -6.31315815e-04 -5.05413734e+00] [-9.61609649e-03 -1.15622014e-04 9.99953758e-01 3.89246245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.72, Y:-5.06, Z:0.39 [[ 9.96767143e-01 7.99865126e-02 7.57765010e-03 8.07193378e+01] [-7.99850183e-02 9.96795940e-01 -5.00533073e-04 -5.05721153e+00] [-7.59340675e-03 -1.07183561e-04 9.99971164e-01 3.90779819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.75, Y:-5.05, Z:0.39 [[ 9.96533906e-01 8.31406490e-02 2.79388457e-03 8.07522099e+01] [-8.31404563e-02 9.96537822e-01 -1.85227231e-04 -5.05428121e+00] [-2.79961155e-03 -4.76996220e-05 9.99996080e-01 3.87705879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.78, Y:-5.05, Z:0.39 [[ 9.96413047e-01 8.46211592e-02 5.46312857e-04 8.07841935e+01] [-8.46211517e-02 9.96413197e-01 -3.68327631e-05 -5.05132396e+00] [-5.47470171e-04 -9.52897738e-06 9.99999850e-01 3.85049098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.81, Y:-5.05, Z:0.38 [[ 9.96406278e-01 8.47025085e-02 1.19798780e-04 8.08149575e+01] [-8.47025082e-02 9.96406285e-01 -7.92932139e-06 -5.04906679e+00] [-1.20039891e-04 -2.24643157e-06 9.99999993e-01 3.84168205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.85, Y:-5.05, Z:0.39 [[ 9.96465649e-01 8.40012153e-02 -7.65583535e-05 8.08460363e+01] [-8.40012152e-02 9.96465652e-01 5.06729524e-06 -5.04815262e+00] [ 7.67134287e-05 1.38160908e-06 9.99999997e-01 3.85036229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.88, Y:-5.05, Z:0.39 [[ 9.96485700e-01 8.36885080e-02 3.53317306e-03 8.08754326e+01] [-8.36882067e-02 9.96491962e-01 -2.33281414e-04 -5.04812068e+00] [-3.54030152e-03 -6.32233244e-05 9.99993731e-01 3.85494834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.91, Y:-5.04, Z:0.39 [[ 9.96583608e-01 8.22530487e-02 7.45302668e-03 8.09072397e+01] [-8.22516564e-02 9.96611470e-01 -4.93642137e-04 -5.04436295e+00] [-7.46837544e-03 -1.21068128e-04 9.99972104e-01 3.89819149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.94, Y:-5.04, Z:0.39 [[ 9.96745688e-01 8.00369600e-02 9.59782653e-03 8.09398241e+01] [-8.00345337e-02 9.96791888e-01 -6.37228979e-04 -5.04413661e+00] [-9.61803749e-03 -1.33002334e-04 9.99953737e-01 3.90439362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.97, Y:-5.05, Z:0.39 [[ 9.96926963e-01 7.75455462e-02 1.11048886e-02 8.09718802e+01] [-7.75421281e-02 9.96988803e-01 -7.38676673e-04 -5.04526126e+00] [-1.11287307e-02 -1.24690000e-04 9.99938066e-01 3.90220167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.00, Y:-5.05, Z:0.39 [[ 9.97209733e-01 7.39690906e-02 1.00658780e-02 8.10039795e+01] [-7.39660854e-02 9.97260532e-01 -6.71016164e-04 -5.04612567e+00] [-1.00879373e-02 -7.53897410e-05 9.99949113e-01 3.89048986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.04, Y:-5.04, Z:0.39 [[ 9.97673419e-01 6.79401580e-02 5.64660752e-03 8.10366095e+01] [-6.79391098e-02 9.97689398e-01 -3.77462926e-04 -5.04172399e+00] [-5.65920535e-03 -7.04076040e-06 9.99983987e-01 3.85595695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.07, Y:-5.04, Z:0.39 [[ 9.97736414e-01 6.70720990e-02 4.83536821e-03 8.10690433e+01] [-6.70713165e-02 9.97748131e-01 -3.23973672e-04 -5.04175803e+00] [-4.84620919e-03 -1.07418206e-06 9.99988257e-01 3.85581677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.10, Y:-5.04, Z:0.39 [[ 9.97952210e-01 6.38024373e-02 4.54262363e-03 8.11014488e+01] [-6.38017099e-02 9.97962549e-01 -3.05007207e-04 -5.04268894e+00] [-4.55282846e-03 1.45554610e-05 9.99989636e-01 3.86583304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.13, Y:-5.05, Z:0.39 [[ 9.98116132e-01 6.11707780e-02 4.72469468e-03 8.11332107e+01] [-6.11699588e-02 9.98127314e-01 -3.17826614e-04 -5.04525276e+00] [-4.73528851e-03 2.82184917e-05 9.99988788e-01 3.87639202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.17, Y:-5.05, Z:0.39 [[ 9.98308385e-01 5.79889536e-02 4.20123189e-03 8.11656847e+01] [-5.79882751e-02 9.98317224e-01 -2.83234577e-04 -5.04717153e+00] [-4.21058663e-03 3.91332624e-05 9.99991135e-01 3.89020919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.20, Y:-5.05, Z:0.39 [[ 9.98635747e-01 5.18259238e-02 6.38107500e-03 8.11974271e+01] [-5.18242261e-02 9.98656129e-01 -4.31227451e-04 -5.04675660e+00] [-6.39484842e-03 9.99448748e-05 9.99979548e-01 3.90409893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.23, Y:-5.05, Z:0.39 [[ 9.98714483e-01 4.96969821e-02 9.97958524e-03 8.12298444e+01] [-4.96927181e-02 9.98764326e-01 -6.74932100e-04 -5.04895278e+00] [-1.00007958e-02 1.78151747e-04 9.99949975e-01 3.91071463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.26, Y:-5.05, Z:0.39 [[ 9.98757681e-01 4.78379901e-02 1.39506852e-02 8.12622490e+01] [-4.78294547e-02 9.98855070e-01 -9.45016528e-04 -5.05200880e+00] [-1.39799203e-02 2.76588850e-04 9.99902238e-01 3.90195736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.29, Y:-5.06, Z:0.39 [[ 9.98765000e-01 4.73553710e-02 1.50313977e-02 8.12937578e+01] [-4.73453888e-02 9.98878058e-01 -1.01944623e-03 -5.05580273e+00] [-1.50628096e-02 3.06519848e-04 9.99886502e-01 3.88982424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.33, Y:-5.06, Z:0.39 [[ 9.98924795e-01 4.57965348e-02 7.20638757e-03 8.13259563e+01] [-4.57941877e-02 9.98950775e-01 -4.90444523e-04 -5.06017288e+00] [-7.22128711e-03 1.59906529e-04 9.99973913e-01 3.85478648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.36, Y:-5.06, Z:0.38 [[ 9.99018179e-01 4.42312297e-02 2.50506553e-03 8.13578279e+01] [-4.42309395e-02 9.99021318e-01 -1.71174149e-04 -5.06407262e+00] [-2.51018511e-03 6.02046846e-05 9.99996848e-01 3.84802890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.39, Y:-5.07, Z:0.38 [[ 9.99116019e-01 4.19667042e-02 2.44462421e-03 8.13889151e+01] [-4.19664214e-02 9.99119008e-01 -1.66886501e-04 -5.06976882e+00] [-2.44947419e-03 6.41468468e-05 9.99996998e-01 3.84658551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.42, Y:-5.08, Z:0.39 [[ 9.99177427e-01 4.02895539e-02 4.60666398e-03 8.14199847e+01] [-4.02885318e-02 9.99188038e-01 -3.14492268e-04 -5.07684956e+00] [-4.61559429e-03 1.28637847e-04 9.99989340e-01 3.85845225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.45, Y:-5.08, Z:0.39 [[ 9.99172376e-01 4.04146203e-02 4.60660311e-03 8.14516001e+01] [-4.04135955e-02 9.99182987e-01 -3.15383650e-04 -5.07897245e+00] [-4.61558556e-03 1.28953236e-04 9.99989340e-01 3.86004912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.48, Y:-5.09, Z:0.39 [[ 9.99192770e-01 3.97611106e-02 5.73250930e-03 8.14831674e+01] [-3.97595095e-02 9.99209201e-01 -3.93032373e-04 -5.08731449e+00] [-5.74360344e-03 1.64793348e-04 9.99983492e-01 3.87583941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.52, Y:-5.10, Z:0.39 [[ 9.99168139e-01 4.03783152e-02 5.71160362e-03 8.15151823e+01] [-4.03767317e-02 9.99184450e-01 -3.92323322e-04 -5.09515836e+00] [-5.72278688e-03 1.61381077e-04 9.99983612e-01 3.89524842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.55, Y:-5.10, Z:0.39 [[ 9.98995449e-01 4.41502141e-02 7.67148833e-03 8.15466766e+01] [-4.41474626e-02 9.99024886e-01 -5.27712100e-04 -5.10423199e+00] [-7.68730636e-03 1.88505242e-04 9.99970434e-01 3.90240160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.58, Y:-5.11, Z:0.39 [[ 9.98858554e-01 4.69988679e-02 8.52614456e-03 8.15786837e+01] [-4.69955642e-02 9.98894925e-01 -5.87524850e-04 -5.11019859e+00] [-8.54433554e-03 1.86163247e-04 9.99963479e-01 3.90916523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.61, Y:-5.12, Z:0.39 [[ 9.98711426e-01 4.96636839e-02 1.04405569e-02 8.16102877e+01] [-4.96588628e-02 9.98765978e-01 -7.20655044e-04 -5.11677393e+00] [-1.04634634e-02 2.01260243e-04 9.99945236e-01 3.88892047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.64, Y:-5.13, Z:0.39 [[ 9.98320356e-01 5.70364021e-02 1.01644396e-02 8.16414142e+01] [-5.70322009e-02 9.98372092e-01 -7.02932387e-04 -5.13220141e+00] [-1.01879855e-02 1.22051351e-04 9.99948094e-01 3.86384322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.67, Y:-5.14, Z:0.39 [[ 9.97974019e-01 6.28569790e-02 9.84159350e-03 8.16733827e+01] [-6.28533103e-02 9.98022543e-01 -6.81934324e-04 -5.14073197e+00] [-9.86499650e-03 6.19760078e-05 9.99951338e-01 3.86760439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.71, Y:-5.15, Z:0.39 [[ 9.97552799e-01 6.91719526e-02 1.01810645e-02 8.17053674e+01] [-6.91683413e-02 9.97604752e-01 -7.06816010e-04 -5.14665802e+00] [-1.02055701e-02 8.78946900e-07 9.99947922e-01 3.88316698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.74, Y:-5.15, Z:0.39 [[ 9.96982765e-01 7.64593437e-02 1.33916177e-02 8.17369815e+01] [-7.64537310e-02 9.97072695e-01 -9.31309849e-04 -5.14980071e+00] [-1.34236237e-02 -9.53392664e-05 9.99909895e-01 3.88933602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.77, Y:-5.15, Z:0.39 [[ 9.96302653e-01 8.43884235e-02 1.61126307e-02 8.17687576e+01] [-8.43812001e-02 9.96432907e-01 -1.12884085e-03 -5.15078850e+00] [-1.61504166e-02 -2.34935977e-04 9.99869546e-01 3.90061250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.80, Y:-5.15, Z:0.39 [[ 9.94923753e-01 9.91056684e-02 1.74582791e-02 8.17983870e+01] [-9.90994905e-02 9.95076781e-01 -1.22076688e-03 -5.15077683e+00] [-1.74933131e-02 -5.15536595e-04 9.99846847e-01 3.89092779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.262320588 meters Centerline goodness [0,1] 0.9999507340624693 Centerline is valid? [True, True] Translation: X:81.83, Y:-5.15, Z:0.39 [[ 9.94171194e-01 1.06504268e-01 1.67474714e-02 8.18299618e+01] [-1.06499481e-01 9.94312058e-01 -1.17999007e-03 -5.15266525e+00] [-1.67778868e-02 -6.10484875e-04 9.99859055e-01 3.88635593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.292320588 meters Centerline goodness [0,1] 0.9999507898233355 Centerline is valid? [True, True] Translation: X:81.86, Y:-5.16, Z:0.39 [[ 9.93447179e-01 1.13304844e-01 1.49905006e-02 8.18612486e+01] [-1.13301790e-01 9.93560059e-01 -1.05560823e-03 -5.15565888e+00] [-1.50135681e-02 -6.49759526e-04 9.99887079e-01 3.88815680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.89, Y:-5.16, Z:0.39 [[ 9.92719901e-01 1.19598040e-01 1.42656030e-02 8.18918810e+01] [-1.19595918e-01 9.92822143e-01 -1.00485394e-03 -5.15713008e+00] [-1.42833851e-02 -7.08569376e-04 9.99897736e-01 3.88962359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.92, Y:-5.16, Z:0.39 [[ 9.92086745e-01 1.24895743e-01 1.28430242e-02 8.19229931e+01] [-1.24894460e-01 9.92169620e-01 -9.05052393e-04 -5.15663342e+00] [-1.28554957e-02 -7.06132099e-04 9.99917115e-01 3.89052115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.95, Y:-5.14, Z:0.39 [[ 9.91180032e-01 1.31358872e-01 1.75211710e-02 8.19543830e+01] [-1.31357491e-01 9.91334295e-01 -1.23467222e-03 -5.14460164e+00] [-1.75315229e-02 -1.07775461e-03 9.99845730e-01 3.86605783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.412320588 meters Centerline goodness [0,1] 0.9999508285391159 Centerline is valid? [True, True] Translation: X:81.99, Y:-5.14, Z:0.39 [[ 9.91034551e-01 1.32187578e-01 1.94155526e-02 8.19871886e+01] [-1.32185985e-01 9.91223984e-01 -1.37104247e-03 -5.13825039e+00] [-1.94263961e-02 -1.20771348e-03 9.99810560e-01 3.87478269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.442320588 meters Centerline goodness [0,1] 0.9999507922448578 Centerline is valid? [True, True] Translation: X:82.02, Y:-5.13, Z:0.39 [[ 9.91163754e-01 1.31044467e-01 2.05368192e-02 8.20200905e+01] [-1.31042391e-01 9.91375702e-01 -1.45262190e-03 -5.13262193e+00] [-2.05500616e-02 -1.25140771e-03 9.99788042e-01 3.89043203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.05, Y:-5.12, Z:0.39 [[ 9.91865207e-01 1.26302166e-01 1.58484912e-02 8.20522316e+01] [-1.26300322e-01 9.91991417e-01 -1.12123851e-03 -5.12225577e+00] [-1.58631821e-02 -8.89552067e-04 9.99873776e-01 3.93355058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.502320588 meters Centerline goodness [0,1] 0.9999508067689886 Centerline is valid? [True, True] Translation: X:82.08, Y:-5.12, Z:0.39 [[ 9.92118738e-01 1.24411479e-01 1.49061612e-02 8.20842648e+01] [-1.24409601e-01 9.92230384e-01 -1.05685882e-03 -5.12044370e+00] [-1.49218314e-02 -8.05940129e-04 9.99888338e-01 3.93895575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.532320588 meters Centerline goodness [0,1] 0.9999508091888435 Centerline is valid? [True, True] Translation: X:82.12, Y:-5.12, Z:0.39 [[ 9.92244073e-01 1.23301997e-01 1.57580859e-02 8.21166218e+01] [-1.23299728e-01 9.92368845e-01 -1.11915274e-03 -5.11668416e+00] [-1.57758273e-02 -8.32495032e-04 9.99875207e-01 3.93991523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.15, Y:-5.11, Z:0.39 [[ 9.92301410e-01 1.22778773e-01 1.62260701e-02 8.21496110e+01] [-1.22776266e-01 9.92433704e-01 -1.15437378e-03 -5.10950030e+00] [-1.62450315e-02 -8.46689575e-04 9.99867682e-01 3.94388807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.18, Y:-5.10, Z:0.39 [[ 9.92545397e-01 1.20760883e-01 1.64451880e-02 8.21821443e+01] [-1.20757997e-01 9.92681284e-01 -1.17202533e-03 -5.10093141e+00] [-1.64663652e-02 -8.22599629e-04 9.99864082e-01 3.92701360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.21, Y:-5.08, Z:0.39 [[ 9.93095107e-01 1.16542512e-01 1.34145589e-02 8.22147755e+01] [-1.16540199e-01 9.93185515e-01 -9.56688471e-04 -5.08260152e+00] [-1.34346404e-02 -6.13252714e-04 9.99909563e-01 3.91598296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.25, Y:-5.08, Z:0.39 [[ 9.93439449e-01 1.13751590e-01 1.17744452e-02 8.22465056e+01] [-1.13749603e-01 9.93509095e-01 -8.40512726e-04 -5.07831539e+00] [-1.17936280e-02 -5.04339966e-04 9.99930326e-01 3.93368511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.28, Y:-5.08, Z:0.39 [[ 9.93876239e-01 1.09887963e-01 1.16042081e-02 8.22784946e+01] [-1.09885756e-01 9.93943878e-01 -8.29542920e-04 -5.07667511e+00] [-1.16250884e-02 -4.50674191e-04 9.99932325e-01 3.94958470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.31, Y:-5.08, Z:0.40 [[ 9.94355859e-01 1.05539987e-01 1.08506977e-02 8.23105506e+01] [-1.05537787e-01 9.94414990e-01 -7.76795620e-04 -5.07555725e+00] [-1.08720795e-02 -3.72747346e-04 9.99940828e-01 3.95622567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.34, Y:-5.07, Z:0.40 [[ 9.94895711e-01 1.00263330e-01 1.13925006e-02 8.23417789e+01] [-1.00260558e-01 9.94960881e-01 -8.15605445e-04 -5.07362378e+00] [-1.14168678e-02 -3.30776110e-04 9.99934771e-01 3.95989807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.37, Y:-5.07, Z:0.39 [[ 9.95914001e-01 8.89066530e-02 1.58401024e-02 8.23735879e+01] [-8.88998388e-02 9.96039924e-01 -1.13519745e-03 -5.06609663e+00] [-1.58783010e-02 -2.77623517e-04 9.99873893e-01 3.92905511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.41, Y:-5.06, Z:0.39 [[ 9.96342482e-01 8.40740745e-02 1.52711594e-02 8.24061073e+01] [-8.40671368e-02 9.96459489e-01 -1.09681701e-03 -5.06327410e+00] [-1.53093056e-02 -1.90997262e-04 9.99882787e-01 3.92016537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.44, Y:-5.06, Z:0.39 [[ 9.96764681e-01 7.94004698e-02 1.24793937e-02 8.24384339e+01] [-7.93954483e-02 9.96842794e-01 -8.98068945e-04 -5.06109215e+00] [-1.25113007e-02 -9.56436480e-05 9.99921726e-01 3.91322037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.47, Y:-5.06, Z:0.39 [[ 9.97389181e-01 7.21465998e-02 3.11291983e-03 8.24702406e+01] [-7.21462500e-02 9.97394039e-01 -2.24659229e-04 -5.06120412e+00] [-3.12101608e-03 -5.12808042e-07 9.99995130e-01 3.91502305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.50, Y:-5.07, Z:0.39 [[ 9.97669554e-01 6.81065648e-02 4.11797866e-03 8.24977069e+01] [-6.81059410e-02 9.97678052e-01 -2.91693352e-04 -5.06590299e+00] [-4.12828316e-03 1.05547647e-05 9.99991479e-01 3.91997581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.53, Y:-5.07, Z:0.39 [[ 9.97913892e-01 6.41635868e-02 7.13431664e-03 8.25265703e+01] [-6.41616202e-02 9.97939393e-01 -5.04425307e-04 -5.07124746e+00] [-7.15198136e-03 4.56237066e-05 9.99974423e-01 3.93909712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.56, Y:-5.07, Z:0.40 [[ 9.98146498e-01 6.00360367e-02 9.96203109e-03 8.25566177e+01] [-6.00319647e-02 9.98196204e-01 -7.07553087e-04 -5.07414547e+00] [-9.98654031e-03 1.08201338e-04 9.99950127e-01 3.96648680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.59, Y:-5.07, Z:0.40 [[ 9.98281085e-01 5.73092935e-02 1.22686674e-02 8.25890694e+01] [-5.73028838e-02 9.98356458e-01 -8.73629590e-04 -5.07496663e+00] [-1.22985704e-02 1.69097872e-04 9.99924355e-01 3.97333347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.62, Y:-5.08, Z:0.40 [[ 9.98516191e-01 5.31765196e-02 1.17334801e-02 8.26209103e+01] [-5.31703539e-02 9.98585105e-01 -8.37027527e-04 -5.07516773e+00] [-1.17613887e-02 2.11912250e-04 9.99930810e-01 3.95780764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.65, Y:-5.08, Z:0.39 [[ 9.98545352e-01 5.29589480e-02 1.01257157e-02 8.26533002e+01] [-5.29543312e-02 9.98596673e-01 -7.23699878e-04 -5.08024151e+00] [-1.01498324e-02 1.86446645e-04 9.99948472e-01 3.93443595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.68, Y:-5.09, Z:0.39 [[ 9.98529836e-01 5.35985543e-02 8.08469361e-03 8.26848000e+01] [-5.35956227e-02 9.98562554e-01 -5.78987121e-04 -5.08657578e+00] [-8.10410517e-03 1.44831726e-04 9.99967151e-01 3.92346153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.72, Y:-5.09, Z:0.39 [[ 9.98486094e-01 5.46837545e-02 5.93353258e-03 8.27159555e+01] [-5.46821932e-02 9.98503719e-01 -4.25153960e-04 -5.09258224e+00] [-5.94790337e-03 1.00051741e-04 9.99982306e-01 3.92722107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.75, Y:-5.10, Z:0.40 [[ 9.98409465e-01 5.62901699e-02 3.15550217e-03 8.27459203e+01] [-5.62897370e-02 9.98414450e-01 -2.25931515e-04 -5.09726168e+00] [-3.16321669e-03 4.79497759e-05 9.99994996e-01 3.95627422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.77, Y:-5.10, Z:0.40 [[ 9.98449439e-01 5.55183326e-02 4.05375080e-03 8.27745925e+01] [-5.55176282e-02 9.98457666e-01 -2.86181551e-04 -5.09945639e+00] [-4.06338689e-03 6.06831790e-05 9.99991743e-01 3.95402926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.80, Y:-5.10, Z:0.40 [[ 9.98486909e-01 5.47378159e-02 5.25971212e-03 8.28039370e+01] [-5.47366072e-02 9.98500758e-01 -3.73585833e-04 -5.10256407e+00] [-5.27227582e-03 8.51217675e-05 9.99986098e-01 3.95851905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.83, Y:-5.11, Z:0.40 [[ 9.98456403e-01 5.50630741e-02 7.27111976e-03 8.28342899e+01] [-5.50607695e-02 9.98482871e-01 -5.16891864e-04 -5.10779553e+00] [-7.28855019e-03 1.15740541e-04 9.99973431e-01 3.95459240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.87, Y:-5.11, Z:0.40 [[ 9.98438007e-01 5.53281018e-02 7.76836535e-03 8.28657579e+01] [-5.53254666e-02 9.98468220e-01 -5.53865755e-04 -5.11371233e+00] [-7.78711026e-03 1.23212182e-04 9.99969672e-01 3.95880241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.90, Y:-5.12, Z:0.40 [[ 9.98337349e-01 5.70609234e-02 8.16017018e-03 8.28966892e+01] [-5.70580723e-02 9.98370692e-01 -5.81965657e-04 -5.11882480e+00] [-8.18008224e-03 1.15394471e-04 9.99966536e-01 3.96910806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.93, Y:-5.12, Z:0.40 [[ 9.98144645e-01 6.03404737e-02 8.14216406e-03 8.29290953e+01] [-6.03377331e-02 9.98177849e-01 -5.82041542e-04 -5.12287951e+00] [-8.16244848e-03 8.96819259e-05 9.99966683e-01 3.98217468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.96, Y:-5.13, Z:0.40 [[ 9.97660066e-01 6.80622515e-02 6.47484391e-03 8.29610234e+01] [-6.80606745e-02 9.97681076e-01 -4.63834069e-04 -5.12561433e+00] [-6.49139883e-03 2.20664841e-05 9.99978930e-01 3.96253597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.99, Y:-5.13, Z:0.39 [[ 9.97418764e-01 7.17183766e-02 3.50489970e-03 8.29921261e+01] [-7.17179364e-02 9.97424922e-01 -2.51283602e-04 -5.12845641e+00] [-3.51389596e-03 -7.29193660e-07 9.99993826e-01 3.94463194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.02, Y:-5.13, Z:0.39 [[ 9.97195926e-01 7.47964016e-02 2.40500507e-03 8.30208914e+01] [-7.47962115e-02 9.97198826e-01 -1.69007230e-04 -5.13305647e+00] [-2.41090936e-03 -1.13519471e-05 9.99997094e-01 3.93545240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.05, Y:-5.14, Z:0.40 [[ 9.96628536e-01 8.19498351e-02 3.97322873e-03 8.30492541e+01] [-8.19493756e-02 9.96636454e-01 -2.78584283e-04 -5.14275530e+00] [-3.98269453e-03 -4.79585678e-05 9.99992068e-01 3.96436806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.08, Y:-5.15, Z:0.40 [[ 9.96385961e-01 8.48470883e-02 3.99855145e-03 8.30785612e+01] [-8.48466392e-02 9.96393982e-01 -2.82125346e-04 -5.14741933e+00] [-4.00807012e-03 -5.81579186e-05 9.99991966e-01 3.98556082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.11, Y:-5.15, Z:0.40 [[ 9.96200431e-01 8.69828731e-02 4.32212291e-03 8.31083255e+01] [-8.69823696e-02 9.96209804e-01 -3.04693092e-04 -5.15051022e+00] [-4.33224430e-03 -7.24131030e-05 9.99990613e-01 3.99094523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.14, Y:-5.15, Z:0.40 [[ 9.96030665e-01 8.88930654e-02 4.57562581e-03 8.31378077e+01] [-8.88925226e-02 9.96041172e-01 -3.22281562e-04 -5.15154088e+00] [-4.58616029e-03 -8.57366023e-05 9.99989480e-01 3.98679181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.17, Y:-5.15, Z:0.40 [[ 9.95929861e-01 8.98807631e-02 6.72013175e-03 8.31671051e+01] [-8.98796192e-02 9.95952524e-01 -4.72641550e-04 -5.15110468e+00] [-6.73541356e-03 -1.33285049e-04 9.99977308e-01 3.97961912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.20, Y:-5.15, Z:0.40 [[ 9.95775351e-01 9.15668401e-02 6.85306677e-03 8.31975261e+01] [-9.15656869e-02 9.95798922e-01 -4.82504081e-04 -5.14958760e+00] [-6.86845788e-03 -1.47040097e-04 9.99976401e-01 3.99439579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.23, Y:-5.15, Z:0.40 [[ 9.95592699e-01 9.35895571e-02 6.01428426e-03 8.32275264e+01] [-9.35887058e-02 9.95610855e-01 -4.23447895e-04 -5.15131783e+00] [-6.02751700e-03 -1.41287448e-04 9.99981824e-01 4.00718757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.26, Y:-5.15, Z:0.40 [[ 9.95378493e-01 9.57000949e-02 7.94658025e-03 8.32570733e+01] [-9.56986828e-02 9.95410192e-01 -5.58636256e-04 -5.15211808e+00] [-7.96356851e-03 -2.04422747e-04 9.99968269e-01 4.00385702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.672320588 meters Centerline goodness [0,1] 0.9999506951977123 Centerline is valid? [True, True] Translation: X:83.29, Y:-5.15, Z:0.40 [[ 9.95098042e-01 9.84414540e-02 9.44278204e-03 8.32880633e+01] [-9.84395750e-02 9.95142808e-01 -6.64693107e-04 -5.15237412e+00] [-9.46234999e-03 -2.68108641e-04 9.99955195e-01 3.99221321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.32, Y:-5.15, Z:0.40 [[ 9.94782039e-01 1.01458539e-01 1.07172137e-02 8.33195171e+01] [-1.01456285e-01 9.94839712e-01 -7.55251189e-04 -5.15268460e+00] [-1.07385364e-02 -3.36018366e-04 9.99942284e-01 3.98087008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.35, Y:-5.15, Z:0.40 [[ 9.94578416e-01 1.03541335e-01 9.64191233e-03 8.33519693e+01] [-1.03539593e-01 9.94625100e-01 -6.81092763e-04 -5.15201283e+00] [-9.66060926e-03 -3.20919514e-04 9.99953284e-01 3.97123118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.38, Y:-5.15, Z:0.40 [[ 9.94657253e-01 1.02872404e-01 8.61497198e-03 8.33834666e+01] [-1.02870985e-01 9.94694521e-01 -6.08855817e-04 -5.15389099e+00] [-8.63189988e-03 -2.80627801e-04 9.99962705e-01 3.98000921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.41, Y:-5.15, Z:0.40 [[ 9.94801002e-01 1.01579858e-01 7.24561251e-03 8.34141513e+01] [-1.01578822e-01 9.94827362e-01 -5.11801105e-04 -5.15331953e+00] [-7.26012227e-03 -2.26860529e-04 9.99973619e-01 3.99758461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.44, Y:-5.16, Z:0.40 [[ 9.94807640e-01 1.01514828e-01 7.24566915e-03 8.34432532e+01] [-1.01513796e-01 9.94834000e-01 -5.10998861e-04 -5.15538912e+00] [-7.26011199e-03 -2.27189809e-04 9.99973619e-01 3.99905499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.47, Y:-5.15, Z:0.40 [[ 9.95070102e-01 9.90599158e-02 4.75663136e-03 8.34722492e+01] [-9.90594635e-02 9.95081460e-01 -3.31156186e-04 -5.15092597e+00] [-4.76603999e-03 -1.41665731e-04 9.99988632e-01 4.00058181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.50, Y:-5.15, Z:0.40 [[ 9.95211948e-01 9.75400922e-02 6.25368074e-03 8.35005658e+01] [-9.75392989e-02 9.95231580e-01 -4.32451028e-04 -5.15144357e+00] [-6.26604188e-03 -1.79599205e-04 9.99980352e-01 3.99595678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.53, Y:-5.15, Z:0.40 [[ 9.95357713e-01 9.58123722e-02 9.11110156e-03 8.35296126e+01] [-9.58106404e-02 9.95399381e-01 -6.27371119e-04 -5.15331148e+00] [-9.12929477e-03 -2.48481793e-04 9.99958296e-01 4.00125851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.56, Y:-5.15, Z:0.40 [[ 9.95399776e-01 9.52656607e-02 1.01853168e-02 8.35605718e+01] [-9.52634413e-02 9.95451848e-01 -7.03946608e-04 -5.15444939e+00] [-1.02060543e-02 -2.69580030e-04 9.99947881e-01 4.00986953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.59, Y:-5.15, Z:0.40 [[ 9.95411540e-01 9.50640560e-02 1.08945480e-02 8.35923846e+01] [-9.50614932e-02 9.95471117e-01 -7.54017290e-04 -5.15466300e+00] [-1.09168878e-02 -2.85094493e-04 9.99940368e-01 4.02126573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.62, Y:-5.15, Z:0.40 [[ 9.95367310e-01 9.53855509e-02 1.20629781e-02 8.36243087e+01] [-9.53824234e-02 9.95440352e-01 -8.35639672e-04 -5.15429145e+00] [-1.20876831e-02 -3.18827672e-04 9.99926890e-01 3.99563429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.66, Y:-5.16, Z:0.40 [[ 9.95266977e-01 9.63154302e-02 1.29221904e-02 8.36558685e+01] [-9.63118787e-02 9.95350800e-01 -8.98315275e-04 -5.15745218e+00] [-1.29486342e-02 -3.50496910e-04 9.99916101e-01 3.97913930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.69, Y:-5.16, Z:0.40 [[ 9.95236071e-01 9.67314657e-02 1.21731592e-02 8.36884192e+01] [-9.67283287e-02 9.95310460e-01 -8.47587339e-04 -5.16011546e+00] [-1.21980610e-02 -3.33939848e-04 9.99925545e-01 3.98478186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.72, Y:-5.16, Z:0.40 [[ 9.95330275e-01 9.59387588e-02 1.06488374e-02 8.37200803e+01] [-9.59363081e-02 9.95387198e-01 -7.41902375e-04 -5.16037700e+00] [-1.06708936e-02 -2.83172248e-04 9.99943024e-01 3.99536709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.75, Y:-5.16, Z:0.40 [[ 9.95342997e-01 9.59474880e-02 9.29502448e-03 8.37518221e+01] [-9.59456150e-02 9.95386367e-01 -6.48241670e-04 -5.15900096e+00] [-9.31433780e-03 -2.46594033e-04 9.99956590e-01 3.99882357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.78, Y:-5.16, Z:0.40 [[ 9.95381736e-01 9.54420331e-02 1.02965054e-02 8.37818544e+01] [-9.54397220e-02 9.95434953e-01 -7.16711517e-04 -5.16016604e+00] [-1.03179057e-02 -2.69294056e-04 9.99946733e-01 3.99677237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.81, Y:-5.16, Z:0.40 [[ 9.95504171e-01 9.39599496e-02 1.19571812e-02 8.38123199e+01] [-9.39567214e-02 9.95575934e-01 -8.32689772e-04 -5.16129976e+00] [-1.19825213e-02 -2.94511398e-04 9.99928164e-01 3.99125329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.84, Y:-5.16, Z:0.40 [[ 9.95649235e-01 9.19439633e-02 1.51297226e-02 8.38436230e+01] [-9.19385419e-02 9.95764124e-01 -1.05495879e-03 -5.16202712e+00] [-1.51626321e-02 -3.40635725e-04 9.99884983e-01 3.98793936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.88, Y:-5.16, Z:0.40 [[ 9.95942180e-01 8.84994639e-02 1.63407343e-02 8.38756945e+01] [-8.84926355e-02 9.96076177e-01 -1.14189333e-03 -5.16321406e+00] [-1.63776731e-02 -3.08774909e-04 9.99865829e-01 3.99220330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.91, Y:-5.17, Z:0.40 [[ 9.95968240e-01 8.82483053e-02 1.61090627e-02 8.39074067e+01] [-8.82416022e-02 9.96098463e-01 -1.12781402e-03 -5.16605802e+00] [-1.61457402e-02 -2.98222553e-04 9.99869605e-01 3.98283631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.94, Y:-5.17, Z:0.40 [[ 9.96031412e-01 8.77440676e-02 1.49132370e-02 8.39395633e+01] [-8.77382364e-02 9.96143016e-01 -1.04609106e-03 -5.16711021e+00] [-1.49475052e-02 -2.66521557e-04 9.99888244e-01 3.98271476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.97, Y:-5.17, Z:0.40 [[ 9.96086425e-01 8.72313984e-02 1.42308512e-02 8.39720759e+01] [-8.72260092e-02 9.96188046e-01 -1.00012880e-03 -5.16641670e+00] [-1.42638465e-02 -2.45085638e-04 9.99898236e-01 3.99461884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.00, Y:-5.16, Z:0.40 [[ 9.96042456e-01 8.80976634e-02 1.17570172e-02 8.40048629e+01] [-8.80940259e-02 9.96111820e-01 -8.27919740e-04 -5.16072300e+00] [-1.17842416e-02 -2.11079763e-04 9.99930541e-01 4.00985951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.04, Y:-5.16, Z:0.40 [[ 9.96123693e-01 8.73991654e-02 9.94858651e-03 8.40360090e+01] [-8.73965218e-02 9.96173357e-01 -7.00996632e-04 -5.16044925e+00] [-9.97178334e-03 -1.71192504e-04 9.99950266e-01 4.00054323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.07, Y:-5.16, Z:0.40 [[ 9.96166340e-01 8.70863192e-02 8.28222404e-03 8.40653269e+01] [-8.70844857e-02 9.96200759e-01 -5.82439276e-04 -5.16129949e+00] [-8.30148037e-03 -1.41046818e-04 9.99965532e-01 3.99248719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.09, Y:-5.16, Z:0.40 [[ 9.96350731e-01 8.48319836e-02 9.42099020e-03 8.40936957e+01] [-8.48295700e-02 9.96395260e-01 -6.56219063e-04 -5.16220779e+00] [-9.44269834e-03 -1.45354204e-04 9.99955406e-01 3.98549409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.12, Y:-5.16, Z:0.40 [[ 9.96498567e-01 8.25765853e-02 1.31039621e-02 8.41231592e+01] [-8.25716939e-02 9.96584707e-01 -9.14795257e-04 -5.16363940e+00] [-1.31347489e-02 -1.70424189e-04 9.99913721e-01 3.98906471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.15, Y:-5.17, Z:0.40 [[ 9.96865339e-01 7.70534334e-02 1.79517257e-02 8.41544996e+01] [-7.70433223e-02 9.97026956e-01 -1.25517177e-03 -5.16575718e+00] [-1.79950697e-02 -1.31823354e-04 9.99838067e-01 3.99938182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.19, Y:-5.16, Z:0.40 [[ 9.97171363e-01 7.33404730e-02 1.64453246e-02 8.41863865e+01] [-7.33314411e-02 9.97306960e-01 -1.15236935e-03 -5.16492166e+00] [-1.64855520e-02 -5.68496436e-05 9.99864102e-01 3.99153222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.22, Y:-5.16, Z:0.40 [[ 9.97364880e-01 7.12227994e-02 1.38061485e-02 8.42186744e+01] [-7.12162048e-02 9.97460432e-01 -9.69330824e-04 -5.16173641e+00] [-1.38401253e-02 -1.64449778e-05 9.99904221e-01 3.98729448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.25, Y:-5.16, Z:0.40 [[ 9.97510091e-01 6.94316203e-02 1.23640348e-02 8.42514006e+01] [-6.94261728e-02 9.97586713e-01 -8.69776481e-04 -5.15895316e+00] [-1.23945868e-02 9.22319879e-06 9.99923184e-01 3.97711187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.28, Y:-5.16, Z:0.40 [[ 9.97571358e-01 6.80449284e-02 1.48752648e-02 8.42828063e+01] [-6.80368818e-02 9.97682257e-01 -1.04692103e-03 -5.16224785e+00] [-1.49120254e-02 3.23118062e-05 9.99888809e-01 3.95842123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.31, Y:-5.17, Z:0.40 [[ 9.97579695e-01 6.80363522e-02 1.43459940e-02 8.43145619e+01] [-6.80288357e-02 9.97682842e-01 -1.01186186e-03 -5.16962756e+00] [-1.43815955e-02 3.34715771e-05 9.99896579e-01 3.96192671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.35, Y:-5.18, Z:0.40 [[ 9.97569739e-01 6.87119441e-02 1.15449364e-02 8.43466296e+01] [-6.87071029e-02 9.97636541e-01 -8.15905119e-04 -5.17529457e+00] [-1.15737129e-02 2.07031215e-05 9.99933022e-01 3.97565593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.38, Y:-5.18, Z:0.40 [[ 9.97501036e-01 6.98732717e-02 1.04598674e-02 8.43779699e+01] [-6.98693572e-02 9.97555876e-01 -7.39638517e-04 -5.17663864e+00] [-1.04859831e-02 6.96597879e-06 9.99945021e-01 3.98054898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.41, Y:-5.18, Z:0.40 [[ 9.97360570e-01 7.15145275e-02 1.25525285e-02 8.44098889e+01] [-7.15090104e-02 9.97439558e-01 -8.88372590e-04 -5.17532662e+00] [-1.25839200e-02 -1.15910984e-05 9.99920819e-01 3.98055813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.44, Y:-5.18, Z:0.40 [[ 9.97229831e-01 7.29226907e-02 1.46610339e-02 8.44409375e+01] [-7.29153036e-02 9.97337596e-01 -1.03848047e-03 -5.17543272e+00] [-1.46977291e-02 -3.34100330e-05 9.99891982e-01 3.99088808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.47, Y:-5.18, Z:0.40 [[ 9.97089038e-01 7.47012924e-02 1.52698019e-02 8.44730944e+01] [-7.46934523e-02 9.97205953e-01 -1.08389723e-03 -5.17965580e+00] [-1.53081059e-02 -5.98121765e-05 9.99882822e-01 3.99342316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.51, Y:-5.18, Z:0.40 [[ 9.97026260e-01 7.56546092e-02 1.46634494e-02 8.45050911e+01] [-7.56474541e-02 9.97134081e-01 -1.04279551e-03 -5.18256362e+00] [-1.47003175e-02 -6.95581106e-05 9.99891942e-01 3.97395461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.54, Y:-5.18, Z:0.40 [[ 9.96928965e-01 7.73192377e-02 1.24247233e-02 8.45372503e+01] [-7.73142086e-02 9.97006384e-01 -8.85297107e-04 -5.18391420e+00] [-1.24559789e-02 -7.80293202e-05 9.99922418e-01 3.96544691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.57, Y:-5.18, Z:0.40 [[ 9.96822277e-01 7.86957255e-02 1.23422155e-02 8.45690864e+01] [-7.86908627e-02 9.96898678e-01 -8.79892064e-04 -5.18476408e+00] [-1.23731821e-02 -9.41235757e-05 9.99923445e-01 3.96001792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.60, Y:-5.18, Z:0.40 [[ 9.96788879e-01 7.90426882e-02 1.28134734e-02 8.46006903e+01] [-7.90374649e-02 9.96871227e-01 -9.14315373e-04 -5.18486790e+00] [-1.28456529e-02 -1.01365056e-04 9.99917486e-01 3.99997817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.63, Y:-5.19, Z:0.40 [[ 9.96829532e-01 7.84836445e-02 1.30843704e-02 8.46317822e+01] [-7.84781388e-02 9.96915397e-01 -9.34486002e-04 -5.18611277e+00] [-1.31173521e-02 -9.53137892e-05 9.99913959e-01 4.02491661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.66, Y:-5.19, Z:0.40 [[ 9.96991022e-01 7.65795921e-02 1.20194969e-02 8.46627419e+01] [-7.65747980e-02 9.97063469e-01 -8.59244181e-04 -5.18747876e+00] [-1.20500018e-02 -6.37318116e-05 9.99927394e-01 4.04115328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.69, Y:-5.19, Z:0.40 [[ 9.97101420e-01 7.52436041e-02 1.12764645e-02 8.46941927e+01] [-7.52392904e-02 9.97165181e-01 -8.06884386e-04 -5.18999735e+00] [-1.13052106e-02 -4.38876202e-05 9.99936093e-01 4.03770482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.72, Y:-5.19, Z:0.40 [[ 9.97179021e-01 7.42648024e-02 1.08967232e-02 8.47247260e+01] [-7.42607194e-02 9.97238556e-01 -7.79394772e-04 -5.19302556e+00] [-1.09245141e-02 -3.20023893e-05 9.99940325e-01 4.01536505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.76, Y:-5.19, Z:0.40 [[ 9.97253189e-01 7.29943912e-02 1.25656552e-02 8.47550192e+01] [-7.29888608e-02 9.97332351e-01 -8.98766148e-04 -5.19178801e+00] [-1.25977393e-02 -2.08554493e-05 9.99920645e-01 4.00176624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.79, Y:-5.19, Z:0.40 [[ 9.97254893e-01 7.28866384e-02 1.30466881e-02 8.47866002e+01] [-7.28806521e-02 9.97340232e-01 -9.34333150e-04 -5.19035770e+00] [-1.30800874e-02 -1.90828338e-05 9.99914452e-01 4.01029632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.82, Y:-5.19, Z:0.40 [[ 9.97348844e-01 7.17241935e-02 1.22851202e-02 8.48183380e+01] [-7.17187874e-02 9.97424503e-01 -8.80613535e-04 -5.18978478e+00] [-1.23166412e-02 -2.79502987e-06 9.99924147e-01 4.01727959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.85, Y:-5.19, Z:0.40 [[ 9.97479400e-01 7.04346897e-02 8.59072397e-03 8.48498947e+01] [-7.04319926e-02 9.97516393e-01 -6.16458811e-04 -5.19260927e+00] [-8.61280807e-03 9.84315750e-06 9.99962909e-01 4.02494841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.88, Y:-5.20, Z:0.40 [[ 9.97508340e-01 6.99028517e-02 9.52381825e-03 8.48794880e+01] [-6.98995252e-02 9.97553804e-01 -6.82105295e-04 -5.19594511e+00] [-9.54820222e-03 1.46953475e-05 9.99954415e-01 4.02322009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.91, Y:-5.20, Z:0.40 [[ 9.97511304e-01 6.98656519e-02 9.48630055e-03 8.49087060e+01] [-6.98623556e-02 9.97556410e-01 -6.78810230e-04 -5.19824665e+00] [-9.51054544e-03 1.43855744e-05 9.99954774e-01 4.03132040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.94, Y:-5.20, Z:0.40 [[ 9.97496959e-01 6.98375996e-02 1.10691849e-02 8.49386774e+01] [-6.98331173e-02 9.97558374e-01 -7.91405887e-04 -5.19978150e+00] [-1.10974280e-02 1.64292789e-05 9.99938422e-01 4.03082559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.97, Y:-5.20, Z:0.40 [[ 9.97466113e-01 6.99870028e-02 1.27739017e-02 8.49693362e+01] [-6.99810409e-02 9.97547903e-01 -9.13664469e-04 -5.20007762e+00] [-1.28065235e-02 1.74184113e-05 9.99917993e-01 4.03169123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.00, Y:-5.20, Z:0.40 [[ 9.97156258e-01 7.39452087e-02 1.45431514e-02 8.50008281e+01] [-7.39378833e-02 9.97262305e-01 -1.04146431e-03 -5.19779336e+00] [-1.45803480e-02 -3.67871791e-05 9.99893700e-01 4.03196948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.03, Y:-5.20, Z:0.40 [[ 9.96953764e-01 7.68621126e-02 1.32441709e-02 8.50318124e+01] [-7.68562832e-02 9.97041730e-01 -9.49313483e-04 -5.19872989e+00] [-1.32779573e-02 -7.14760965e-05 9.99911841e-01 4.04119354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.06, Y:-5.20, Z:0.40 [[ 9.96741599e-01 7.95182896e-02 1.35287010e-02 8.50632186e+01] [-7.95124400e-02 9.96833401e-01 -9.70568476e-04 -5.19991190e+00] [-1.35630390e-02 -1.08294055e-04 9.99908012e-01 4.04455578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.09, Y:-5.20, Z:0.40 [[ 9.96554889e-01 8.19427819e-02 1.27958285e-02 8.50943419e+01] [-8.19377378e-02 9.96637027e-01 -9.18836115e-04 -5.20210066e+00] [-1.28280885e-02 -1.32790622e-04 9.99917708e-01 4.03969943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.12, Y:-5.20, Z:0.40 [[ 9.96475658e-01 8.31271238e-02 1.12314287e-02 8.51245638e+01] [-8.31233161e-02 9.96538943e-01 -8.06216028e-04 -5.20434795e+00] [-1.12595745e-02 -1.30218952e-04 9.99936601e-01 4.03977584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.15, Y:-5.20, Z:0.40 [[ 9.96491959e-01 8.29408765e-02 1.11618367e-02 8.51534523e+01] [-8.29371860e-02 9.96554461e-01 -7.93910389e-04 -5.20463087e+00] [-1.11892258e-02 -1.34606007e-04 9.99937390e-01 4.04304758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.18, Y:-5.20, Z:0.41 [[ 9.96579097e-01 8.16233963e-02 1.29508753e-02 8.51824401e+01] [-8.16183886e-02 9.96663233e-01 -9.15618858e-04 -5.20390675e+00] [-1.29823971e-02 -1.44542955e-04 9.99915715e-01 4.06393592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.21, Y:-5.20, Z:0.41 [[ 9.96610747e-01 8.07192591e-02 1.58562205e-02 8.52118473e+01] [-8.07116151e-02 9.96736864e-01 -1.12246709e-03 -5.20352068e+00] [-1.58950842e-02 -1.61118398e-04 9.99873652e-01 4.06902972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.24, Y:-5.20, Z:0.41 [[ 9.96668911e-01 7.95169335e-02 1.81146105e-02 8.52429782e+01] [-7.95067244e-02 9.96833502e-01 -1.28420559e-03 -5.20444061e+00] [-1.81593667e-02 -1.60305556e-04 9.99835092e-01 4.05702872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.27, Y:-5.21, Z:0.40 [[ 9.97009260e-01 7.63422576e-02 1.20164787e-02 8.52745758e+01] [-7.63375173e-02 9.97081669e-01 -8.53336171e-04 -5.20837263e+00] [-1.20465562e-02 -6.65240822e-05 9.99927435e-01 4.03040438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.30, Y:-5.21, Z:0.40 [[ 9.97192247e-01 7.45381231e-02 7.18969571e-03 8.53042056e+01] [-7.45363871e-02 9.97218164e-01 -5.09482913e-04 -5.21254183e+00] [-7.20767106e-03 -2.78415310e-05 9.99974024e-01 4.01235054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.33, Y:-5.22, Z:0.40 [[ 9.97271016e-01 7.37034979e-02 4.27963036e-03 8.53330670e+01] [-7.37028923e-02 9.97280198e-01 -2.99274325e-04 -5.21711364e+00] [-4.29004818e-03 -1.69635252e-05 9.99990798e-01 4.01700660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.36, Y:-5.22, Z:0.40 [[ 9.97274721e-01 7.35650616e-02 5.59567771e-03 8.53617761e+01] [-7.35640347e-02 9.97290420e-01 -3.89408672e-04 -5.22065199e+00] [-5.60916264e-03 -2.32932044e-05 9.99984268e-01 4.03203811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.39, Y:-5.22, Z:0.40 [[ 9.97312676e-01 7.30487039e-02 5.59590128e-03 8.53890924e+01] [-7.30476869e-02 9.97328374e-01 -3.86194355e-04 -5.22287975e+00] [-5.60916213e-03 -2.36111192e-05 9.99984268e-01 4.03342283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.42, Y:-5.22, Z:0.41 [[ 9.97200974e-01 7.35840862e-02 1.32514003e-02 8.54181196e+01] [-7.35784581e-02 9.97289014e-01 -9.12410387e-04 -5.22330630e+00] [-1.32826148e-02 -6.51610720e-05 9.99911780e-01 4.08204054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.45, Y:-5.22, Z:0.41 [[ 9.97104128e-01 7.43598022e-02 1.59367038e-02 8.54499456e+01] [-7.43516956e-02 9.97231474e-01 -1.10139354e-03 -5.22348501e+00] [-1.59744820e-02 -8.67169091e-05 9.99872396e-01 4.09082503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.48, Y:-5.22, Z:0.41 [[ 9.97067637e-01 7.49845066e-02 1.52791329e-02 8.54823416e+01] [-7.49770934e-02 9.97184695e-01 -1.05824595e-03 -5.22424904e+00] [-1.53154695e-02 -9.04421924e-05 9.99882707e-01 4.08721971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.51, Y:-5.23, Z:0.41 [[ 9.97046482e-01 7.51808571e-02 1.56892088e-02 8.55134271e+01] [-7.51730544e-02 9.97169910e-01 -1.08731376e-03 -5.22555670e+00] [-1.57265521e-02 -9.53033886e-05 9.99876326e-01 4.05409360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.55, Y:-5.23, Z:0.40 [[ 9.96982049e-01 7.64240096e-02 1.36442217e-02 8.55451040e+01] [-7.64181958e-02 9.97075404e-01 -9.47713216e-04 -5.23028753e+00] [-1.36767459e-02 -9.78137421e-05 9.99906464e-01 4.00568742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.58, Y:-5.23, Z:0.40 [[ 9.96959337e-01 7.67890771e-02 1.32483009e-02 8.55765837e+01] [-7.67836210e-02 9.97047355e-01 -9.20748392e-04 -5.23356937e+00] [-1.32798868e-02 -9.93038089e-05 9.99911813e-01 4.01676878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.61, Y:-5.23, Z:0.40 [[ 9.96956644e-01 7.69598954e-02 1.24348083e-02 8.56074844e+01] [-7.69551058e-02 9.97034185e-01 -8.63910703e-04 -5.23438146e+00] [-1.24644154e-02 -9.56404750e-05 9.99922312e-01 4.03795105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.64, Y:-5.23, Z:0.41 [[ 9.97010857e-01 7.63527133e-02 1.18158864e-02 8.56371092e+01] [-7.63483588e-02 9.97080867e-01 -8.19825517e-04 -5.23193920e+00] [-1.18439901e-02 -8.47485923e-05 9.99929854e-01 4.07452277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.67, Y:-5.23, Z:0.41 [[ 9.97056573e-01 7.58875840e-02 1.09208280e-02 8.56672749e+01] [-7.58838442e-02 9.97116377e-01 -7.57000634e-04 -5.22775493e+00] [-1.09467834e-02 -7.39419558e-05 9.99940079e-01 4.09946400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.70, Y:-5.22, Z:0.41 [[ 9.97065531e-01 7.57189684e-02 1.12678883e-02 8.56963164e+01] [-7.57150558e-02 9.97129195e-01 -7.74028397e-04 -5.22421821e+00] [-1.12941490e-02 -8.13917550e-05 9.99936216e-01 4.10067315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.72, Y:-5.23, Z:0.41 [[ 9.97071510e-01 7.51918146e-02 1.39497009e-02 8.57245451e+01] [-7.51858466e-02 9.97169084e-01 -9.52507201e-04 -5.22830041e+00] [-1.39818312e-02 -9.91022753e-05 9.99902245e-01 4.08019481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.76, Y:-5.23, Z:0.41 [[ 9.97107352e-01 7.46707853e-02 1.41846006e-02 8.57552673e+01] [-7.46645291e-02 9.97208236e-01 -9.70851017e-04 -5.23221963e+00] [-1.42174948e-02 -9.10438385e-05 9.99898922e-01 4.07298711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.79, Y:-5.23, Z:0.41 [[ 9.97321684e-01 7.14117163e-02 1.58058363e-02 8.57858432e+01] [-7.14035389e-02 9.97446923e-01 -1.08181490e-03 -5.22714058e+00] [-1.58427370e-02 -4.96751920e-05 9.99874495e-01 4.06109960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.82, Y:-5.22, Z:0.40 [[ 9.97532352e-01 6.86124858e-02 1.48840225e-02 8.58178545e+01] [-6.86049037e-02 9.97643387e-01 -1.02000447e-03 -5.22367597e+00] [-1.49189316e-02 -3.62947256e-06 9.99888707e-01 4.04777063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.85, Y:-5.22, Z:0.41 [[ 9.97718955e-01 6.60994077e-02 1.37023899e-02 8.58488847e+01] [-6.60927325e-02 9.97813042e-01 -9.39913907e-04 -5.22311762e+00] [-1.37345511e-02 3.21415295e-05 9.99905676e-01 4.05351818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.88, Y:-5.23, Z:0.41 [[ 9.97913002e-01 6.34549270e-02 1.19629739e-02 8.58794763e+01] [-6.34496523e-02 9.97984704e-01 -8.20321192e-04 -5.22512653e+00] [-1.19909184e-02 5.95626491e-05 9.99928105e-01 4.06721231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.91, Y:-5.23, Z:0.41 [[ 9.97988856e-01 6.23954634e-02 1.11825944e-02 8.59092855e+01] [-6.23907994e-02 9.98051503e-01 -7.65791198e-04 -5.22711347e+00] [-1.12085870e-02 6.65600768e-05 9.99937180e-01 4.08401657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.94, Y:-5.23, Z:0.41 [[ 9.98034779e-01 6.17475408e-02 1.06686647e-02 8.59389813e+01] [-6.17432659e-02 9.98091798e-01 -7.29913858e-04 -5.22701584e+00] [-1.06933771e-02 6.97612162e-05 9.99942822e-01 4.10520232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.97, Y:-5.23, Z:0.41 [[ 9.98097962e-01 6.04863122e-02 1.19106908e-02 8.59685968e+01] [-6.04809027e-02 9.98169023e-01 -8.14176491e-04 -5.22978723e+00] [-1.19381291e-02 9.22585679e-05 9.99928734e-01 4.09681525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.00, Y:-5.23, Z:0.41 [[ 9.98176355e-01 5.84768107e-02 1.49808580e-02 8.59988741e+01] [-5.84680205e-02 9.98288756e-01 -1.02444065e-03 -5.23475437e+00] [-1.50151281e-02 1.46671324e-04 9.99887256e-01 4.07528454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.03, Y:-5.24, Z:0.41 [[ 9.98272299e-01 5.66432611e-02 1.56191745e-02 8.60306727e+01] [-5.66334410e-02 9.98394465e-01 -1.07067299e-03 -5.23998100e+00] [-1.56547438e-02 1.84255592e-04 9.99877440e-01 4.06142094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.06, Y:-5.24, Z:0.41 [[ 9.98566469e-01 5.13311451e-02 1.51696943e-02 8.60632068e+01] [-5.13212403e-02 9.98681654e-01 -1.04175512e-03 -5.24246735e+00] [-1.52031699e-02 2.61734199e-04 9.99884391e-01 4.06707945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.10, Y:-5.24, Z:0.41 [[ 9.98768027e-01 4.79327208e-02 1.28406617e-02 8.60954397e+01] [-4.79253219e-02 9.98850531e-01 -8.83474789e-04 -5.24453576e+00] [-1.28682491e-02 2.66993525e-04 9.99917165e-01 4.08323019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.13, Y:-5.25, Z:0.41 [[ 9.98961498e-01 4.38776042e-02 1.22752582e-02 8.61278517e+01] [-4.38705178e-02 9.99036867e-01 -8.46096288e-04 -5.24834086e+00] [-1.23005602e-02 3.06695681e-04 9.99924298e-01 4.09166828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.16, Y:-5.25, Z:0.41 [[ 9.99080710e-01 4.13528978e-02 1.12992563e-02 8.61593816e+01] [-4.13467162e-02 9.99144554e-01 -7.80228583e-04 -5.25436485e+00] [-1.13218551e-02 3.12324182e-04 9.99935857e-01 4.10293496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.19, Y:-5.26, Z:0.41 [[ 9.99194053e-01 3.83207920e-02 1.19482854e-02 8.61911707e+01] [-3.83136464e-02 9.99265421e-01 -8.26451771e-04 -5.26482988e+00] [-1.19711787e-02 3.68003311e-04 9.99928275e-01 4.10164762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.22, Y:-5.27, Z:0.41 [[ 9.99194653e-01 3.79530283e-02 1.30235253e-02 8.62233206e+01] [-3.79444876e-02 9.99279441e-01 -9.02348963e-04 -5.27181688e+00] [-1.30483880e-02 4.07451264e-04 9.99914783e-01 4.09109096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.26, Y:-5.28, Z:0.41 [[ 9.99176962e-01 3.84279226e-02 1.29882171e-02 8.62553639e+01] [-3.84194478e-02 9.99261294e-01 -9.01473446e-04 -5.28033787e+00] [-1.30132644e-02 4.01731368e-04 9.99915243e-01 4.08651001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.29, Y:-5.29, Z:0.41 [[ 9.99217609e-01 3.77116053e-02 1.19165327e-02 8.62872145e+01] [-3.77044027e-02 9.99288593e-01 -8.28586418e-04 -5.28806324e+00] [-1.19393025e-02 3.78632393e-04 9.99928652e-01 4.08540019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.32, Y:-5.30, Z:0.41 [[ 9.99209298e-01 3.81689052e-02 1.11316314e-02 8.63188867e+01] [-3.81626333e-02 9.99271241e-01 -7.75380918e-04 -5.29651026e+00] [-1.11531146e-02 3.49955457e-04 9.99937741e-01 4.09452369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.35, Y:-5.30, Z:0.41 [[ 9.99207208e-01 3.84823623e-02 1.02011177e-02 8.63504509e+01] [-3.84770984e-02 9.99259229e-01 -7.11843272e-04 -5.30362188e+00] [-1.02209545e-02 3.18769517e-04 9.99947714e-01 4.10660840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.38, Y:-5.32, Z:0.41 [[ 9.99073549e-01 4.15001723e-02 1.13920438e-02 8.63820279e+01] [-4.14937885e-02 9.99138445e-01 -7.96258516e-04 -5.31543338e+00] [-1.14152738e-02 3.22821764e-04 9.99934792e-01 4.11925167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.41, Y:-5.32, Z:0.41 [[ 9.98914858e-01 4.46929082e-02 1.31015203e-02 8.64134812e+01] [-4.46847190e-02 9.99000718e-01 -9.17271693e-04 -5.32351219e+00] [-1.31294238e-02 3.30838569e-04 9.99913751e-01 4.11115218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73232058800001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.45, Y:-5.33, Z:0.41 [[ 9.98755082e-01 4.80854754e-02 1.32692457e-02 8.64453030e+01] [-4.80773398e-02 9.98843182e-01 -9.31610920e-04 -5.33247659e+00] [-1.32986925e-02 2.92501109e-04 9.99911526e-01 4.11086397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.48, Y:-5.35, Z:0.41 [[ 9.98576031e-01 5.25292014e-02 9.30558026e-03 8.64757452e+01] [-5.25253863e-02 9.98619375e-01 -6.54071529e-04 -5.34571116e+00] [-9.32709060e-03 1.64360954e-04 9.99956488e-01 4.09476125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.51, Y:-5.35, Z:0.41 [[ 9.98430377e-01 5.54160399e-02 8.11449495e-03 8.65075553e+01] [-5.54132239e-02 9.98463343e-01 -5.71625133e-04 -5.35274411e+00] [-8.13370296e-03 1.21077571e-04 9.99966914e-01 4.08876602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.54, Y:-5.36, Z:0.41 [[ 9.98280060e-01 5.80958523e-02 7.86094840e-03 8.65384269e+01] [-5.80932911e-02 9.98311005e-01 -5.53956182e-04 -5.36029145e+00] [-7.87985385e-03 9.63350475e-05 9.99968949e-01 4.09090086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.57, Y:-5.37, Z:0.41 [[ 9.98071083e-01 6.11544911e-02 1.06884171e-02 8.65691248e+01] [-6.11499252e-02 9.98128308e-01 -7.53774831e-04 -5.36742250e+00] [-1.07145084e-02 9.87249547e-05 9.99942593e-01 4.09368747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.60, Y:-5.37, Z:0.41 [[ 9.97864277e-01 6.41408900e-02 1.23625095e-02 8.66005568e+01] [-6.41349876e-02 9.97940850e-01 -8.73712172e-04 -5.37352365e+00] [-1.23930939e-02 7.89767696e-05 9.99923200e-01 4.10893366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.63, Y:-5.38, Z:0.41 [[ 9.97308557e-01 7.24746293e-02 1.10936733e-02 8.66323885e+01] [-7.24703747e-02 9.97370256e-01 -7.85553671e-04 -5.37902580e+00] [-1.11214325e-02 -2.05232637e-05 9.99938155e-01 4.12786733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.66, Y:-5.38, Z:0.41 [[ 9.96949528e-01 7.74058621e-02 9.99853059e-03 8.66643055e+01] [-7.74026402e-02 9.96999663e-01 -7.09387917e-04 -5.38184628e+00] [-1.00234424e-02 -6.66887158e-05 9.99949762e-01 4.13372376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.70, Y:-5.39, Z:0.41 [[ 9.96550561e-01 8.22902035e-02 1.07378234e-02 8.66964527e+01] [-8.22867506e-02 9.96608402e-01 -7.63723934e-04 -5.38550987e+00] [-1.07642520e-02 -1.22491078e-04 9.99942056e-01 4.13403066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.73, Y:-5.39, Z:0.41 [[ 9.96126373e-01 8.72846835e-02 1.06598630e-02 8.67278164e+01] [-8.72815584e-02 9.96183394e-01 -7.58928760e-04 -5.39091608e+00] [-1.06854214e-02 -1.74420506e-04 9.99942894e-01 4.13557339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.76, Y:-5.40, Z:0.41 [[ 9.95398217e-01 9.49298369e-02 1.30658307e-02 8.67582908e+01] [-9.49258000e-02 9.95483916e-01 -9.30196684e-04 -5.39648277e+00] [-1.30951278e-02 -3.14368313e-04 9.99914206e-01 4.14344340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.79, Y:-5.40, Z:0.42 [[ 9.95267656e-01 9.63742062e-02 1.24219490e-02 8.67904637e+01] [-9.63706430e-02 9.95345123e-01 -8.86506225e-04 -5.39653827e+00] [-1.24495627e-02 -3.14800241e-04 9.99922452e-01 4.15129904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.82, Y:-5.40, Z:0.41 [[ 9.95234203e-01 9.69085183e-02 1.08452856e-02 8.68232199e+01] [-9.69058173e-02 9.95293254e-01 -7.75509903e-04 -5.39633026e+00] [-1.08693931e-02 -2.79157289e-04 9.99940887e-01 4.14914389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.86, Y:-5.40, Z:0.41 [[ 9.95325539e-01 9.61716853e-02 8.83624569e-03 8.68550825e+01] [-9.61698518e-02 9.95364737e-01 -6.33151467e-04 -5.39853655e+00] [-8.85617861e-03 -2.19588614e-04 9.99960759e-01 4.14409830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.89, Y:-5.40, Z:0.41 [[ 9.95674985e-01 9.25461006e-02 8.15743586e-03 8.68858012e+01] [-9.25444142e-02 9.95708386e-01 -5.84767858e-04 -5.40414082e+00] [-8.17654527e-03 -1.72686394e-04 9.99966557e-01 4.13718905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.92, Y:-5.41, Z:0.41 [[ 9.95830152e-01 9.06927303e-02 9.85580443e-03 8.69175713e+01] [-9.06901721e-02 9.95878905e-01 -7.07095966e-04 -5.40569004e+00] [-9.87931618e-03 -1.89677117e-04 9.99951180e-01 4.14543356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.95, Y:-5.41, Z:0.42 [[ 9.95932118e-01 8.95557858e-02 9.94873282e-03 8.69488558e+01] [-8.95531159e-02 9.95981792e-01 -7.14418101e-04 -5.40549125e+00] [-9.97273701e-03 -1.79428091e-04 9.99950255e-01 4.16796759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.98, Y:-5.41, Z:0.42 [[ 9.95962590e-01 8.90792353e-02 1.11089921e-02 8.69799603e+01] [-8.90758690e-02 9.96024524e-01 -7.98430061e-04 -5.40518334e+00] [-1.11359521e-02 -1.94336657e-04 9.99937974e-01 4.17891581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.01, Y:-5.41, Z:0.42 [[ 9.95946930e-01 8.92502502e-02 1.11402529e-02 8.70124502e+01] [-8.92468551e-02 9.96009214e-01 -8.02509663e-04 -5.40799180e+00] [-1.11674187e-02 -1.94975503e-04 9.99937623e-01 4.18319495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.04, Y:-5.41, Z:0.42 [[ 9.95956422e-01 8.92209963e-02 1.05080506e-02 8.70444352e+01] [-8.92179590e-02 9.96011838e-01 -7.58394135e-04 -5.41204145e+00] [-1.05338075e-02 -1.82179322e-04 9.99944501e-01 4.17991181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.08, Y:-5.42, Z:0.42 [[ 9.96066061e-01 8.83404602e-02 6.95452507e-03 8.70766348e+01] [-8.83391003e-02 9.96090332e-01 -5.03075172e-04 -5.41571941e+00] [-6.97177708e-03 -1.13260383e-04 9.99975690e-01 4.15508312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.11, Y:-5.42, Z:0.41 [[ 9.96123135e-01 8.77124903e-02 6.72456626e-03 8.71076336e+01] [-8.77112089e-02 9.96145827e-01 -4.85795496e-04 -5.41602491e+00] [-6.74125895e-03 -1.05907704e-04 9.99977272e-01 4.14367407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.14, Y:-5.42, Z:0.41 [[ 9.96230449e-01 8.64827466e-02 6.75472946e-03 8.71378809e+01] [-8.64814307e-02 9.96253344e-01 -4.87199814e-04 -5.41560751e+00] [-6.77155619e-03 -9.87953785e-05 9.99977068e-01 4.14216305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.17, Y:-5.42, Z:0.42 [[ 9.96309089e-01 8.55477834e-02 7.05523525e-03 8.71677748e+01] [-8.55463276e-02 9.96334064e-01 -5.08415786e-04 -5.41719688e+00] [-7.07286505e-03 -9.70101977e-05 9.99974982e-01 4.15086233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.20, Y:-5.42, Z:0.42 [[ 9.96438706e-01 8.36542521e-02 1.05768806e-02 8.71975573e+01] [-8.36508792e-02 9.96494832e-01 -7.61663501e-04 -5.41802265e+00] [-1.06035233e-02 -1.25814370e-04 9.99943773e-01 4.20482836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.23, Y:-5.42, Z:0.42 [[ 9.96407065e-01 8.36530868e-02 1.32333714e-02 8.72301269e+01] [-8.36477689e-02 9.96494926e-01 -9.55818241e-04 -5.41762823e+00] [-1.32669446e-02 -1.54557944e-04 9.99911978e-01 4.21549064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.26, Y:-5.41, Z:0.42 [[ 9.96339227e-01 8.43671910e-02 1.37956890e-02 8.72623029e+01] [-8.43614553e-02 9.96434719e-01 -9.98208377e-04 -5.41494758e+00] [-1.38307195e-02 -1.69270236e-04 9.99904337e-01 4.18648067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.29, Y:-5.42, Z:0.42 [[ 9.96320615e-01 8.46517821e-02 1.33905650e-02 8.72946907e+01] [-8.46463800e-02 9.96410582e-01 -9.70687081e-04 -5.41608778e+00] [-1.34246710e-02 -1.66347300e-04 9.99909871e-01 4.16116772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.33, Y:-5.42, Z:0.42 [[ 9.96354886e-01 8.41979993e-02 1.36980877e-02 8.73266296e+01] [-8.41922789e-02 9.96449031e-01 -9.94762055e-04 -5.41579240e+00] [-1.37332031e-02 -1.62137182e-04 9.99905682e-01 4.15106495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.36, Y:-5.41, Z:0.42 [[ 9.96452631e-01 8.32879585e-02 1.20528462e-02 8.73589879e+01] [-8.32834429e-02 9.96525514e-01 -8.76957540e-04 -5.41408716e+00] [-1.20840088e-02 -1.29955883e-04 9.99926977e-01 4.16317597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.39, Y:-5.42, Z:0.42 [[ 9.96441701e-01 8.34186280e-02 1.20527313e-02 8.73905971e+01] [-8.34141029e-02 9.96514584e-01 -8.78536826e-04 -5.41635108e+00] [-1.20840088e-02 -1.29957035e-04 9.99926977e-01 4.16477241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.42, Y:-5.42, Z:0.42 [[ 9.96583583e-01 8.19227800e-02 1.04795291e-02 8.74227685e+01] [-8.19192609e-02 9.96638675e-01 -7.65335890e-04 -5.41504160e+00] [-1.05070024e-02 -9.57540947e-05 9.99944795e-01 4.17581835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.45, Y:-5.42, Z:0.42 [[ 9.96848164e-01 7.88780989e-02 8.48425066e-03 8.74539259e+01] [-7.88756791e-02 9.96884268e-01 -6.19961061e-04 -5.41529543e+00] [-8.50671736e-03 -5.11939867e-05 9.99963816e-01 4.18425185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.48, Y:-5.42, Z:0.42 [[ 9.97286846e-01 7.33354585e-02 6.39197750e-03 8.74841686e+01] [-7.33339727e-02 9.97307330e-01 -4.66827673e-04 -5.42042036e+00] [-6.40900104e-03 -3.18800616e-06 9.99979462e-01 4.18798581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.51, Y:-5.42, Z:0.42 [[ 9.97444310e-01 7.10883086e-02 7.16245735e-03 8.75132667e+01] [-7.10863937e-02 9.97470026e-01 -5.21906582e-04 -5.42216583e+00] [-7.18143797e-03 1.14194874e-05 9.99974213e-01 4.18596323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.54, Y:-5.42, Z:0.42 [[ 9.97618043e-01 6.83429872e-02 9.35290642e-03 8.75429303e+01] [-6.83396039e-02 9.97661884e-01 -6.81228046e-04 -5.42091365e+00] [-9.37759540e-03 4.04314697e-05 9.99956029e-01 4.18400487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.57, Y:-5.42, Z:0.42 [[ 9.97769802e-01 6.58007989e-02 1.12105706e-02 8.75748799e+01] [-6.57957616e-02 9.97832776e-01 -8.17961759e-04 -5.41834970e+00] [-1.12400974e-02 7.85295084e-05 9.99936825e-01 4.17985189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.61, Y:-5.42, Z:0.42 [[ 9.97844644e-01 6.45877447e-02 1.15969311e-02 8.76076993e+01] [-6.45822512e-02 9.97912027e-01 -8.47964391e-04 -5.41708774e+00] [-1.16274851e-02 9.71808126e-05 9.99932394e-01 4.19046670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.64, Y:-5.42, Z:0.42 [[ 9.98019725e-01 6.23054612e-02 8.64049429e-03 8.76399681e+01] [-6.23023151e-02 9.98057123e-01 -6.33058049e-04 -5.41849814e+00] [-8.66314985e-03 9.34816220e-05 9.99962470e-01 4.19883257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.67, Y:-5.42, Z:0.42 [[ 9.98101199e-01 6.11618092e-02 7.29583843e-03 8.76706356e+01] [-6.11595339e-02 9.98127860e-01 -5.34774629e-04 -5.42321519e+00] [-7.31488739e-03 8.75491208e-05 9.99973242e-01 4.19484296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.70, Y:-5.43, Z:0.42 [[ 9.98281956e-01 5.83395949e-02 5.44319017e-03 8.77011330e+01] [-5.83382877e-02 9.98296792e-01 -3.98741280e-04 -5.42760708e+00] [-5.45718169e-03 8.05098307e-05 9.99985106e-01 4.18565566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.73, Y:-5.43, Z:0.42 [[ 9.98783655e-01 4.88424554e-02 6.75466735e-03 8.77309679e+01] [-4.88402275e-02 9.98806482e-01 -4.94485594e-04 -5.43413324e+00] [-6.77075742e-03 1.63984639e-04 9.99977065e-01 4.17823370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.76, Y:-5.44, Z:0.42 [[ 9.98951554e-01 4.49695233e-02 8.57523712e-03 8.77620893e+01] [-4.49657811e-02 9.98988330e-01 -6.28789617e-04 -5.43906431e+00] [-8.59483818e-03 2.42538130e-04 9.99963034e-01 4.18908959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.79, Y:-5.44, Z:0.42 [[ 9.99066093e-01 4.19717843e-02 1.02621305e-02 8.77937714e+01] [-4.19662512e-02 9.99118744e-01 -7.54013785e-04 -5.44260382e+00] [-1.02847342e-02 3.22646461e-04 9.99947059e-01 4.20333888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.83, Y:-5.45, Z:0.42 [[ 9.99098181e-01 4.07844722e-02 1.18089990e-02 8.78261714e+01] [-4.07770467e-02 9.99167892e-01 -8.69002726e-04 -5.44639343e+00] [-1.18346144e-02 3.86682940e-04 9.99929894e-01 4.20896561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.86, Y:-5.45, Z:0.42 [[ 9.99101751e-01 4.07543446e-02 1.16092221e-02 8.78591184e+01] [-4.07471373e-02 9.99169123e-01 -8.56773758e-04 -5.44888842e+00] [-1.16344935e-02 3.82961594e-04 9.99932244e-01 4.21413643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.112320588 meters Centerline goodness [0,1] 0.9999507461951436 Centerline is valid? [True, True] Translation: X:87.89, Y:-5.46, Z:0.42 [[ 9.98955524e-01 4.40608552e-02 1.21038395e-02 8.78905651e+01] [-4.40532496e-02 9.99028784e-01 -8.94391555e-04 -5.45564928e+00] [-1.21314917e-02 3.60243921e-04 9.99926346e-01 4.19951384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.92, Y:-5.46, Z:0.42 [[ 9.98853695e-01 4.62543852e-02 1.23218265e-02 8.79218626e+01] [-4.62466512e-02 9.98929635e-01 -9.12015953e-04 -5.46290711e+00] [-1.23508224e-02 3.41127291e-04 9.99923667e-01 4.20023881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.95, Y:-5.47, Z:0.42 [[ 9.98799065e-01 4.72425801e-02 1.29832805e-02 8.79539678e+01] [-4.72340562e-02 9.98883385e-01 -9.62557967e-04 -5.47020845e+00] [-1.30142569e-02 3.48148996e-04 9.99915250e-01 4.20391810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.99, Y:-5.48, Z:0.42 [[ 9.98708375e-01 4.91945240e-02 1.27074741e-02 8.79858801e+01] [-4.91864957e-02 9.98789166e-01 -9.43720512e-04 -5.47633333e+00] [-1.27385133e-02 3.17465460e-04 9.99918811e-01 4.21959336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.02, Y:-5.48, Z:0.42 [[ 9.98505500e-01 5.30218756e-02 1.32456526e-02 8.80174588e+01] [-5.30134679e-02 9.98593311e-01 -9.85312118e-04 -5.48236031e+00] [-1.32792632e-02 2.81641588e-04 9.99911787e-01 4.22825057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.05, Y:-5.49, Z:0.42 [[ 9.98350142e-01 5.57368329e-02 1.37984983e-02 8.80495404e+01] [-5.57279440e-02 9.98445461e-01 -1.02816082e-03 -5.48511955e+00] [-1.38343544e-02 2.57502565e-04 9.99904268e-01 4.21966016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.08, Y:-5.49, Z:0.42 [[ 9.98252511e-01 5.77764989e-02 1.24016264e-02 8.80817210e+01] [-5.77694558e-02 9.98329521e-01 -9.25706341e-04 -5.48746559e+00] [-1.24343938e-02 2.07653470e-04 9.99922668e-01 4.19884743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.11, Y:-5.49, Z:0.42 [[ 9.98126259e-01 5.99741227e-02 1.21274554e-02 8.81133691e+01] [-5.99675243e-02 9.98199916e-01 -9.07321280e-04 -5.49066218e+00] [-1.21600407e-02 1.78367720e-04 9.99926048e-01 4.19925816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.14, Y:-5.50, Z:0.42 [[ 9.97968224e-01 6.26235701e-02 1.17351272e-02 8.81448887e+01] [-6.26175586e-02 9.98037208e-01 -8.79352626e-04 -5.49549361e+00] [-1.17671617e-02 1.42740965e-04 9.99930754e-01 4.21122934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.18, Y:-5.51, Z:0.42 [[ 9.97449357e-01 6.98143289e-02 1.48572984e-02 8.81757196e+01] [-6.98054544e-02 9.97560000e-01 -1.11570430e-03 -5.50903026e+00] [-1.48989387e-02 7.57380753e-05 9.99889002e-01 4.24931880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.21, Y:-5.52, Z:0.42 [[ 9.97336135e-01 7.16895484e-02 1.34626159e-02 8.82074863e+01] [-7.16824097e-02 9.97426993e-01 -1.01267506e-03 -5.51541148e+00] [-1.35005747e-02 4.49446779e-05 9.99908862e-01 4.24881743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.24, Y:-5.52, Z:0.42 [[ 9.97291922e-01 7.26154312e-02 1.16542820e-02 8.82395621e+01] [-7.26101258e-02 9.97360014e-01 -8.78266003e-04 -5.51904937e+00] [-1.16872905e-02 2.96687103e-05 9.99931701e-01 4.23532032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.27, Y:-5.52, Z:0.42 [[ 9.97285941e-01 7.30622004e-02 9.09209238e-03 8.82722019e+01] [-7.30589736e-02 9.97327386e-01 -6.86974414e-04 -5.52059605e+00] [-9.11798459e-03 2.08509875e-05 9.99958430e-01 4.22171946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.30, Y:-5.52, Z:0.42 [[ 9.97111814e-01 7.52435653e-02 1.03167709e-02 8.83039372e+01] [-7.52395162e-02 9.97165185e-01 -7.80590061e-04 -5.52228670e+00] [-1.03462592e-02 2.10671911e-06 9.99946476e-01 4.20101018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.34, Y:-5.53, Z:0.42 [[ 9.96871287e-01 7.81090917e-02 1.21081009e-02 8.83359258e+01] [-7.81037077e-02 9.96944817e-01 -9.17605767e-04 -5.52766068e+00] [-1.21427818e-02 -3.09527302e-05 9.99926273e-01 4.21868473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.37, Y:-5.53, Z:0.43 [[ 9.96587336e-01 8.13192948e-02 1.41722716e-02 8.83672028e+01] [-8.13122270e-02 9.96688099e-01 -1.07516478e-03 -5.53428536e+00] [-1.42127661e-02 -8.08833562e-05 9.99898990e-01 4.25202337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.40, Y:-5.54, Z:0.43 [[ 9.96407446e-01 8.34362277e-02 1.45119448e-02 8.83992049e+01] [-8.34290114e-02 9.96513113e-01 -1.10300275e-03 -5.54074336e+00] [-1.45533736e-02 -1.11677050e-04 9.99894088e-01 4.27580489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.43, Y:-5.55, Z:0.43 [[ 9.96213336e-01 8.62334967e-02 1.10803293e-02 8.84311962e+01] [-8.62294446e-02 9.96274947e-01 -8.43807521e-04 -5.54661404e+00] [-1.11118190e-02 -1.14838339e-04 9.99938255e-01 4.26641909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.46, Y:-5.55, Z:0.42 [[ 9.96012074e-01 8.86107733e-02 1.03960933e-02 8.84636542e+01] [-8.86073207e-02 9.96066320e-01 -7.93139905e-04 -5.54901622e+00] [-1.04254792e-02 -1.31193053e-04 9.99945645e-01 4.24711228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.50, Y:-5.55, Z:0.42 [[ 9.95883064e-01 8.98030660e-02 1.23422641e-02 8.84962050e+01] [-8.97982725e-02 9.95959528e-01 -9.43134577e-04 -5.55058701e+00] [-1.23770919e-02 -1.69062239e-04 9.99923387e-01 4.23941336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.53, Y:-5.55, Z:0.42 [[ 9.95681090e-01 9.14010495e-02 1.62792844e-02 8.85281373e+01] [-9.13928916e-02 9.95814133e-01 -1.24593873e-03 -5.55336943e+00] [-1.63250216e-02 -2.47253249e-04 9.99866707e-01 4.22447379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.56, Y:-5.56, Z:0.42 [[ 9.95668763e-01 9.13536847e-02 1.72689851e-02 8.85604350e+01] [-9.13444584e-02 9.95818476e-01 -1.32394747e-03 -5.55705099e+00] [-1.73177219e-02 -2.59212954e-04 9.99850003e-01 4.23744523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.59, Y:-5.56, Z:0.42 [[ 9.95745061e-01 9.04384193e-02 1.76823555e-02 8.85927128e+01] [-9.04285328e-02 9.95902019e-01 -1.35951519e-03 -5.56157479e+00] [-1.77328459e-02 -2.45258926e-04 9.99842731e-01 4.23688155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.62, Y:-5.57, Z:0.42 [[ 9.96019328e-01 8.81536937e-02 1.32069840e-02 8.86244282e+01] [-8.81479557e-02 9.96106874e-01 -1.01708126e-03 -5.56500808e+00] [-1.32452270e-02 -1.51136048e-04 9.99912267e-01 4.23851043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.66, Y:-5.57, Z:0.42 [[ 9.96067035e-01 8.75210637e-02 1.38030913e-02 8.86570518e+01] [-8.75146924e-02 9.96162658e-01 -1.06608912e-03 -5.56740094e+00] [-1.38434294e-02 -1.46077057e-04 9.99904164e-01 4.23853820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.69, Y:-5.57, Z:0.42 [[ 9.96019371e-01 8.76064287e-02 1.64476636e-02 8.86887811e+01] [-8.75973663e-02 9.96155150e-01 -1.27200093e-03 -5.57095719e+00] [-1.64958602e-02 -1.73834447e-04 9.99863919e-01 4.24688832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.72, Y:-5.58, Z:0.43 [[ 9.95846711e-01 8.95405523e-02 1.64868673e-02 8.87208558e+01] [-8.95316755e-02 9.95983156e-01 -1.27722011e-03 -5.57891673e+00] [-1.65350052e-02 -2.04181404e-04 9.99863267e-01 4.26821874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.75, Y:-5.58, Z:0.43 [[ 9.95801940e-01 9.03177415e-02 1.48728773e-02 8.87523617e+01] [-9.03105640e-02 9.95912982e-01 -1.15488345e-03 -5.58279374e+00] [-1.49163981e-02 -1.93142759e-04 9.99888726e-01 4.26921330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.78, Y:-5.59, Z:0.43 [[ 9.95732964e-01 9.12927395e-02 1.34721924e-02 8.87841409e+01] [-9.12869161e-02 9.95824081e-01 -1.04785549e-03 -5.58517168e+00] [-1.35115952e-02 -1.86450641e-04 9.99908697e-01 4.25679510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.82, Y:-5.59, Z:0.42 [[ 9.95703030e-01 9.15481738e-02 1.39429933e-02 8.88162604e+01] [-9.15419355e-02 9.95800630e-01 -1.08631614e-03 -5.58666807e+00] [-1.39838917e-02 -1.94720319e-04 9.99902202e-01 4.24638428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.85, Y:-5.59, Z:0.42 [[ 9.95571473e-01 9.29499659e-02 1.40621891e-02 8.88481879e+01] [-9.29437248e-02 9.95670758e-01 -1.09812144e-03 -5.58944028e+00] [-1.41033808e-02 -2.13733851e-04 9.99900520e-01 4.24861091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.88, Y:-5.60, Z:0.42 [[ 9.95553243e-01 9.31331586e-02 1.41405519e-02 8.88812292e+01] [-9.31268224e-02 9.95653639e-01 -1.10733280e-03 -5.59679989e+00] [-1.41822214e-02 -2.14455902e-04 9.99899404e-01 4.24939709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.91, Y:-5.60, Z:0.43 [[ 9.95531982e-01 9.33798814e-02 1.40096483e-02 8.89136794e+01] [-9.33736468e-02 9.95630530e-01 -1.09989977e-03 -5.60081924e+00] [-1.40511421e-02 -2.13146555e-04 9.99901255e-01 4.26285390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.95, Y:-5.60, Z:0.43 [[ 9.95557216e-01 9.31438019e-02 1.37862677e-02 8.89457904e+01] [-9.31377208e-02 9.95652645e-01 -1.08388019e-03 -5.60219944e+00] [-1.38272907e-02 -2.04956816e-04 9.99904377e-01 4.28939752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.98, Y:-5.60, Z:0.43 [[ 9.95526530e-01 9.36381176e-02 1.26027810e-02 8.89784318e+01] [-9.36330533e-02 9.95606281e-01 -9.92589371e-04 -5.60325287e+00] [-1.26403521e-02 -1.91887809e-04 9.99920089e-01 4.30129015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.01, Y:-5.61, Z:0.43 [[ 9.95479049e-01 9.43511080e-02 1.09238743e-02 8.90108843e+01] [-9.43473289e-02 9.95538969e-01 -8.61912430e-04 -5.60514811e+00] [-1.09564650e-02 -1.72622597e-04 9.99939961e-01 4.29809848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.04, Y:-5.61, Z:0.43 [[ 9.95454666e-01 9.48163420e-02 8.93697611e-03 8.90430353e+01] [-9.48138195e-02 9.95494772e-01 -7.06471338e-04 -5.60800393e+00] [-8.96369802e-03 -1.44088651e-04 9.99959815e-01 4.25250900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.07, Y:-5.61, Z:0.42 [[ 9.95532884e-01 9.38503565e-02 1.03144242e-02 8.90749386e+01] [-9.38469315e-02 9.95586303e-01 -8.16638369e-04 -5.60929271e+00] [-1.03455413e-02 -1.54986710e-04 9.99946471e-01 4.23937844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.11, Y:-5.61, Z:0.42 [[ 9.95618248e-01 9.26950045e-02 1.23264249e-02 8.91072211e+01] [-9.26900055e-02 9.95694535e-01 -9.77455246e-04 -5.61016487e+00] [-1.23639591e-02 -1.69364112e-04 9.99923549e-01 4.23992555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.14, Y:-5.61, Z:0.43 [[ 9.95721620e-01 9.14259022e-02 1.34074565e-02 8.91400529e+01] [-9.14198328e-02 9.95811869e-01 -1.06615670e-03 -5.61230688e+00] [-1.34487787e-02 -1.64112155e-04 9.99909548e-01 4.26462430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.17, Y:-5.62, Z:0.43 [[ 9.95990498e-01 8.85236527e-02 1.29031074e-02 8.91722419e+01] [-8.85177692e-02 9.96074068e-01 -1.02749596e-03 -5.61651933e+00] [-1.29434084e-02 -1.18778068e-04 9.99916224e-01 4.29677105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.20, Y:-5.62, Z:0.43 [[ 9.96117252e-01 8.73409277e-02 1.10445797e-02 8.92042042e+01] [-8.73365268e-02 9.96178475e-01 -8.81082402e-04 -5.61667607e+00] [-1.10793272e-02 -8.69338532e-05 9.99938619e-01 4.29280773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.24, Y:-5.61, Z:0.43 [[ 9.96188681e-01 8.65093588e-02 1.11463877e-02 8.92365698e+01] [-8.65048078e-02 9.96251035e-01 -8.90676688e-04 -5.61438015e+00] [-1.11816522e-02 -7.69340913e-05 9.99937480e-01 4.28633756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.27, Y:-5.61, Z:0.43 [[ 9.96200657e-01 8.62795311e-02 1.18361450e-02 8.92693551e+01] [-8.62743649e-02 9.96270965e-01 -9.47335747e-04 -5.61384951e+00] [-1.18737432e-02 -7.74193954e-05 9.99929502e-01 4.26064339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.30, Y:-5.62, Z:0.42 [[ 9.96104835e-01 8.73722893e-02 1.18844368e-02 8.93020453e+01] [-8.73671261e-02 9.96175725e-01 -9.53919525e-04 -5.61725420e+00] [-1.19223336e-02 -8.81052412e-05 9.99928923e-01 4.24989452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.33, Y:-5.63, Z:0.43 [[ 9.96008828e-01 8.87903705e-02 9.09315692e-03 8.93332521e+01] [-8.87873969e-02 9.96050332e-01 -7.30984839e-04 -5.62653804e+00] [-9.12214639e-03 -7.92903798e-05 9.99958389e-01 4.25242354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.37, Y:-5.63, Z:0.43 [[ 9.96007396e-01 8.89164907e-02 7.94509026e-03 8.93651047e+01] [-8.89142153e-02 9.96039082e-01 -6.39852067e-04 -5.62911426e+00] [-7.97051381e-03 -6.91340746e-05 9.99968233e-01 4.27220114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.40, Y:-5.63, Z:0.43 [[ 9.95995367e-01 8.90511428e-02 7.94500309e-03 8.93966845e+01] [-8.90488631e-02 9.96027052e-01 -6.40934138e-04 -5.63162250e+00] [-7.97051393e-03 -6.91260606e-05 9.99968233e-01 4.27379745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.43, Y:-5.63, Z:0.43 [[ 9.95977633e-01 8.92034714e-02 8.44366909e-03 8.94284423e+01] [-8.92008926e-02 9.96013421e-01 -6.82268216e-04 -5.63204932e+00] [-8.47086843e-03 -7.36589375e-05 9.99964119e-01 4.29322894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.46, Y:-5.63, Z:0.43 [[ 9.95902243e-01 8.98777985e-02 1.00350789e-02 8.94610134e+01] [-8.98741781e-02 9.95952796e-01 -8.12065255e-04 -5.63305794e+00] [-1.00674516e-02 -9.31568626e-05 9.99949318e-01 4.30934135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.49, Y:-5.64, Z:0.43 [[ 9.95632059e-01 9.23362392e-02 1.38138347e-02 8.94931408e+01] [-9.23295930e-02 9.95727871e-01 -1.11946230e-03 -5.63736642e+00] [-1.38581872e-02 -1.60853185e-04 9.99903958e-01 4.30736235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.53, Y:-5.64, Z:0.43 [[ 9.95446628e-01 9.44104060e-02 1.31409883e-02 8.95254014e+01] [-9.44045487e-02 9.95533346e-01 -1.06671759e-03 -5.64017896e+00] [-1.31830013e-02 -1.78708640e-04 9.99913084e-01 4.30446227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.56, Y:-5.64, Z:0.43 [[ 9.95207573e-01 9.71053299e-02 1.15083413e-02 8.95584539e+01] [-9.71009865e-02 9.95274093e-01 -9.36890518e-04 -5.64098198e+00] [-1.15449310e-02 -1.85070754e-04 9.99933338e-01 4.30420685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.59, Y:-5.64, Z:0.43 [[ 9.94886978e-01 1.00690572e-01 7.83000370e-03 8.95912120e+01] [-1.00688664e-01 9.94917778e-01 -6.38473021e-04 -5.64119063e+00] [-7.85449810e-03 -1.53184121e-04 9.99969141e-01 4.29522348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.62, Y:-5.64, Z:0.43 [[ 9.94696984e-01 1.02644810e-01 6.47705423e-03 8.96234847e+01] [-1.02643540e-01 9.94718062e-01 -5.29128738e-04 -5.64475410e+00] [-6.49715516e-03 -1.38505015e-04 9.99978884e-01 4.29369024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.66, Y:-5.65, Z:0.43 [[ 9.94587673e-01 1.03586965e-01 8.06851971e-03 8.96551032e+01] [-1.03585017e-01 9.94620384e-01 -6.60062168e-04 -5.64770204e+00] [-8.09348801e-03 -1.79288058e-04 9.99967231e-01 4.30391402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.69, Y:-5.65, Z:0.43 [[ 9.94489074e-01 1.04411056e-01 9.47701014e-03 8.96876729e+01] [-1.04408395e-01 9.94534205e-01 -7.76422444e-04 -5.64958132e+00] [-9.50627783e-03 -2.17335781e-04 9.99954791e-01 4.32377312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.72, Y:-5.65, Z:0.43 [[ 9.94512243e-01 1.03869743e-01 1.25090024e-02 8.97199778e+01] [-1.03865046e-01 9.94590870e-01 -1.02629461e-03 -5.64672535e+00] [-1.25479406e-02 -2.78585560e-04 9.99921233e-01 4.34334266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.75, Y:-5.65, Z:0.43 [[ 9.94537240e-01 1.03627761e-01 1.25285925e-02 8.97522148e+01] [-1.03623009e-01 9.94616113e-01 -1.02957576e-03 -5.64705314e+00] [-1.25678326e-02 -2.74299020e-04 9.99920984e-01 4.33107694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.78, Y:-5.65, Z:0.43 [[ 9.94614726e-01 1.02893941e-01 1.24251539e-02 8.97847926e+01] [-1.02889190e-01 9.94692298e-01 -1.02274726e-03 -5.64849363e+00] [-1.24644393e-02 -2.61174529e-04 9.99922282e-01 4.31271779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.82, Y:-5.65, Z:0.43 [[ 9.94648180e-01 1.02553738e-01 1.25589893e-02 8.98168690e+01] [-1.02548836e-01 9.94727432e-01 -1.03542228e-03 -5.64981859e+00] [-1.25989576e-02 -2.58028838e-04 9.99920597e-01 4.30703487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.85, Y:-5.65, Z:0.43 [[ 9.94893912e-01 1.00198590e-01 1.20973998e-02 8.98495880e+01] [-1.00193847e-01 9.94967434e-01 -9.99025261e-04 -5.64793697e+00] [-1.21366198e-02 -2.18160879e-04 9.99926325e-01 4.30908732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.88, Y:-5.65, Z:0.43 [[ 9.95089113e-01 9.82683173e-02 1.18741086e-02 8.98822788e+01] [-9.82635913e-02 9.95159938e-01 -9.82189482e-04 -5.64790306e+00] [-1.19131552e-02 -1.89426489e-04 9.99929018e-01 4.30730818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.91, Y:-5.65, Z:0.43 [[ 9.95334489e-01 9.57994737e-02 1.14767276e-02 8.99144375e+01] [-9.57948767e-02 9.95400642e-01 -9.50875665e-04 -5.64817396e+00] [-1.15150354e-02 -1.52972363e-04 9.99933688e-01 4.30578093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.95, Y:-5.65, Z:0.43 [[ 9.95801787e-01 9.08130431e-02 1.14800792e-02 8.99468674e+01] [-9.08080942e-02 9.95867954e-01 -9.52693143e-04 -5.64892990e+00] [-1.15191600e-02 -9.37905811e-05 9.99933648e-01 4.31635201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.98, Y:-5.65, Z:0.43 [[ 9.96051705e-01 8.77847512e-02 1.32226446e-02 8.99791045e+01] [-8.77778969e-02 9.96139465e-01 -1.09896491e-03 -5.65165948e+00] [-1.32680705e-02 -6.60300630e-05 9.99911973e-01 4.31819298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.01, Y:-5.65, Z:0.43 [[ 9.96287802e-01 8.50919461e-02 1.30374630e-02 9.00110153e+01] [-8.50850292e-02 9.96373103e-01 -1.08530289e-03 -5.65322066e+00] [-1.30825280e-02 -2.80188811e-05 9.99914420e-01 4.32612973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.04, Y:-5.65, Z:0.43 [[ 9.96412186e-01 8.36793002e-02 1.26700426e-02 9.00433468e+01] [-8.36726316e-02 9.96492737e-01 -1.05643243e-03 -5.65326390e+00] [-1.27140069e-02 -7.49365862e-06 9.99919174e-01 4.32586001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.08, Y:-5.65, Z:0.43 [[ 9.96479033e-01 8.33034611e-02 9.49057813e-03 9.00763527e+01] [-8.32996891e-02 9.96524226e-01 -7.92732185e-04 -5.64944383e+00] [-9.52362837e-03 -6.21207029e-07 9.99954649e-01 4.31011509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.11, Y:-5.65, Z:0.43 [[ 9.96530299e-01 8.28982122e-02 7.43295229e-03 9.01087706e+01] [-8.28958788e-02 9.96558020e-01 -6.21994423e-04 -5.65107798e+00] [-7.45893044e-03 3.67517695e-06 9.99972182e-01 4.30495202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.14, Y:-5.65, Z:0.43 [[ 9.96542370e-01 8.27079508e-02 7.91836439e-03 9.01402007e+01] [-8.27052922e-02 9.96573828e-01 -6.63172729e-04 -5.65448623e+00] [-7.94608437e-03 5.98908148e-06 9.99968429e-01 4.30308857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.17, Y:-5.66, Z:0.43 [[ 9.96552419e-01 8.25961870e-02 7.81958384e-03 9.01717742e+01] [-8.25935881e-02 9.96583097e-01 -6.55265467e-04 -5.65794691e+00] [-7.84698751e-03 7.15889983e-06 9.99969212e-01 4.30934165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.20, Y:-5.66, Z:0.43 [[ 9.96650751e-01 8.13884759e-02 7.94963006e-03 9.02031707e+01] [-8.13857473e-02 9.96682455e-01 -6.66678120e-04 -5.65977030e+00] [-7.97751672e-03 1.74586656e-05 9.99968179e-01 4.32442606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.23, Y:-5.66, Z:0.43 [[ 9.96782116e-01 7.93930354e-02 1.10525687e-02 9.02342462e+01] [-7.93876315e-02 9.96843390e-01 -9.27499088e-04 -5.65944004e+00] [-1.10913170e-02 4.70772527e-05 9.99938488e-01 4.33721926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.27, Y:-5.66, Z:0.43 [[ 9.96851946e-01 7.82068822e-02 1.30338389e-02 9.02661621e+01] [-7.81992399e-02 9.96937149e-01 -1.09573404e-03 -5.66242378e+00] [-1.30796122e-02 7.30483126e-05 9.99914456e-01 4.33125974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.30, Y:-5.67, Z:0.43 [[ 9.96967679e-01 7.68572064e-02 1.21826564e-02 9.02977048e+01] [-7.68504091e-02 9.97042107e-01 -1.02580094e-03 -5.66688110e+00] [-1.22254616e-02 8.64482561e-05 9.99925263e-01 4.32936853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.33, Y:-5.67, Z:0.43 [[ 9.97083449e-01 7.55479133e-02 1.08216692e-02 9.03301093e+01] [-7.55424568e-02 9.97142169e-01 -9.12684661e-04 -5.67130445e+00] [-1.08596941e-02 9.25272896e-05 9.99941028e-01 4.31465310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.36, Y:-5.67, Z:0.43 [[ 9.97116410e-01 7.54062696e-02 8.52994743e-03 9.03618695e+01] [-7.54028635e-02 9.97152891e-01 -7.20656778e-04 -5.67270812e+00] [-8.56000378e-03 7.53962370e-05 9.99963360e-01 4.30973319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.39, Y:-5.67, Z:0.43 [[ 9.96976108e-01 7.72276060e-02 8.63343051e-03 9.03931075e+01] [-7.72241831e-02 9.97013487e-01 -7.29626940e-04 -5.67332937e+00] [-8.66399400e-03 6.07110085e-05 9.99962465e-01 4.31763907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.42, Y:-5.68, Z:0.43 [[ 9.96859803e-01 7.87415171e-02 8.38492896e-03 9.04247835e+01] [-7.87383372e-02 9.96895065e-01 -7.09185459e-04 -5.67535403e+00] [-8.41473664e-03 4.67431123e-05 9.99964594e-01 4.33575612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.46, Y:-5.68, Z:0.44 [[ 9.96403072e-01 8.40669365e-02 1.06615350e-02 9.04561385e+01] [-8.40620936e-02 9.96460110e-01 -9.02354733e-04 -5.68196097e+00] [-1.06996526e-02 2.87807299e-06 9.99942757e-01 4.36131958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.49, Y:-5.69, Z:0.44 [[ 9.96253093e-01 8.55418109e-02 1.27425942e-02 9.04881777e+01] [-8.55349886e-02 9.96334582e-01 -1.08042460e-03 -5.68529588e+00] [-1.27883087e-02 -1.35613029e-05 9.99918226e-01 4.36134746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.52, Y:-5.69, Z:0.44 [[ 9.96185136e-01 8.62656244e-02 1.31687833e-02 9.05206438e+01] [-8.62583785e-02 9.96272172e-01 -1.11829168e-03 -5.68748194e+00] [-1.32161624e-02 -2.18923393e-05 9.99912662e-01 4.35688003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.55, Y:-5.69, Z:0.43 [[ 9.96173402e-01 8.64040986e-02 1.31485428e-02 9.05523480e+01] [-8.63968642e-02 9.96260172e-01 -1.11829748e-03 -5.69066057e+00] [-1.31959950e-02 -2.19746623e-05 9.99912929e-01 4.33840396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.58, Y:-5.70, Z:0.43 [[ 9.96326561e-01 8.47288290e-02 1.24261549e-02 9.05840217e+01] [-8.47222165e-02 9.96404047e-01 -1.05853838e-03 -5.69555083e+00] [-1.24711597e-02 1.87852294e-06 9.99922232e-01 4.32301960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.62, Y:-5.70, Z:0.43 [[ 9.96656158e-01 8.11617641e-02 9.44832159e-03 9.06161826e+01] [-8.11577674e-02 9.96700941e-01 -8.06284107e-04 -5.70152615e+00] [-9.48259046e-03 3.67833342e-05 9.99955039e-01 4.32904346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.65, Y:-5.70, Z:0.43 [[ 9.96809391e-01 7.94450676e-02 7.71486488e-03 9.06483057e+01] [-7.94423428e-02 9.96839244e-01 -6.59485748e-04 -5.70197155e+00] [-7.74287297e-03 4.44946467e-05 9.99970023e-01 4.34205337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.68, Y:-5.70, Z:0.43 [[ 9.96860644e-01 7.88528183e-02 7.14773217e-03 9.06797642e+01] [-7.88504629e-02 9.96886268e-01 -6.11186416e-04 -5.70418404e+00] [-7.17366981e-03 4.56656939e-05 9.99974268e-01 4.33941767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.71, Y:-5.71, Z:0.43 [[ 9.96709331e-01 8.06634394e-02 7.99487829e-03 9.07105406e+01] [-8.06605469e-02 9.96741395e-01 -6.84107518e-04 -5.71175975e+00] [-8.02400860e-03 3.69850911e-05 9.99967806e-01 4.33814115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.74, Y:-5.72, Z:0.43 [[ 9.96520355e-01 8.26712785e-02 1.06133214e-02 9.07425679e+01] [-8.26662774e-02 9.96576871e-01 -9.09793829e-04 -5.71926896e+00] [-1.06522044e-02 2.92643003e-05 9.99943263e-01 4.33507411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.77, Y:-5.72, Z:0.43 [[ 9.96331588e-01 8.48726739e-02 1.09543017e-02 9.07747488e+01] [-8.48674636e-02 9.96391805e-01 -9.40450422e-04 -5.72443036e+00] [-1.09945950e-02 7.33665784e-06 9.99939558e-01 4.34248497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.81, Y:-5.73, Z:0.43 [[ 9.96096691e-01 8.75832711e-02 1.09796567e-02 9.08069797e+01] [-8.75781793e-02 9.96157202e-01 -9.44617101e-04 -5.72722986e+00] [-1.10201967e-02 -2.06483745e-05 9.99939276e-01 4.34082335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.84, Y:-5.73, Z:0.43 [[ 9.95561222e-01 9.38024855e-02 7.67767456e-03 9.08385895e+01] [-9.38001720e-02 9.95590825e-01 -6.61658129e-04 -5.73249123e+00] [-7.70588752e-03 -6.14460178e-05 9.99970307e-01 4.34294407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.87, Y:-5.74, Z:0.44 [[ 9.95296188e-01 9.65683465e-02 7.74933125e-03 9.08707755e+01] [-9.65660655e-02 9.95326352e-01 -6.68857294e-04 -5.73696861e+00] [-7.77770405e-03 -8.26113136e-05 9.99969750e-01 4.35283132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.90, Y:-5.74, Z:0.44 [[ 9.94974358e-01 9.97038655e-02 9.22854323e-03 9.09025078e+01] [-9.97007552e-02 9.95017147e-01 -7.97629633e-04 -5.73980764e+00] [-9.26208552e-03 -1.26471697e-04 9.99957098e-01 4.37577489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.93, Y:-5.74, Z:0.44 [[ 9.94829418e-01 1.01067188e-01 9.99261877e-03 9.09345482e+01] [-1.01063597e-01 9.94879591e-01 -8.64942283e-04 -5.74149942e+00] [-1.00288698e-02 -1.49419972e-04 9.99949698e-01 4.38295630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.97, Y:-5.75, Z:0.44 [[ 9.94748401e-01 1.01870890e-01 9.89652612e-03 9.09661193e+01] [-1.01867394e-01 9.94797617e-01 -8.57947409e-04 -5.74612622e+00] [-9.93244046e-03 -1.54691516e-04 9.99950660e-01 4.35104723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.00, Y:-5.75, Z:0.43 [[ 9.94894763e-01 1.00381838e-01 1.03873473e-02 9.09980049e+01] [-1.00377892e-01 9.94948976e-01 -9.01854420e-04 -5.75122284e+00] [-1.04254104e-02 -1.45409785e-04 9.99945643e-01 4.32812876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.03, Y:-5.75, Z:0.43 [[ 9.95033580e-01 9.89478192e-02 1.08399014e-02 9.10295299e+01] [-9.89434214e-02 9.95092614e-01 -9.42558227e-04 -5.75484798e+00] [-1.08799699e-02 -1.34659842e-04 9.99940802e-01 4.32285678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.06, Y:-5.76, Z:0.43 [[ 9.95133003e-01 9.78281646e-02 1.18303607e-02 9.10620912e+01] [-9.78228292e-02 9.95203312e-01 -1.03020851e-03 -5.75701580e+00] [-1.18743976e-02 -1.32084863e-04 9.99929488e-01 4.34056885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.09, Y:-5.76, Z:0.44 [[ 9.95155964e-01 9.75098851e-02 1.25071828e-02 9.10939637e+01] [-9.75038761e-02 9.95234547e-01 -1.09077621e-03 -5.75906827e+00] [-1.25539418e-02 -1.34006350e-04 9.99921187e-01 4.35867926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.13, Y:-5.77, Z:0.44 [[ 9.94962888e-01 9.96710749e-02 1.07017996e-02 9.11260385e+01] [-9.96667725e-02 9.95020431e-01 -9.35932200e-04 -5.76654336e+00] [-1.07417946e-02 -1.35396024e-04 9.99942296e-01 4.39232496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.16, Y:-5.77, Z:0.44 [[ 9.94780521e-01 1.01465472e-01 1.07922798e-02 9.11577181e+01] [-1.01461190e-01 9.94839049e-01 -9.44933556e-04 -5.77119042e+00] [-1.08324595e-02 -1.54996059e-04 9.99941315e-01 4.39113213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.19, Y:-5.77, Z:0.44 [[ 9.94540069e-01 1.03670731e-01 1.19344078e-02 9.11902322e+01] [-1.03665635e-01 9.94611653e-01 -1.04646518e-03 -5.77389130e+00] [-1.19785888e-02 -1.96436406e-04 9.99928235e-01 4.37797585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.22, Y:-5.77, Z:0.43 [[ 9.93955820e-01 1.08500276e-01 1.67187686e-02 9.12227367e+01] [-1.08490926e-01 9.94096356e-01 -1.46794666e-03 -5.77356140e+00] [-1.67793396e-02 -3.54760559e-04 9.99859154e-01 4.34841036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.25, Y:-5.78, Z:0.43 [[ 9.93738636e-01 1.10509097e-01 1.64700453e-02 9.12544761e+01] [-1.10500262e-01 9.93875040e-01 -1.44830757e-03 -5.77638762e+00] [-1.65292180e-02 -3.80705129e-04 9.99863311e-01 4.34088630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.29, Y:-5.78, Z:0.44 [[ 9.93640332e-01 1.11413238e-01 1.63088960e-02 9.12864146e+01] [-1.11404661e-01 9.93774088e-01 -1.43630755e-03 -5.77939775e+00] [-1.63673819e-02 -3.89713919e-04 9.99865969e-01 4.35231978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.32, Y:-5.78, Z:0.44 [[ 9.93590572e-01 1.11826505e-01 1.65108329e-02 9.13190230e+01] [-1.11817736e-01 9.93727666e-01 -1.45625996e-03 -5.77840184e+00] [-1.65701199e-02 -3.99277787e-04 9.99862626e-01 4.37561652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.35, Y:-5.78, Z:0.44 [[ 9.93561846e-01 1.11935720e-01 1.74714815e-02 9.13509313e+01] [-1.11925876e-01 9.93715360e-01 -1.54329255e-03 -5.77858584e+00] [-1.75344290e-02 -4.22154276e-04 9.99846171e-01 4.38692273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.38, Y:-5.78, Z:0.44 [[ 9.93692509e-01 1.10883796e-01 1.67326271e-02 9.13828051e+01] [-1.10874580e-01 9.93833304e-01 -1.48028496e-03 -5.77958879e+00] [-1.67935817e-02 -3.84274936e-04 9.99858904e-01 4.39157746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.42, Y:-5.78, Z:0.44 [[ 9.93830203e-01 1.09668129e-01 1.65658733e-02 9.14151050e+01] [-1.09658891e-01 9.93968195e-01 -1.46775184e-03 -5.78182051e+00] [-1.66269167e-02 -3.57899180e-04 9.99861699e-01 4.38333225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.45, Y:-5.78, Z:0.44 [[ 9.93808303e-01 1.09866463e-01 1.65655503e-02 9.14475148e+01] [-1.09857191e-01 9.93946293e-01 -1.47139410e-03 -5.78464375e+00] [-1.66269241e-02 -3.57561157e-04 9.99861699e-01 4.38497144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.48, Y:-5.79, Z:0.44 [[ 9.93911146e-01 1.08839752e-01 1.71622371e-02 9.14797392e+01] [-1.08829614e-01 9.94059246e-01 -1.52631165e-03 -5.78605668e+00] [-1.72264038e-02 -3.50741472e-04 9.99851553e-01 4.37493737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.51, Y:-5.78, Z:0.44 [[ 9.93858715e-01 1.09053904e-01 1.87643483e-02 9.15121295e+01] [-1.09041778e-01 9.94035763e-01 -1.67121216e-03 -5.78274328e+00] [-1.88346855e-02 -3.85149128e-04 9.99822537e-01 4.36916977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.54, Y:-5.78, Z:0.44 [[ 9.93766026e-01 1.09818857e-01 1.92068937e-02 9.15439725e+01] [-1.09806262e-01 9.93951534e-01 -1.71235972e-03 -5.78211272e+00] [-1.92787708e-02 -4.07352288e-04 9.99814064e-01 4.37821298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.58, Y:-5.78, Z:0.44 [[ 9.93819117e-01 1.09470636e-01 1.84321048e-02 9.15763726e+01] [-1.09458928e-01 9.93989957e-01 -1.64591443e-03 -5.78104023e+00] [-1.85015064e-02 -3.81817206e-04 9.99828760e-01 4.38038435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.61, Y:-5.78, Z:0.44 [[ 9.93729682e-01 1.10352663e-01 1.79891353e-02 9.16100030e+01] [-1.10341585e-01 9.93892420e-01 -1.61029516e-03 -5.78013401e+00] [-1.80569656e-02 -3.84751594e-04 9.99836886e-01 4.38668334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.64, Y:-5.78, Z:0.44 [[ 9.93758770e-01 1.10317926e-01 1.65367065e-02 9.16423696e+01] [-1.10308527e-01 9.93896288e-01 -1.48221579e-03 -5.77933067e+00] [-1.65992862e-02 -3.51174806e-04 9.99862161e-01 4.38048355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.67, Y:-5.78, Z:0.44 [[ 9.93737894e-01 1.10791541e-01 1.44994090e-02 9.16749889e+01] [-1.10784337e-01 9.93843618e-01 -1.30160826e-03 -5.77869754e+00] [-1.45543523e-02 -3.12849962e-04 9.99894031e-01 4.36834710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.71, Y:-5.78, Z:0.44 [[ 9.93797497e-01 1.10232903e-01 1.46711541e-02 9.17070635e+01] [-1.10225437e-01 9.93905737e-01 -1.31896522e-03 -5.78069482e+00] [-1.47271376e-02 -3.06350037e-04 9.99891503e-01 4.36357969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.74, Y:-5.78, Z:0.44 [[ 9.93969033e-01 1.08283800e-01 1.73257074e-02 9.17392276e+01] [-1.08273054e-01 9.94119969e-01 -1.55979490e-03 -5.78139592e+00] [-1.73927323e-02 -3.25519433e-04 9.99848682e-01 4.36239137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.77, Y:-5.78, Z:0.44 [[ 9.94185517e-01 1.05905586e-01 1.94721525e-02 9.17719578e+01] [-1.05891414e-01 9.94376141e-01 -1.76037110e-03 -5.78072126e+00] [-1.95490770e-02 -3.11798314e-04 9.99808850e-01 4.37178078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.81, Y:-5.77, Z:0.44 [[ 9.94747370e-01 1.00259161e-01 2.06341903e-02 9.18052999e+01] [-1.00241956e-01 9.94961334e-01 -1.86906718e-03 -5.77442899e+00] [-2.07176126e-02 -2.09161930e-04 9.99785345e-01 4.37669334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.84, Y:-5.77, Z:0.44 [[ 9.95096581e-01 9.71434785e-02 1.85994269e-02 9.18377611e+01] [-9.71289151e-02 9.95270379e-01 -1.68690096e-03 -5.77422015e+00] [-1.86753301e-02 -1.27912779e-04 9.99825593e-01 4.36649665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.87, Y:-5.78, Z:0.43 [[ 9.95679468e-01 9.11688869e-02 1.76247533e-02 9.18696912e+01] [-9.11548313e-02 9.95835445e-01 -1.60088731e-03 -5.77533103e+00] [-1.76973052e-02 -1.26107871e-05 9.99843390e-01 4.33498489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.90, Y:-5.78, Z:0.43 [[ 9.95808604e-01 8.95819722e-02 1.84470893e-02 9.19015270e+01] [-8.95662580e-02 9.95979453e-01 -1.67795503e-03 -5.77766834e+00] [-1.85232364e-02 1.86852934e-05 9.99828430e-01 4.32787559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.93, Y:-5.78, Z:0.43 [[ 9.95984764e-01 8.75985459e-02 1.84619871e-02 9.19342931e+01] [-8.75823925e-02 9.96155857e-01 -1.68324837e-03 -5.78002566e+00] [-1.85384667e-02 5.95447256e-05 9.99828146e-01 4.34011174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.97, Y:-5.78, Z:0.43 [[ 9.96157283e-01 8.58195515e-02 1.74834681e-02 9.19664245e+01] [-8.58047564e-02 9.96310693e-01 -1.59601532e-03 -5.78258934e+00] [-1.75559356e-02 8.97175617e-05 9.99845879e-01 4.34003873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.00, Y:-5.78, Z:0.44 [[ 9.96434272e-01 8.29324744e-02 1.55224738e-02 9.19985278e+01] [-8.29204292e-02 9.96555161e-01 -1.41909683e-03 -5.78428213e+00] [-1.55866906e-02 1.26906526e-04 9.99878512e-01 4.35043709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.03, Y:-5.78, Z:0.44 [[ 9.96732532e-01 7.90326454e-02 1.66763545e-02 9.20311812e+01] [-7.90181617e-02 9.96872008e-01 -1.52668210e-03 -5.78456074e+00] [-1.67448487e-02 2.03958842e-04 9.99859774e-01 4.35098583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.06, Y:-5.79, Z:0.44 [[ 9.96718246e-01 7.85361839e-02 1.96164953e-02 9.20635376e+01] [-7.85159989e-02 9.96911232e-01 -1.79823964e-03 -5.78682993e+00] [-1.96971314e-02 2.52129531e-04 9.99805961e-01 4.35429353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.10, Y:-5.79, Z:0.43 [[ 9.96669251e-01 7.89173516e-02 2.05537286e-02 9.20956228e+01] [-7.88952183e-02 9.96881129e-01 -1.88678085e-03 -5.79045757e+00] [-2.06385239e-02 2.58905556e-04 9.99786969e-01 4.34904643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.13, Y:-5.80, Z:0.43 [[ 9.96563867e-01 8.12343686e-02 1.61689747e-02 9.21274748e+01] [-8.12209411e-02 9.96695013e-01 -1.48647805e-03 -5.79760180e+00] [-1.62362896e-02 1.68110972e-04 9.99868169e-01 4.33133754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.16, Y:-5.80, Z:0.43 [[ 9.96368119e-01 8.37782639e-02 1.52241284e-02 9.21591182e+01] [-8.37666260e-02 9.96484414e-01 -1.40162861e-03 -5.80143545e+00] [-1.52880326e-02 1.21264192e-04 9.99883124e-01 4.32781469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.19, Y:-5.80, Z:0.43 [[ 9.96078706e-01 8.70997898e-02 1.55189279e-02 9.21909467e+01] [-8.70880688e-02 9.96199589e-01 -1.43075909e-03 -5.80376159e+00] [-1.55845685e-02 7.36352004e-05 9.99878551e-01 4.34030554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.22, Y:-5.81, Z:0.44 [[ 9.95793417e-01 9.00166011e-02 1.71021097e-02 9.22232421e+01] [-9.00027589e-02 9.95940265e-01 -1.57890468e-03 -5.80566110e+00] [-1.71748073e-02 3.30258348e-05 9.99852502e-01 4.35639076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.26, Y:-5.81, Z:0.44 [[ 9.95594181e-01 9.21284931e-02 1.74518911e-02 9.22550777e+01] [-9.21143635e-02 9.95747127e-01 -1.61346600e-03 -5.80779865e+00] [-1.75263167e-02 -1.21248632e-06 9.99846402e-01 4.36904660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.29, Y:-5.81, Z:0.44 [[ 9.95299237e-01 9.54774786e-02 1.62320638e-02 9.22874724e+01] [-9.54656652e-02 9.95431589e-01 -1.50285571e-03 -5.81161410e+00] [-1.63013980e-02 -5.38136271e-05 9.99867122e-01 4.38084478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.32, Y:-5.81, Z:0.44 [[ 9.94986053e-01 9.81770086e-02 1.90795735e-02 9.23190523e+01] [-9.81611085e-02 9.95168962e-01 -1.77036330e-03 -5.81483469e+00] [-1.91612083e-02 -1.11385291e-04 9.99816401e-01 4.36543882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.35, Y:-5.82, Z:0.44 [[ 9.94834278e-01 9.95609815e-02 1.98083434e-02 9.23513494e+01] [-9.95440730e-02 9.95031452e-01 -1.84023499e-03 -5.81715005e+00] [-1.98931403e-02 -1.41074332e-04 9.99802102e-01 4.36172605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.38, Y:-5.82, Z:0.44 [[ 9.94645601e-01 1.01672314e-01 1.85166963e-02 9.23839934e+01] [-1.01657859e-01 9.94817929e-01 -1.72269090e-03 -5.81873068e+00] [-1.85958914e-02 -1.68900781e-04 9.99827067e-01 4.36215436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.42, Y:-5.82, Z:0.44 [[ 9.94330451e-01 1.05099426e-01 1.61574757e-02 9.24168911e+01] [-1.05088836e-01 9.94461699e-01 -1.50539540e-03 -5.81573090e+00] [-1.62262069e-02 -2.01109829e-04 9.99868326e-01 4.36955520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.45, Y:-5.82, Z:0.44 [[ 9.94196833e-01 1.06362676e-01 1.61132803e-02 9.24494550e+01] [-1.06352276e-01 9.94327377e-01 -1.50340819e-03 -5.81612579e+00] [-1.61817822e-02 -2.19000359e-04 9.99869042e-01 4.38636942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.48, Y:-5.82, Z:0.44 [[ 9.93935501e-01 1.08524598e-01 1.77378606e-02 9.24820038e+01] [-1.08512298e-01 9.94093725e-01 -1.65724810e-03 -5.81837484e+00] [-1.78129481e-02 -2.77578294e-04 9.99841298e-01 4.39032596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.432320588 meters Centerline goodness [0,1] 0.999950874435056 Centerline is valid? [True, True] Translation: X:92.51, Y:-5.82, Z:0.44 [[ 9.93752620e-01 1.09888146e-01 1.95019481e-02 9.25134214e+01] [-1.09873508e-01 9.93943905e-01 -1.82375041e-03 -5.82255785e+00] [-1.95842510e-02 -3.30390691e-04 9.99808156e-01 4.39409210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.54, Y:-5.83, Z:0.44 [[ 9.93621699e-01 1.11340034e-01 1.78694437e-02 9.25448097e+01] [-1.11327933e-01 9.93782315e-01 -1.67363318e-03 -5.82757518e+00] [-1.79446795e-02 -3.26409990e-04 9.99838928e-01 4.37785627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.58, Y:-5.83, Z:0.44 [[ 9.93690848e-01 1.10872623e-01 1.69044088e-02 9.25770769e+01] [-1.10861688e-01 9.93834580e-01 -1.58549842e-03 -5.82861322e+00] [-1.69759744e-02 -2.98556031e-04 9.99855853e-01 4.36792827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.61, Y:-5.83, Z:0.44 [[ 9.93848364e-01 1.09754218e-01 1.48135318e-02 9.26089776e+01] [-1.09745686e-01 9.93958728e-01 -1.39011961e-03 -5.82868953e+00] [-1.48766107e-02 -2.44153102e-04 9.99889307e-01 4.36354917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.552320588 meters Centerline goodness [0,1] 0.999950768018905 Centerline is valid? [True, True] Translation: X:92.64, Y:-5.83, Z:0.44 [[ 9.94113996e-01 1.07153508e-01 1.59840296e-02 9.26407472e+01] [-1.07143221e-01 9.94242464e-01 -1.50098521e-03 -5.82776969e+00] [-1.60528368e-02 -2.20430018e-04 9.99871121e-01 4.35387089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.67, Y:-5.83, Z:0.44 [[ 9.94190320e-01 1.06343039e-01 1.66362655e-02 9.26725172e+01] [-1.06331764e-01 9.94329479e-01 -1.56330805e-03 -5.82972327e+00] [-1.67081762e-02 -2.14737734e-04 9.99860386e-01 4.36051423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.70, Y:-5.83, Z:0.44 [[ 9.94233016e-01 1.05753838e-01 1.77998672e-02 9.27048317e+01] [-1.05740790e-01 9.94392316e-01 -1.67527593e-03 -5.83011317e+00] [-1.78772180e-02 -2.16557368e-04 9.99840166e-01 4.36338430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.74, Y:-5.83, Z:0.44 [[ 9.94248848e-01 1.05733138e-01 1.70214941e-02 9.27368761e+01] [-1.05721165e-01 9.94394520e-01 -1.60428830e-03 -5.83068851e+00] [-1.70957069e-02 -2.04470383e-04 9.99853837e-01 4.37901025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.77, Y:-5.83, Z:0.44 [[ 9.94267238e-01 1.05494278e-01 1.74245833e-02 9.27689343e+01] [-1.05481653e-01 9.94419889e-01 -1.64455654e-03 -5.83215960e+00] [-1.75008435e-02 -2.02845172e-04 9.99846828e-01 4.37222564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.80, Y:-5.84, Z:0.44 [[ 9.94411264e-01 1.04248832e-01 1.66859021e-02 9.28009576e+01] [-1.04237043e-01 9.94551231e-01 -1.57704038e-03 -5.83558306e+00] [-1.67593891e-02 -1.71062376e-04 9.99859537e-01 4.36918730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.83, Y:-5.84, Z:0.43 [[ 9.94745356e-01 1.00867928e-01 1.75310723e-02 9.28331551e+01] [-1.00854349e-01 9.94899818e-01 -1.65920763e-03 -5.84213747e+00] [-1.76090215e-02 -1.17595800e-04 9.99844942e-01 4.34908711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.86, Y:-5.84, Z:0.43 [[ 9.94979326e-01 9.81485099e-02 1.95706600e-02 9.28648276e+01] [-9.81309725e-02 9.95171776e-01 -1.85676389e-03 -5.84386582e+00] [-1.96584071e-02 -7.30462153e-05 9.99806752e-01 4.34524711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.90, Y:-5.84, Z:0.44 [[ 9.95240564e-01 9.57292751e-02 1.82243056e-02 9.28971273e+01] [-9.57136245e-02 9.95407407e-01 -1.73108412e-03 -5.84396247e+00] [-1.83063242e-02 -2.14692064e-05 9.99832425e-01 4.35507618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.93, Y:-5.84, Z:0.44 [[ 9.95624713e-01 9.17858604e-02 1.75153159e-02 9.29297620e+01] [-9.17707531e-02 9.95778767e-01 -1.66603491e-03 -5.84398974e+00] [-1.75942981e-02 5.13518023e-05 9.99845207e-01 4.35807492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.96, Y:-5.85, Z:0.43 [[ 9.96161860e-01 8.59997033e-02 1.62972371e-02 9.29616440e+01] [-8.59858147e-02 9.96295152e-01 -1.55231294e-03 -5.84730938e+00] [-1.63703568e-02 1.45023735e-04 9.99865986e-01 4.34587606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.99, Y:-5.85, Z:0.43 [[ 9.96356845e-01 8.37323562e-02 1.61842734e-02 9.29929494e+01] [-8.37183266e-02 9.96488263e-01 -1.54362378e-03 -5.85376926e+00] [-1.62566897e-02 1.83079837e-04 9.99867835e-01 4.34359859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.02, Y:-5.86, Z:0.44 [[ 9.96542413e-01 8.12118589e-02 1.75457544e-02 9.30246033e+01] [-8.11949406e-02 9.96696831e-01 -1.67564045e-03 -5.86134012e+00] [-1.76238797e-02 2.45220293e-04 9.99844657e-01 4.35214250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.06, Y:-5.87, Z:0.44 [[ 9.96687893e-01 7.89637027e-02 1.94416436e-02 9.30560718e+01] [-7.89424555e-02 9.96877441e-01 -1.85911078e-03 -5.86744386e+00] [-1.95277382e-02 3.18182123e-04 9.99809265e-01 4.35949015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.09, Y:-5.87, Z:0.44 [[ 9.96808596e-01 7.70620294e-02 2.08342606e-02 9.30882870e+01] [-7.70371596e-02 9.97026227e-01 -1.99486079e-03 -5.87290656e+00] [-2.09260323e-02 3.83482125e-04 9.99780953e-01 4.36538341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.12, Y:-5.88, Z:0.44 [[ 9.97054911e-01 7.41435351e-02 1.96020797e-02 9.31198237e+01] [-7.41209081e-02 9.97247491e-01 -1.87934085e-03 -5.88147611e+00] [-1.96874658e-02 4.20882076e-04 9.99806094e-01 4.36237263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.15, Y:-5.89, Z:0.44 [[ 9.97137362e-01 7.34654619e-02 1.78859465e-02 9.31519950e+01] [-7.34464344e-02 9.97297681e-01 -1.71928104e-03 -5.88839565e+00] [-1.79639208e-02 4.00700364e-04 9.99838555e-01 4.35606110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.18, Y:-5.90, Z:0.43 [[ 9.97154610e-01 7.31871072e-02 1.80646620e-02 9.31840969e+01] [-7.31676201e-02 9.97318143e-01 -1.73821300e-03 -5.89506050e+00] [-1.81434299e-02 4.11518776e-04 9.99835310e-01 4.34737736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.22, Y:-5.90, Z:0.43 [[ 9.97149886e-01 7.33345497e-02 1.77242315e-02 9.32161235e+01] [-7.33157743e-02 9.97307315e-01 -1.70765483e-03 -5.90073420e+00] [-1.78017358e-02 4.03322063e-04 9.99841455e-01 4.34930160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.25, Y:-5.91, Z:0.43 [[ 9.97092714e-01 7.34068939e-02 2.04340041e-02 9.32474593e+01] [-7.33819026e-02 9.97301966e-01 -1.97118499e-03 -5.90844090e+00] [-2.05235711e-02 4.65968092e-04 9.99789261e-01 4.33515552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.28, Y:-5.92, Z:0.43 [[ 9.97079204e-01 7.36055284e-02 2.03785715e-02 9.32799988e+01] [-7.35806288e-02 9.97287326e-01 -1.96999834e-03 -5.91738038e+00] [-2.04682938e-02 4.64776272e-04 9.99790394e-01 4.32533972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.31, Y:-5.93, Z:0.43 [[ 9.97219291e-01 7.23050057e-02 1.80464070e-02 9.33117131e+01] [-7.22852299e-02 9.97382472e-01 -1.74659094e-03 -5.92774471e+00] [-1.81254573e-02 4.37245505e-04 9.99835625e-01 4.32975094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.34, Y:-5.94, Z:0.43 [[ 9.97266991e-01 7.17825397e-02 1.74875850e-02 9.33438556e+01] [-7.17638262e-02 9.97420211e-01 -1.69610783e-03 -5.93824166e+00] [-1.75642217e-02 4.36496340e-04 9.99845642e-01 4.32883169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.38, Y:-5.95, Z:0.43 [[ 9.97327778e-01 7.08614574e-02 1.77751635e-02 9.33756303e+01] [-7.08419433e-02 9.97486060e-01 -1.72589256e-03 -5.94704000e+00] [-1.78527771e-02 4.62053463e-04 9.99840520e-01 4.32776003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.41, Y:-5.95, Z:0.43 [[ 9.97243161e-01 7.15537724e-02 1.96503153e-02 9.34070752e+01] [-7.15300110e-02 9.97436619e-01 -1.91032523e-03 -5.95278220e+00] [-1.97366350e-02 4.99471502e-04 9.99805089e-01 4.31743256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.44, Y:-5.96, Z:0.43 [[ 9.97071241e-01 7.34118954e-02 2.14390728e-02 9.34390320e+01] [-7.33839474e-02 9.97301576e-01 -2.08849907e-03 -5.96077871e+00] [-2.15345417e-02 5.09098576e-04 9.99767975e-01 4.31277371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.47, Y:-5.96, Z:0.43 [[ 9.97057585e-01 7.35972429e-02 2.14386842e-02 9.34714225e+01] [-7.35692521e-02 9.97287916e-01 -2.09248484e-03 -5.96387780e+00] [-2.15345418e-02 5.09099917e-04 9.99767975e-01 4.31441298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.50, Y:-5.97, Z:0.43 [[ 9.96777285e-01 7.71064259e-02 2.21278722e-02 9.35025698e+01] [-7.70774166e-02 9.97022766e-01 -2.16216272e-03 -5.97325590e+00] [-2.22287090e-02 4.49635461e-04 9.99752811e-01 4.30597150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.53, Y:-5.99, Z:0.43 [[ 9.96194271e-01 8.48688674e-02 1.98557343e-02 9.35326079e+01] [-8.48470302e-02 9.96392098e-01 -1.94117568e-03 -5.98515876e+00] [-1.99488422e-02 2.49087996e-04 9.99800971e-01 4.29741139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.56, Y:-5.99, Z:0.43 [[ 9.95923628e-01 8.84134552e-02 1.78658286e-02 9.35642821e+01] [-8.83962983e-02 9.96083849e-01 -1.74929678e-03 -5.99124984e+00] [-1.79505247e-02 1.62892882e-04 9.99838863e-01 4.29831778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.60, Y:-6.00, Z:0.43 [[ 9.95703192e-01 9.04537323e-02 1.98311566e-02 9.35958973e+01] [-9.04329473e-02 9.95900649e-01 -1.94422984e-03 -5.99733922e+00] [-1.99257245e-02 1.42485926e-04 9.99801453e-01 4.29809079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.63, Y:-6.00, Z:0.43 [[ 9.95465643e-01 9.27236834e-02 2.12243088e-02 9.36272715e+01] [-9.27003325e-02 9.95691874e-01 -2.08355183e-03 -6.00382765e+00] [-2.13260664e-02 1.06603784e-04 9.99772568e-01 4.31491661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.66, Y:-6.01, Z:0.43 [[ 9.95183102e-01 9.56498690e-02 2.14871342e-02 9.36595704e+01] [-9.56265189e-02 9.95415039e-01 -2.11393439e-03 -6.01173699e+00] [-2.15908141e-02 4.90119379e-05 9.99766890e-01 4.31526078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.69, Y:-6.02, Z:0.43 [[ 9.95055807e-01 9.69348928e-02 2.16233045e-02 9.36919023e+01] [-9.69114560e-02 9.95290724e-01 -2.13161438e-03 -6.01599349e+00] [-2.17281022e-02 2.55293418e-05 9.99763917e-01 4.29917421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.73, Y:-6.02, Z:0.43 [[ 9.94934845e-01 9.82118621e-02 2.14262337e-02 9.37250149e+01] [-9.81890533e-02 9.95165529e-01 -2.11652517e-03 -6.02129031e+00] [-2.15305171e-02 1.98304050e-06 9.99768192e-01 4.28269412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.76, Y:-6.03, Z:0.43 [[ 9.94855108e-01 9.84995964e-02 2.36884642e-02 9.37567543e+01] [-9.84715073e-02 9.95137091e-01 -2.35218971e-03 -6.02701474e+00] [-2.38049590e-02 7.44917814e-06 9.99716622e-01 4.27252194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.79, Y:-6.03, Z:0.43 [[ 9.94716638e-01 9.94640309e-02 2.54109737e-02 9.37885306e+01] [-9.94317269e-02 9.95041158e-01 -2.53478925e-03 -6.03343819e+00] [-2.55370851e-02 -5.25996055e-06 9.99673875e-01 4.27752332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.82, Y:-6.04, Z:0.43 [[ 9.94595672e-01 1.00656261e-01 2.54512659e-02 9.38216880e+01] [-1.00623896e-01 9.94921261e-01 -2.55246752e-03 -6.03827011e+00] [-2.55789274e-02 -2.23323703e-05 9.99672805e-01 4.29253564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.85, Y:-6.04, Z:0.43 [[ 9.94443193e-01 1.02503519e-01 2.39951056e-02 9.38535806e+01] [-1.02475025e-01 9.94732640e-01 -2.41738344e-03 -6.04164636e+00] [-2.41165051e-02 -5.49485412e-05 9.99709153e-01 4.28398813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.89, Y:-6.05, Z:0.43 [[ 9.94344738e-01 1.03830711e-01 2.23097709e-02 9.38852617e+01] [-1.03806180e-01 9.94594982e-01 -2.25797326e-03 -6.04645545e+00] [-2.24236332e-02 -7.06882795e-05 9.99748556e-01 4.27000720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.92, Y:-6.06, Z:0.43 [[ 9.94085900e-01 1.05711155e-01 2.48671583e-02 9.39160222e+01] [-1.05681010e-01 9.94396872e-01 -2.52699778e-03 -6.05744204e+00] [-2.49949563e-02 -1.15933556e-04 9.99687571e-01 4.26540339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.95, Y:-6.06, Z:0.43 [[ 9.94126504e-01 1.05101278e-01 2.58111559e-02 9.39479283e+01] [-1.05068284e-01 9.94461519e-01 -2.63491567e-03 -6.06269847e+00] [-2.59451343e-02 -9.24943655e-05 9.99663364e-01 4.27512985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.98, Y:-6.07, Z:0.43 [[ 9.94044749e-01 1.05559439e-01 2.70599781e-02 9.39797598e+01] [-1.05523007e-01 9.94412990e-01 -2.77480833e-03 -6.06709621e+00] [-2.72017009e-02 -9.71666079e-05 9.99629961e-01 4.27821303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.01, Y:-6.07, Z:0.43 [[ 9.94057661e-01 1.05504086e-01 2.68002614e-02 9.40124744e+01] [-1.05467938e-01 9.94418866e-01 -2.76274304e-03 -6.07091435e+00] [-2.69421662e-02 -8.02424196e-05 9.99636991e-01 4.25914261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.04, Y:-6.08, Z:0.42 [[ 9.94049676e-01 1.06741608e-01 2.17133843e-02 9.40438421e+01] [-1.06718127e-01 9.94286790e-01 -2.24060119e-03 -6.07905277e+00] [-2.18284966e-02 -8.99428321e-05 9.99761726e-01 4.22724793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.902320588 meters Centerline goodness [0,1] 0.9999507825573383 Centerline is valid? [True, True] Translation: X:94.08, Y:-6.09, Z:0.42 [[ 9.93938970e-01 1.07788076e-01 2.16114278e-02 9.40763210e+01] [-1.07764772e-01 9.94173889e-01 -2.24347330e-03 -6.08532745e+00] [-2.17273369e-02 -9.90750422e-05 9.99763929e-01 4.22980273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.11, Y:-6.09, Z:0.42 [[ 9.93770843e-01 1.09134691e-01 2.25639149e-02 9.41077111e+01] [-1.09109406e-01 9.94026963e-01 -2.35243002e-03 -6.09068407e+00] [-2.26858716e-02 -1.24158981e-04 9.99742635e-01 4.24395415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.14, Y:-6.10, Z:0.43 [[ 9.93613724e-01 1.10515031e-01 2.27638906e-02 9.41399347e+01] [-1.10489389e-01 9.93874442e-01 -2.38496329e-03 -6.09509282e+00] [-2.28880234e-02 -1.45436108e-04 9.99738024e-01 4.26324551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.17, Y:-6.10, Z:0.43 [[ 9.93487186e-01 1.11796331e-01 2.20180025e-02 9.41731375e+01] [-1.11772390e-01 9.93731128e-01 -2.31889101e-03 -6.09944699e+00] [-2.21392179e-02 -1.57216247e-04 9.99754885e-01 4.27209100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.21, Y:-6.11, Z:0.43 [[ 9.93226332e-01 1.14192568e-01 2.14827893e-02 9.42057137e+01] [-1.14170085e-01 9.93458615e-01 -2.27419113e-03 -6.10503409e+00] [-2.16019578e-02 -1.93905368e-04 9.99766632e-01 4.27165146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.24, Y:-6.11, Z:0.43 [[ 9.92907860e-01 1.16893943e-01 2.16745707e-02 9.42375592e+01] [-1.16871488e-01 9.93144373e-01 -2.30422836e-03 -6.11155756e+00] [-2.17953283e-02 -2.45252873e-04 9.99762424e-01 4.26095917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.27, Y:-6.11, Z:0.43 [[ 9.92779031e-01 1.17819436e-01 2.25472213e-02 9.42693187e+01] [-1.17795137e-01 9.93034999e-01 -2.40743723e-03 -6.11462665e+00] [-2.26738228e-02 -2.65899826e-04 9.99742880e-01 4.25331942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.30, Y:-6.12, Z:0.43 [[ 9.92651195e-01 1.19019427e-01 2.18627696e-02 9.43017822e+01] [-1.18996608e-01 9.92891888e-01 -2.34639560e-03 -6.11837488e+00] [-2.19866333e-02 -2.72443033e-04 9.99758228e-01 4.25578606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.33, Y:-6.12, Z:0.42 [[ 9.92508512e-01 1.20451099e-01 2.04545164e-02 9.43336188e+01] [-1.20431237e-01 9.92719224e-01 -2.20459259e-03 -6.12321744e+00] [-2.05711373e-02 -2.75285816e-04 9.99788354e-01 4.24142282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.37, Y:-6.13, Z:0.42 [[ 9.92231975e-01 1.22629539e-01 2.09213823e-02 9.43653093e+01] [-1.22609040e-01 9.92452465e-01 -2.26459538e-03 -6.12761040e+00] [-2.10411837e-02 -3.18146641e-04 9.99778559e-01 4.23501878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.40, Y:-6.13, Z:0.42 [[ 9.92050852e-01 1.23907334e-01 2.19563072e-02 9.43969832e+01] [-1.23884848e-01 9.92293731e-01 -2.38662643e-03 -6.13049148e+00] [-2.20828265e-02 -3.52399006e-04 9.99756083e-01 4.24052904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.232320588 meters Centerline goodness [0,1] 0.9999507728660038 Centerline is valid? [True, True] Translation: X:94.43, Y:-6.13, Z:0.43 [[ 9.91602408e-01 1.27577625e-01 2.11804992e-02 9.44293800e+01] [-1.27557328e-01 9.91828504e-01 -2.31210177e-03 -6.13061485e+00] [-2.13023953e-02 -4.09042200e-04 9.99772995e-01 4.25716537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.46, Y:-6.13, Z:0.43 [[ 9.91420825e-01 1.29174119e-01 1.99698504e-02 9.44627835e+01] [-1.29156181e-01 9.91621844e-01 -2.19086315e-03 -6.13234203e+00] [-2.00855427e-02 -4.07162253e-04 9.99798182e-01 4.25239055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.50, Y:-6.13, Z:0.42 [[ 9.91301867e-01 1.30225970e-01 1.90211841e-02 9.44957908e+01] [-1.30209694e-01 9.91484260e-01 -2.09697911e-03 -6.13480649e+00] [-1.91322858e-02 -3.98003255e-04 9.99816882e-01 4.24062406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.322320588 meters Centerline goodness [0,1] 0.9999507898233355 Centerline is valid? [True, True] Translation: X:94.53, Y:-6.14, Z:0.42 [[ 9.91267186e-01 1.30490988e-01 1.90123005e-02 9.45283113e+01] [-1.30474735e-01 9.91449414e-01 -2.09810309e-03 -6.13802913e+00] [-1.91235178e-02 -4.00844135e-04 9.99817048e-01 4.23654399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.56, Y:-6.14, Z:0.42 [[ 9.91184659e-01 1.30834121e-01 2.08663435e-02 9.45598584e+01] [-1.30814412e-01 9.91404177e-01 -2.31261684e-03 -6.14113792e+00] [-2.09895493e-02 -4.37388120e-04 9.99779599e-01 4.23333053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.59, Y:-6.14, Z:0.42 [[ 9.91204695e-01 1.30215839e-01 2.36027049e-02 9.45921948e+01] [-1.30190193e-01 9.91485560e-01 -2.62651683e-03 -6.14371397e+00] [-2.37437552e-02 -4.69424892e-04 9.99717967e-01 4.23332320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.62, Y:-6.14, Z:0.43 [[ 9.91534110e-01 1.28649428e-01 1.75907064e-02 9.46233456e+01] [-1.28634928e-01 9.91690083e-01 -1.95802952e-03 -6.14493537e+00] [-1.76964284e-02 -3.21326182e-04 9.99843354e-01 4.25315999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.66, Y:-6.15, Z:0.42 [[ 9.91666132e-01 1.27816042e-01 1.61660663e-02 9.46551370e+01] [-1.27803646e-01 9.91797853e-01 -1.80182517e-03 -6.14659754e+00] [-1.62637720e-02 -2.79273213e-04 9.99867697e-01 4.23689448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.69, Y:-6.15, Z:0.42 [[ 9.91729702e-01 1.27605036e-01 1.37533177e-02 9.46871512e+01] [-1.27596018e-01 9.91825035e-01 -1.53485582e-03 -6.14741849e+00] [-1.38367402e-02 -2.32706468e-04 9.99904241e-01 4.22721520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.72, Y:-6.15, Z:0.42 [[ 9.91767286e-01 1.27087896e-01 1.56944932e-02 9.47193806e+01] [-1.27076055e-01 9.91891426e-01 -1.75349124e-03 -6.14704518e+00] [-1.57900808e-02 -2.55339032e-04 9.99875296e-01 4.22267627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.75, Y:-6.14, Z:0.42 [[ 9.91693093e-01 1.27434233e-01 1.74735936e-02 9.47522129e+01] [-1.27419568e-01 9.91846981e-01 -1.95456384e-03 -6.14483898e+00] [-1.75802094e-02 -2.88150286e-04 9.99845415e-01 4.23769004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.79, Y:-6.15, Z:0.42 [[ 9.91722371e-01 1.27106287e-01 1.81860261e-02 9.47853167e+01] [-1.27090274e-01 9.91889060e-01 -2.03826020e-03 -6.14771226e+00] [-1.82975960e-02 -2.89878789e-04 9.99832543e-01 4.23766686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.82, Y:-6.15, Z:0.42 [[ 9.91887563e-01 1.25844388e-01 1.79513860e-02 9.48175268e+01] [-1.25828541e-01 9.92049959e-01 -2.01404273e-03 -6.15197434e+00] [-1.80621277e-02 -2.61092770e-04 9.99836832e-01 4.23460219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.85, Y:-6.15, Z:0.42 [[ 9.92367170e-01 1.21954602e-01 1.82886579e-02 9.48499643e+01] [-1.21937448e-01 9.92535661e-01 -2.05434567e-03 -6.15402819e+00] [-1.84026821e-02 -1.91407072e-04 9.99830638e-01 4.22658224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.88, Y:-6.15, Z:0.42 [[ 9.92540515e-01 1.20764623e-01 1.67102504e-02 9.48819241e+01] [-1.20750096e-01 9.92681159e-01 -1.87932533e-03 -6.15418987e+00] [-1.68149068e-02 -1.52457808e-04 9.99858608e-01 4.23321135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.91, Y:-6.15, Z:0.42 [[ 9.92559374e-01 1.20736162e-01 1.57692377e-02 9.49139907e+01] [-1.20723187e-01 9.92684622e-01 -1.77564779e-03 -6.15454880e+00] [-1.58682647e-02 -1.41276761e-04 9.99874081e-01 4.23952702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.95, Y:-6.16, Z:0.42 [[ 9.92398538e-01 1.22183246e-01 1.47104270e-02 9.49458587e+01] [-1.22172084e-01 9.92507547e-01 -1.65845842e-03 -6.15626779e+00] [-1.48028457e-02 -1.51351806e-04 9.99890420e-01 4.23416194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.98, Y:-6.16, Z:0.42 [[ 9.92181879e-01 1.23919683e-01 1.47997288e-02 9.49782677e+01] [-1.23908549e-01 9.92292236e-01 -1.67051272e-03 -6.15912010e+00] [-1.48926654e-02 -1.76360469e-04 9.99889083e-01 4.22705294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.01, Y:-6.16, Z:0.42 [[ 9.91891654e-01 1.26079036e-01 1.59694353e-02 9.50107268e+01] [-1.26066318e-01 9.92020175e-01 -1.80462438e-03 -6.16090023e+00] [-1.60695273e-02 -2.23216037e-04 9.99870852e-01 4.22136634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.04, Y:-6.16, Z:0.42 [[ 9.91777251e-01 1.27286217e-01 1.32703971e-02 9.50427810e+01] [-1.27277517e-01 9.91866009e-01 -1.50152076e-03 -6.16250166e+00] [-1.33535787e-02 -1.99849058e-04 9.99910817e-01 4.23539674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.08, Y:-6.16, Z:0.42 [[ 9.91649594e-01 1.28242564e-01 1.35988177e-02 9.50752190e+01] [-1.28233494e-01 9.91742808e-01 -1.54048247e-03 -6.16278206e+00] [-1.36840851e-02 -2.16205098e-04 9.99906345e-01 4.24121039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.11, Y:-6.16, Z:0.43 [[ 9.91408178e-01 1.30384589e-01 1.04730360e-02 9.51074415e+01] [-1.30379312e-01 9.91463476e-01 -1.18795964e-03 -6.16398789e+00] [-1.05385243e-02 -1.87714328e-04 9.99944451e-01 4.25009339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.14, Y:-6.17, Z:0.42 [[ 9.91374059e-01 1.30641401e-01 1.05023908e-02 9.51394064e+01] [-1.30636094e-01 9.91429669e-01 -1.19270836e-03 -6.16509835e+00] [-1.05681989e-02 -1.89571180e-04 9.99944137e-01 4.24686573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.17, Y:-6.17, Z:0.42 [[ 9.91327077e-01 1.30892771e-01 1.17349773e-02 9.51713310e+01] [-1.30886145e-01 9.91396508e-01 -1.33418762e-03 -6.16632364e+00] [-1.18086511e-02 -2.13329637e-04 9.99930253e-01 4.24740136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.20, Y:-6.16, Z:0.42 [[ 9.91453172e-01 1.29196022e-01 1.81382120e-02 9.52041967e+01] [-1.29179870e-01 9.91619030e-01 -2.06426794e-03 -6.16433303e+00] [-1.82528914e-02 -2.96466873e-04 9.99833358e-01 4.24814754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.24, Y:-6.17, Z:0.43 [[ 9.91547123e-01 1.28602116e-01 1.71988287e-02 9.52365495e+01] [-1.28587463e-01 9.91696236e-01 -1.95970903e-03 -6.16676274e+00] [-1.73080365e-02 -2.68409910e-04 9.99850169e-01 4.25888232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.27, Y:-6.17, Z:0.43 [[ 9.91476548e-01 1.29328233e-01 1.57626875e-02 9.52685935e+01] [-1.29315982e-01 9.91601807e-01 -1.79824542e-03 -6.17027388e+00] [-1.58628733e-02 -2.55449263e-04 9.99874144e-01 4.26787923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.30, Y:-6.17, Z:0.43 [[ 9.91372961e-01 1.30142765e-01 1.55728139e-02 9.53012986e+01] [-1.30130853e-01 9.91495231e-01 -1.78010407e-03 -6.17090052e+00] [-1.56720384e-02 -2.61756518e-04 9.99877152e-01 4.25984417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.33, Y:-6.17, Z:0.43 [[ 9.91367506e-01 1.30111375e-01 1.61708793e-02 9.53348108e+01] [-1.30098474e-01 9.91499349e-01 -1.85170027e-03 -6.16918079e+00] [-1.62743436e-02 -2.68091235e-04 9.99867528e-01 4.25004925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.37, Y:-6.17, Z:0.42 [[ 9.91470159e-01 1.29344088e-01 1.60322002e-02 9.53676710e+01] [-1.29331277e-01 9.91599740e-01 -1.83764033e-03 -6.16761150e+00] [-1.61352134e-02 -2.51499381e-04 9.99869787e-01 4.24946189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.40, Y:-6.17, Z:0.42 [[ 9.91528417e-01 1.28875813e-01 1.61994903e-02 9.54009216e+01] [-1.28862613e-01 9.91660711e-01 -1.86041329e-03 -6.16915714e+00] [-1.63041603e-02 -2.42856001e-04 9.99867049e-01 4.24322443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.43, Y:-6.18, Z:0.43 [[ 9.91817763e-01 1.26716537e-01 1.55062523e-02 9.54324147e+01] [-1.26704151e-01 9.91938950e-01 -1.78255361e-03 -6.17546014e+00] [-1.56071346e-02 -1.96738202e-04 9.99878182e-01 4.25684841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.46, Y:-6.18, Z:0.43 [[ 9.91958636e-01 1.25800931e-01 1.38633042e-02 9.54642949e+01] [-1.25790915e-01 9.92055492e-01 -1.59561097e-03 -6.17913624e+00] [-1.39538964e-02 -1.61097633e-04 9.99902627e-01 4.26260890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.50, Y:-6.18, Z:0.43 [[ 9.92217723e-01 1.23811669e-01 1.32159648e-02 9.54967103e+01] [-1.23802366e-01 9.92305727e-01 -1.52288489e-03 -6.17965008e+00] [-1.33028284e-02 -1.25134330e-04 9.99911506e-01 4.25562501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.53, Y:-6.18, Z:0.42 [[ 9.92525134e-01 1.21460491e-01 1.18831188e-02 9.55294726e+01] [-1.21452781e-01 9.92596264e-01 -1.37095437e-03 -6.17906269e+00] [-1.19616561e-02 -8.25311635e-05 9.99928453e-01 4.24437220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.56, Y:-6.18, Z:0.42 [[ 9.92509212e-01 1.21590545e-01 1.18829395e-02 9.55609518e+01] [-1.21582827e-01 9.92580341e-01 -1.37250870e-03 -6.18265699e+00] [-1.19616562e-02 -8.25338356e-05 9.99928453e-01 4.24596859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.59, Y:-6.19, Z:0.42 [[ 9.92858455e-01 1.18890653e-01 9.85394753e-03 9.55929628e+01] [-1.18885198e-01 9.92907353e-01 -1.13958500e-03 -6.18524082e+00] [-9.91954296e-03 -4.00419044e-05 9.99950799e-01 4.23885630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.62, Y:-6.20, Z:0.43 [[ 9.93573341e-01 1.12645094e-01 1.10949536e-02 9.56241085e+01] [-1.12637773e-01 9.93635286e-01 -1.28450692e-03 -6.19555146e+00] [-1.11690308e-02 2.65409679e-05 9.99937624e-01 4.25211328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.66, Y:-6.20, Z:0.43 [[ 9.93785608e-01 1.10653658e-01 1.20802556e-02 9.56553293e+01] [-1.10644813e-01 9.93859027e-01 -1.40010360e-03 -6.20187815e+00] [-1.21609976e-02 5.47851793e-05 9.99926051e-01 4.26838461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.69, Y:-6.21, Z:0.43 [[ 9.94001569e-01 1.08779829e-01 1.13061568e-02 9.56871618e+01] [-1.08771943e-01 9.94065865e-01 -1.31191203e-03 -6.20543896e+00] [-1.13817741e-02 7.42499766e-05 9.99935223e-01 4.29031930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.72, Y:-6.21, Z:0.43 [[ 9.94109053e-01 1.07865121e-01 1.05975167e-02 9.57194393e+01] [-1.07858125e-01 9.94165534e-01 -1.23111124e-03 -6.20791622e+00] [-1.06684798e-02 8.08305572e-05 9.99943087e-01 4.28392739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.75, Y:-6.21, Z:0.43 [[ 9.94243095e-01 1.06811357e-01 8.48542971e-03 9.57513853e+01] [-1.06806824e-01 9.94279301e-01 -9.86986400e-04 -6.21179079e+00] [-8.54230848e-03 7.50026190e-05 9.99963511e-01 4.25172882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.78, Y:-6.22, Z:0.43 [[ 9.94164877e-01 1.07485258e-01 9.11682440e-03 9.57832636e+01] [-1.07480042e-01 9.94206675e-01 -1.06156683e-03 -6.21763824e+00] [-9.17811046e-03 7.54957832e-05 9.99957877e-01 4.25581246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.82, Y:-6.22, Z:0.43 [[ 9.94071295e-01 1.08122362e-01 1.14811201e-02 9.58150697e+01] [-1.08114117e-01 9.94137590e-01 -1.33821431e-03 -6.22432284e+00] [-1.15585039e-02 8.90092768e-05 9.99933194e-01 4.25984654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.85, Y:-6.23, Z:0.43 [[ 9.94033514e-01 1.08698753e-01 9.05282258e-03 9.58470278e+01] [-1.08693634e-01 9.94074734e-01 -1.05695481e-03 -6.23213352e+00] [-9.11407187e-03 6.66643164e-05 9.99958464e-01 4.28701847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.88, Y:-6.24, Z:0.43 [[ 9.93991982e-01 1.09173149e-01 7.82063131e-03 9.58785558e+01] [-1.09169336e-01 9.94022746e-01 -9.14069744e-04 -6.23653147e+00] [-7.87367729e-03 5.48048681e-05 9.99969001e-01 4.27708618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.91, Y:-6.24, Z:0.43 [[ 9.93939268e-01 1.09679657e-01 7.42324330e-03 9.59106288e+01] [-1.09676228e-01 9.93966987e-01 -8.68637586e-04 -6.24096086e+00] [-7.47373065e-03 4.92196816e-05 9.99972070e-01 4.27411139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.94, Y:-6.25, Z:0.43 [[ 9.94103681e-01 1.08150885e-01 7.82673284e-03 9.59423413e+01] [-1.08147018e-01 9.94134489e-01 -9.16850786e-04 -6.24793817e+00] [-7.87998327e-03 6.50069215e-05 9.99968950e-01 4.27174441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.97, Y:-6.25, Z:0.43 [[ 9.94073696e-01 1.08419149e-01 7.92306922e-03 9.59742735e+01] [-1.08415186e-01 9.94105268e-01 -9.29160382e-04 -6.25499852e+00] [-7.97710363e-03 6.46728707e-05 9.99968180e-01 4.28567462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.01, Y:-6.26, Z:0.43 [[ 9.94142507e-01 1.07611045e-01 1.00268647e-02 9.60055568e+01] [-1.07604646e-01 9.94193067e-01 -1.17702252e-03 -6.26088766e+00] [-1.00953000e-02 9.11908876e-05 9.99949037e-01 4.29234963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.04, Y:-6.27, Z:0.43 [[ 9.94154097e-01 1.07381790e-01 1.12597698e-02 9.60375339e+01] [-1.07373690e-01 9.94217853e-01 -1.32315205e-03 -6.26612142e+00] [-1.13367466e-02 1.06413994e-04 9.99935731e-01 4.29508762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.07, Y:-6.27, Z:0.43 [[ 9.94206372e-01 1.06877059e-01 1.14447884e-02 9.60698945e+01] [-1.06868628e-01 9.94272237e-01 -1.34747932e-03 -6.27150738e+00] [-1.15232500e-02 1.16583686e-04 9.99933598e-01 4.28347585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.10, Y:-6.28, Z:0.43 [[ 9.94171508e-01 1.07224181e-01 1.12243810e-02 9.61029328e+01] [-1.07216069e-01 9.94234863e-01 -1.32375188e-03 -6.27730426e+00] [-1.13016091e-02 1.12602398e-04 9.99936128e-01 4.28196924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.13, Y:-6.28, Z:0.43 [[ 9.93966661e-01 1.09387783e-01 8.03681954e-03 9.61344504e+01] [-1.09383683e-01 9.93999149e-01 -9.49257530e-04 -6.28387758e+00] [-8.09242896e-03 6.44334136e-05 9.99967254e-01 4.28421630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.17, Y:-6.29, Z:0.43 [[ 9.93698232e-01 1.11933311e-01 5.89553929e-03 9.61663833e+01] [-1.11931144e-01 9.93715720e-01 -6.97199569e-04 -6.28965685e+00] [-5.93652993e-03 3.29115194e-05 9.99982378e-01 4.29045901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.20, Y:-6.29, Z:0.43 [[ 9.93408363e-01 1.14466926e-01 6.09486790e-03 9.61984256e+01] [-1.14464653e-01 9.93427059e-01 -7.21555670e-04 -6.29418503e+00] [-6.13740096e-03 1.91524959e-05 9.99981166e-01 4.29330047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.23, Y:-6.30, Z:0.43 [[ 9.93157705e-01 1.16616798e-01 6.18835712e-03 9.62306791e+01] [-1.16614492e-01 9.93176984e-01 -7.33444046e-04 -6.29773312e+00] [-6.23166576e-03 6.77348293e-06 9.99980583e-01 4.30299878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.26, Y:-6.30, Z:0.43 [[ 9.92724613e-01 1.19810069e-01 1.19745678e-02 9.62626894e+01] [-1.19801654e-01 9.92796831e-01 -1.42021355e-03 -6.30436736e+00] [-1.20584688e-02 -2.46920757e-05 9.99927294e-01 4.29868332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.29, Y:-6.31, Z:0.43 [[ 9.92570467e-01 1.20898419e-01 1.36908734e-02 9.62947411e+01] [-1.20887498e-01 9.92664883e-01 -1.62552000e-03 -6.31067241e+00] [-1.37869720e-02 -4.16122775e-05 9.99904954e-01 4.29558469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.33, Y:-6.32, Z:0.43 [[ 9.92504312e-01 1.21572470e-01 1.24629508e-02 9.63268117e+01] [-1.21563451e-01 9.92582557e-01 -1.48146312e-03 -6.31520554e+00] [-1.25506127e-02 -4.46807824e-05 9.99921237e-01 4.30577655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.36, Y:-6.32, Z:0.43 [[ 9.92435634e-01 1.22126134e-01 1.25187924e-02 9.63593983e+01] [-1.22117042e-01 9.92514587e-01 -1.49099020e-03 -6.31822782e+00] [-1.26071729e-02 -4.90461034e-05 9.99920525e-01 4.30135949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.39, Y:-6.32, Z:0.43 [[ 9.92520822e-01 1.21760511e-01 8.76330234e-03 9.63916325e+01] [-1.21756032e-01 9.92559508e-01 -1.04485218e-03 -6.32052335e+00] [-8.82532080e-03 -2.99473780e-05 9.99961056e-01 4.30102865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.42, Y:-6.32, Z:0.43 [[ 9.92466270e-01 1.22338626e-01 6.63055139e-03 9.64233641e+01] [-1.22336068e-01 9.92488418e-01 -7.91633989e-04 -6.32394073e+00] [-6.67759287e-03 -2.54855509e-05 9.99977704e-01 4.29928690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.46, Y:-6.33, Z:0.43 [[ 9.92104293e-01 1.25155217e-01 8.07730510e-03 9.64554434e+01] [-1.25151505e-01 9.92137172e-01 -9.65322350e-04 -6.32533109e+00] [-8.13460977e-03 -5.31864449e-05 9.99966912e-01 4.30870652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.49, Y:-6.33, Z:0.43 [[ 9.91808374e-01 1.27291822e-01 1.06273618e-02 9.64879095e+01] [-1.27285507e-01 9.91865305e-01 -1.27128399e-03 -6.32798737e+00] [-1.07027355e-02 -9.18390219e-05 9.99942720e-01 4.31362476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.52, Y:-6.33, Z:0.43 [[ 9.91564082e-01 1.29012813e-01 1.25046474e-02 9.65201414e+01] [-1.29004186e-01 9.91642918e-01 -1.49741455e-03 -6.33096681e+00] [-1.25933308e-02 -1.28369385e-04 9.99920693e-01 4.31264622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.55, Y:-6.34, Z:0.43 [[ 9.91162360e-01 1.32063183e-01 1.25096537e-02 9.65522596e+01] [-1.32054771e-01 9.91241287e-01 -1.49968969e-03 -6.33512859e+00] [-1.25981390e-02 -1.65523479e-04 9.99920627e-01 4.30867904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.58, Y:-6.34, Z:0.43 [[ 9.90869151e-01 1.34290900e-01 1.20116335e-02 9.65841339e+01] [-1.34283288e-01 9.90941936e-01 -1.44165266e-03 -6.33925102e+00] [-1.20964321e-02 -1.84472489e-04 9.99926818e-01 4.29900523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.62, Y:-6.34, Z:0.43 [[ 9.90335261e-01 1.38459532e-01 8.06409049e-03 9.66171781e+01] [-1.38456222e-01 9.90368080e-01 -9.70052616e-04 -6.34029639e+00] [-8.12073084e-03 -1.55846191e-04 9.99967014e-01 4.29747282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.65, Y:-6.34, Z:0.43 [[ 9.90250852e-01 1.39131391e-01 6.76066978e-03 9.66497790e+01] [-1.39129075e-01 9.90273921e-01 -8.14002664e-04 -6.34124434e+00] [-6.80816829e-03 -1.34538898e-04 9.99976815e-01 4.31149565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.332320588 meters Centerline goodness [0,1] 0.9997531351831737 Centerline is valid? [True, True] Translation: X:96.68, Y:-6.34, Z:0.45 [[ 9.90164709e-01 1.39710428e-01 7.40579326e-03 9.66822832e+01] [-1.39707657e-01 9.90192392e-01 -8.92612017e-04 -6.34310661e+00] [-7.45786735e-03 -1.50813110e-04 9.99972178e-01 4.45377566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.71, Y:-6.34, Z:0.43 [[ 9.90404740e-01 1.38109962e-01 4.90799824e-03 9.67148421e+01] [-1.38108722e-01 9.90416897e-01 -5.92443160e-04 -6.34162367e+00] [-4.94278669e-03 -9.10788498e-05 9.99987780e-01 4.33608586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.75, Y:-6.34, Z:0.43 [[ 9.90535653e-01 1.37150151e-01 5.38110390e-03 9.67455350e+01] [-1.37148650e-01 9.90550265e-01 -6.48812462e-04 -6.34145850e+00] [-5.41923862e-03 -9.53392600e-05 9.99985311e-01 4.34570599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.78, Y:-6.34, Z:0.43 [[ 9.91282101e-01 1.31387198e-01 9.85901950e-03 9.67768267e+01] [-1.31381872e-01 9.91331121e-01 -1.18872537e-03 -6.33924287e+00] [-9.92973615e-03 -1.16934260e-04 9.99950692e-01 4.34699598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.81, Y:-6.34, Z:0.43 [[ 9.91749837e-01 1.27727485e-01 1.08604522e-02 9.68091603e+01] [-1.27720780e-01 9.91809297e-01 -1.31161895e-03 -6.34296999e+00] [-1.09390272e-02 -8.63075387e-05 9.99940163e-01 4.34794064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.84, Y:-6.35, Z:0.43 [[ 9.92316038e-01 1.23267964e-01 1.06719345e-02 9.68409295e+01] [-1.23261216e-01 9.92373422e-01 -1.29029762e-03 -6.34733498e+00] [-1.07495966e-02 -3.50526078e-05 9.99942221e-01 4.34401857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.87, Y:-6.35, Z:0.43 [[ 9.92758163e-01 1.19752451e-01 9.51734209e-03 9.68727124e+01] [-1.19746909e-01 9.92803783e-01 -1.15205452e-03 -6.35112750e+00] [-9.58681458e-03 4.03922831e-06 9.99954045e-01 4.33330361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:-6.35, Z:0.43 [[ 9.93598715e-01 1.12667601e-01 8.22227896e-03 9.69050249e+01] [-1.12663212e-01 9.93632733e-01 -9.96473281e-04 -6.35073465e+00] [-8.28219577e-03 6.37462110e-05 9.99965700e-01 4.31290156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.94, Y:-6.35, Z:0.43 [[ 9.93959224e-01 1.09466342e-01 7.88554119e-03 9.69372283e+01] [-1.09462197e-01 9.93990499e-01 -9.56727922e-04 -6.35247723e+00] [-7.94288253e-03 8.77798824e-05 9.99968451e-01 4.30475227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.97, Y:-6.36, Z:0.43 [[ 9.94298817e-01 1.06373226e-01 7.38919712e-03 9.69681657e+01] [-1.06369499e-01 9.94326267e-01 -8.96684271e-04 -6.35587430e+00] [-7.44265599e-03 1.05586911e-04 9.99972297e-01 4.31947819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.00, Y:-6.36, Z:0.44 [[ 9.94411734e-01 1.05442356e-01 5.21664494e-03 9.69986125e+01] [-1.05440483e-01 9.94425414e-01 -6.33470643e-04 -6.36376169e+00] [-5.25435894e-03 7.98850751e-05 9.99986193e-01 4.36491686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.03, Y:-6.37, Z:0.44 [[ 9.94250798e-01 1.06770646e-01 8.08583087e-03 9.70295198e+01] [-1.06766188e-01 9.94283670e-01 -9.82235552e-04 -6.36943654e+00] [-8.14448352e-03 1.13295138e-04 9.99966827e-01 4.36958096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.06, Y:-6.37, Z:0.44 [[ 9.93977539e-01 1.09019448e-01 1.11090506e-02 9.70615911e+01] [-1.09011155e-01 9.94039608e-01 -1.35115109e-03 -6.37469339e+00] [-1.11901380e-02 1.32003404e-04 9.99937380e-01 4.36152690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.09, Y:-6.38, Z:0.43 [[ 9.93721441e-01 1.11242092e-01 1.19538826e-02 9.70934503e+01] [-1.11232631e-01 9.93793330e-01 -1.45542032e-03 -6.37930595e+00] [-1.20415928e-02 1.16620561e-04 9.99927491e-01 4.33965717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.12, Y:-6.39, Z:0.43 [[ 9.93469507e-01 1.13415463e-01 1.24608042e-02 9.71248858e+01] [-1.13405334e-01 9.93547645e-01 -1.51874583e-03 -6.38525070e+00] [-1.25526519e-02 9.57060147e-05 9.99921208e-01 4.31288272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.16, Y:-6.40, Z:0.43 [[ 9.93216573e-01 1.15917550e-01 9.16297244e-03 9.71564371e+01] [-1.15912167e-01 9.93258838e-01 -1.11818091e-03 -6.39545167e+00] [-9.23082015e-03 4.84958246e-05 9.99957394e-01 4.30642714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.19, Y:-6.40, Z:0.43 [[ 9.93189838e-01 1.16283032e-01 7.22512465e-03 9.71884103e+01] [-1.16279686e-01 9.93216117e-01 -8.82802276e-04 -6.40146011e+00] [-7.27876517e-03 3.66550221e-05 9.99973509e-01 4.33236093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.22, Y:-6.41, Z:0.44 [[ 9.93104855e-01 1.16980886e-01 7.63020094e-03 9.72202821e+01] [-1.16977168e-01 9.93134166e-01 -9.33276218e-04 -6.40624224e+00] [-7.68698872e-03 3.42818429e-05 9.99970454e-01 4.35676581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.25, Y:-6.41, Z:0.44 [[ 9.92934427e-01 1.18224065e-01 1.02124191e-02 9.72521240e+01] [-1.18217459e-01 9.92986943e-01 -1.25027168e-03 -6.41068069e+00] [-1.02886110e-02 3.41515613e-05 9.99947070e-01 4.37257976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.28, Y:-6.42, Z:0.44 [[ 9.92719177e-01 1.19810786e-01 1.24101612e-02 9.72841073e+01] [-1.19801135e-01 9.92796744e-01 -1.52084727e-03 -6.41658991e+00] [-1.25029816e-02 2.30228518e-05 9.99921834e-01 4.38237550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.31, Y:-6.43, Z:0.44 [[ 9.92462898e-01 1.21605422e-01 1.51498292e-02 9.73149860e+01] [-1.21591220e-01 9.92578521e-01 -1.85847724e-03 -6.42959091e+00] [-1.52633959e-02 2.38350068e-06 9.99883508e-01 4.35329585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.35, Y:-6.44, Z:0.43 [[ 9.92315741e-01 1.23068290e-01 1.27932201e-02 9.73464786e+01] [-1.23058260e-01 9.92398204e-01 -1.57121432e-03 -6.43721769e+00] [-1.28893353e-02 -1.51707125e-05 9.99916929e-01 4.34511396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.38, Y:-6.44, Z:0.43 [[ 9.92226017e-01 1.23989747e-01 1.06805725e-02 9.73779700e+01] [-1.23982793e-01 9.92283499e-01 -1.31329520e-03 -6.44271157e+00] [-1.07609910e-02 -2.11215380e-05 9.99942099e-01 4.33361587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.41, Y:-6.45, Z:0.43 [[ 9.91754154e-01 1.27825612e-01 9.18211061e-03 9.74091501e+01] [-1.27820625e-01 9.91796658e-01 -1.13036622e-03 -6.44946260e+00] [-9.25127636e-03 -5.26177188e-05 9.99957205e-01 4.34113744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.44, Y:-6.46, Z:0.44 [[ 9.91435800e-01 1.30277995e-01 9.09383524e-03 9.74408943e+01] [-1.30273195e-01 9.91477503e-01 -1.12073813e-03 -6.45567208e+00] [-9.16234057e-03 -7.35430672e-05 9.99958022e-01 4.35341347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.47, Y:-6.46, Z:0.44 [[ 9.91048306e-01 1.33224175e-01 8.63564593e-03 9.74729868e+01] [-1.33219948e-01 9.91085925e-01 -1.06547041e-03 -6.46142481e+00] [-8.70061355e-03 -9.45076561e-05 9.99962144e-01 4.37424244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.50, Y:-6.47, Z:0.44 [[ 9.90710906e-01 1.35692374e-01 8.91514239e-03 9.75043137e+01] [-1.35687962e-01 9.90751011e-01 -1.10067808e-03 -6.46627088e+00] [-8.98203995e-03 -1.19223728e-04 9.99959654e-01 4.36671475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.54, Y:-6.47, Z:0.43 [[ 9.90030726e-01 1.40540085e-01 9.36198499e-03 9.75356267e+01] [-1.40535423e-01 9.90074975e-01 -1.15725805e-03 -6.47256458e+00] [-9.43170820e-03 -1.69969491e-04 9.99955506e-01 4.34558558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.57, Y:-6.48, Z:0.43 [[ 9.90002592e-01 1.40738144e-01 9.36171228e-03 9.75679031e+01] [-1.40733471e-01 9.90046840e-01 -1.15946323e-03 -6.47650333e+00] [-9.43171436e-03 -1.69634658e-04 9.99955506e-01 4.34722427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.60, Y:-6.48, Z:0.44 [[ 9.89728677e-01 1.42536278e-01 1.09797398e-02 9.75999251e+01] [-1.42529949e-01 9.89789554e-01 -1.36081469e-03 -6.48322037e+00] [-1.10615972e-02 -2.18104424e-04 9.99938795e-01 4.35033867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.63, Y:-6.49, Z:0.44 [[ 9.89731797e-01 1.42552681e-01 1.04738979e-02 9.76318208e+01] [-1.42546907e-01 9.89787194e-01 -1.29955093e-03 -6.48840158e+00] [-1.05521845e-02 -2.06814878e-04 9.99944303e-01 4.36892301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.66, Y:-6.49, Z:0.44 [[ 9.89806667e-01 1.42035681e-01 1.04224936e-02 9.76640930e+01] [-1.42029920e-01 9.89861519e-01 -1.29456933e-03 -6.49068505e+00] [-1.05007004e-02 -1.98932586e-04 9.99944846e-01 4.38144495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.70, Y:-6.49, Z:0.44 [[ 9.90025697e-01 1.40665426e-01 7.89661722e-03 9.76966383e+01] [-1.40662066e-01 9.90057180e-01 -9.82060356e-04 -6.48927779e+00] [-7.95624451e-03 -1.38489504e-04 9.99968339e-01 4.37613890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.73, Y:-6.49, Z:0.44 [[ 9.90096752e-01 1.40193530e-01 7.36171962e-03 9.77286918e+01] [-1.40190589e-01 9.90124113e-01 -9.16571148e-04 -6.49311019e+00] [-7.41751345e-03 -1.24549696e-04 9.99972482e-01 4.36239926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.76, Y:-6.50, Z:0.44 [[ 9.89998969e-01 1.40827560e-01 8.34510902e-03 9.77608814e+01] [-1.40823794e-01 9.90034129e-01 -1.04004325e-03 -6.49832583e+00] [-8.40840949e-03 -1.45548167e-04 9.99964638e-01 4.36080375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.79, Y:-6.50, Z:0.44 [[ 9.89969576e-01 1.40859928e-01 1.08958176e-02 9.77925482e+01] [-1.40853498e-01 9.90029517e-01 -1.35919713e-03 -6.50233080e+00] [-1.09786374e-02 -1.89150204e-04 9.99939715e-01 4.36043690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.82, Y:-6.50, Z:0.44 [[ 9.89845313e-01 1.41627661e-01 1.21598899e-02 9.78249141e+01] [-1.41619690e-01 9.89919975e-01 -1.51844103e-03 -6.50470440e+00] [-1.22523711e-02 -2.19058095e-04 9.99924913e-01 4.40431630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.86, Y:-6.51, Z:0.44 [[ 9.89912169e-01 1.41088935e-01 1.29541387e-02 9.78575623e+01] [-1.41079804e-01 9.89996900e-01 -1.62056162e-03 -6.50658298e+00] [-1.30532005e-02 -2.23353690e-04 9.99914778e-01 4.42451663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.89, Y:-6.51, Z:0.44 [[ 9.89917252e-01 1.40905138e-01 1.44767474e-02 9.78898356e+01] [-1.40893694e-01 9.90023071e-01 -1.81253098e-03 -6.50775054e+00] [-1.45877088e-02 -2.45426722e-04 9.99893564e-01 4.41840766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.92, Y:-6.51, Z:0.44 [[ 9.90043271e-01 1.40166504e-01 1.29488303e-02 9.79223507e+01] [-1.40157261e-01 9.90127925e-01 -1.62304272e-03 -6.50991078e+00] [-1.30484947e-02 -2.07990063e-04 9.99914843e-01 4.40271568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.95, Y:-6.51, Z:0.44 [[ 9.89967782e-01 1.40648702e-01 1.34808105e-02 9.79543026e+01] [-1.40638705e-01 9.90059540e-01 -1.69151916e-03 -6.51478833e+00] [-1.35847150e-02 -2.21374249e-04 9.99907699e-01 4.37639499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.99, Y:-6.52, Z:0.43 [[ 9.89953460e-01 1.40853567e-01 1.23458557e-02 9.79851733e+01] [-1.40845177e-01 9.90030419e-01 -1.55083453e-03 -6.52460685e+00] [-1.24412132e-02 -2.03600212e-04 9.99922584e-01 4.34852883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.02, Y:-6.53, Z:0.44 [[ 9.89923599e-01 1.41197491e-01 1.07021660e-02 9.80170846e+01] [-1.41191190e-01 9.89981432e-01 -1.34589393e-03 -6.52908560e+00] [-1.07849825e-02 -1.78719390e-04 9.99941824e-01 4.37147791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.622320588 meters Centerline goodness [0,1] 0.99995068547194 Centerline is valid? [True, True] Translation: X:98.05, Y:-6.53, Z:0.44 [[ 9.89875327e-01 1.41567608e-01 1.02688643e-02 9.80501069e+01] [-1.41561800e-01 9.89928574e-01 -1.29389793e-03 -6.53167570e+00] [-1.03486162e-02 -1.72881276e-04 9.99946437e-01 4.38591968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.08, Y:-6.53, Z:0.44 [[ 9.89744847e-01 1.42208509e-01 1.34862040e-02 9.80825541e+01] [-1.42198536e-01 9.89836696e-01 -1.70043331e-03 -6.53049127e+00] [-1.35909557e-02 -2.34723350e-04 9.99907611e-01 4.42800491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.11, Y:-6.53, Z:0.44 [[ 9.89475401e-01 1.43831097e-01 1.58444272e-02 9.81149686e+01] [-1.43817507e-01 9.89602206e-01 -1.99978882e-03 -6.53392934e+00] [-1.59673120e-02 -2.99964179e-04 9.99872469e-01 4.42985744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.15, Y:-6.54, Z:0.44 [[ 9.89181809e-01 1.45728251e-01 1.68114475e-02 9.81468405e+01] [-1.45713188e-01 9.89324596e-01 -2.12403199e-03 -6.53872219e+00] [-1.69415100e-02 -3.48595805e-04 9.99856422e-01 4.41791497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.18, Y:-6.54, Z:0.44 [[ 9.88829839e-01 1.48168719e-01 1.61734704e-02 9.81784210e+01] [-1.48155057e-01 9.88962027e-01 -2.04628040e-03 -6.54364902e+00] [-1.62981429e-02 -3.72758322e-04 9.99867107e-01 4.39964383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.21, Y:-6.55, Z:0.44 [[ 9.88437238e-01 1.50894247e-01 1.49248801e-02 9.82098500e+01] [-1.50882905e-01 9.88549836e-01 -1.88955408e-03 -6.54768437e+00] [-1.50391106e-02 -3.84203651e-04 9.99886832e-01 4.35584000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.24, Y:-6.55, Z:0.44 [[ 9.88421677e-01 1.51117427e-01 1.36422881e-02 9.82415579e+01] [-1.51107944e-01 9.88515756e-01 -1.72919795e-03 -6.55062269e+00] [-1.37469286e-02 -3.52281354e-04 9.99905444e-01 4.37443128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.27, Y:-6.55, Z:0.44 [[ 9.88489970e-01 1.50739191e-01 1.28559752e-02 9.82740721e+01] [-1.50730716e-01 9.88573513e-01 -1.63124652e-03 -6.55181352e+00] [-1.29549694e-02 -3.25319524e-04 9.99916028e-01 4.39845074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.31, Y:-6.55, Z:0.44 [[ 9.88407959e-01 1.51400605e-01 1.12943842e-02 9.83062975e+01] [-1.51394089e-01 9.88472443e-01 -1.43468932e-03 -6.55353264e+00] [-1.13814004e-02 -2.91844663e-04 9.99935187e-01 4.42298145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.34, Y:-6.56, Z:0.44 [[ 9.88423880e-01 1.51402415e-01 9.77459612e-03 9.83385971e+01] [-1.51397521e-01 9.88472177e-01 -1.24301180e-03 -6.55634447e+00] [-9.85011130e-03 -2.51227076e-04 9.99951455e-01 4.43356045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.37, Y:-6.56, Z:0.44 [[ 9.88445060e-01 1.51349315e-01 8.35148770e-03 9.83703337e+01] [-1.51345731e-01 9.88480318e-01 -1.06324592e-03 -6.56050339e+00] [-8.41620276e-03 -2.13001826e-04 9.99964560e-01 4.41649930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.40, Y:-6.56, Z:0.44 [[ 9.88557738e-01 1.50514852e-01 9.94369560e-03 9.84021636e+01] [-1.50509716e-01 9.88607718e-01 -1.26715818e-03 -6.56271938e+00] [-1.00211403e-02 -2.43963775e-04 9.99949757e-01 4.40188915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.43, Y:-6.56, Z:0.44 [[ 9.88689050e-01 1.49625981e-01 1.02969610e-02 9.84347395e+01] [-1.49620410e-01 9.88742640e-01 -1.31353910e-03 -6.56469250e+00] [-1.03775840e-02 -2.41953814e-04 9.99946122e-01 4.39739807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.47, Y:-6.57, Z:0.44 [[ 9.88823488e-01 1.48813611e-01 9.08944495e-03 9.84666039e+01] [-1.48809225e-01 9.88865242e-01 -1.16079283e-03 -6.56653513e+00] [-9.16097795e-03 -2.04774046e-04 9.99958016e-01 4.40813799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.50, Y:-6.57, Z:0.44 [[ 9.89214819e-01 1.46347933e-01 6.02690638e-03 9.84988566e+01] [-1.46345952e-01 9.89233172e-01 -7.70721198e-04 -6.56683720e+00] [-6.07480916e-03 -1.19604521e-04 9.99981541e-01 4.42123573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.53, Y:-6.57, Z:0.44 [[ 9.89394976e-01 1.45094002e-01 6.73142829e-03 9.85306444e+01] [-1.45091496e-01 9.89417867e-01 -8.61661725e-04 -6.56944930e+00] [-6.78521737e-03 -1.24149221e-04 9.99976972e-01 4.42278111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.56, Y:-6.57, Z:0.44 [[ 9.89668982e-01 1.43108084e-01 8.68225226e-03 9.85630620e+01] [-1.43103831e-01 9.89707056e-01 -1.11236299e-03 -6.57217678e+00] [-8.75207446e-03 -1.41592412e-04 9.99961690e-01 4.42204966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.59, Y:-6.58, Z:0.44 [[ 9.90119568e-01 1.39710221e-01 1.20122572e-02 9.85949526e+01] [-1.39701813e-01 9.90192421e-01 -1.54037500e-03 -6.57554734e+00] [-1.21096522e-02 -1.52978686e-04 9.99926664e-01 4.44433568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.63, Y:-6.58, Z:0.45 [[ 9.90416145e-01 1.37404495e-01 1.39951495e-02 9.86278121e+01] [-1.37392808e-01 9.90515010e-01 -1.79773449e-03 -6.58167921e+00] [-1.41094224e-02 -1.42327625e-04 9.99900447e-01 4.45547545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.66, Y:-6.59, Z:0.45 [[ 9.90756284e-01 1.35071312e-01 1.25589528e-02 9.86598241e+01] [-1.35061695e-01 9.90835875e-01 -1.61469882e-03 -6.58792512e+00] [-1.26619605e-02 -9.64604499e-05 9.99919830e-01 4.46410658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.69, Y:-6.59, Z:0.45 [[ 9.91122887e-01 1.32534618e-01 1.04880087e-02 9.86921128e+01] [-1.32527747e-01 9.91178376e-01 -1.35049102e-03 -6.59325958e+00] [-1.05744743e-02 -5.14496033e-05 9.99944087e-01 4.45955071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.72, Y:-6.60, Z:0.44 [[ 9.91520225e-01 1.29331530e-01 1.26885040e-02 9.87237797e+01] [-1.29321193e-01 9.91601409e-01 -1.63521323e-03 -6.59727464e+00] [-1.27934231e-02 -1.95454940e-05 9.99918161e-01 4.44260736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.76, Y:-6.60, Z:0.45 [[ 9.91637374e-01 1.28296416e-01 1.39767212e-02 9.87555637e+01] [-1.28283746e-01 9.91735867e-01 -1.80303763e-03 -6.60155934e+00] [-1.40925390e-02 -5.02665728e-06 9.99900695e-01 4.45681642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.79, Y:-6.61, Z:0.45 [[ 9.91502365e-01 1.29277772e-01 1.45023253e-02 9.87873371e+01] [-1.29264208e-01 9.91608419e-01 -1.87277478e-03 -6.60722626e+00] [-1.46227360e-02 -1.77709640e-05 9.99893082e-01 4.47335958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.82, Y:-6.61, Z:0.45 [[ 9.91345606e-01 1.30466469e-01 1.45736116e-02 9.88199906e+01] [-1.30452851e-01 9.91452722e-01 -1.88526121e-03 -6.61289991e+00] [-1.46950102e-02 -3.22237652e-05 9.99892022e-01 4.47983422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.85, Y:-6.62, Z:0.45 [[ 9.91057024e-01 1.33179906e-01 8.31189819e-03 9.88519662e+01] [-1.33175561e-01 9.91091878e-01 -1.07644793e-03 -6.61777554e+00] [-8.38121603e-03 -4.01204280e-05 9.99964876e-01 4.47464204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.88, Y:-6.62, Z:0.45 [[ 9.91004507e-01 1.33558819e-01 8.49170499e-03 9.88840119e+01] [-1.33554288e-01 9.91040887e-01 -1.10088078e-03 -6.62332880e+00] [-8.56265919e-03 -4.31258001e-05 9.99963339e-01 4.45203000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.92, Y:-6.63, Z:0.45 [[ 9.91082476e-01 1.32956346e-01 8.83943250e-03 9.89154520e+01] [-1.32951403e-01 9.91121894e-01 -1.14713838e-03 -6.63066780e+00] [-8.91347441e-03 -3.83062076e-05 9.99960273e-01 4.45057861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.95, Y:-6.64, Z:0.45 [[ 9.91185767e-01 1.32012006e-01 1.11178091e-02 9.89470296e+01] [-1.32004111e-01 9.91248117e-01 -1.44415906e-03 -6.63960111e+00] [-1.12111537e-02 -3.61666092e-05 9.99937152e-01 4.45361312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.98, Y:-6.65, Z:0.45 [[ 9.91480041e-01 1.29778790e-01 1.11711553e-02 9.89791112e+01] [-1.29770648e-01 9.91542972e-01 -1.45370718e-03 -6.64651929e+00] [-1.12653409e-02 -8.36640929e-06 9.99936544e-01 4.47610705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.01, Y:-6.65, Z:0.45 [[ 9.92123567e-01 1.25043125e-01 7.41917037e-03 9.90110341e+01] [-1.25039394e-01 9.92151307e-01 -9.66462502e-04 -6.64941953e+00] [-7.48178907e-03 3.11616563e-05 9.99972011e-01 4.51657462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.04, Y:-6.65, Z:0.45 [[ 9.92406568e-01 1.22807380e-01 6.89571713e-03 9.90428273e+01] [-1.22804096e-01 9.92430524e-01 -8.99251799e-04 -6.65342008e+00] [-6.95395492e-03 4.56010812e-05 9.99975820e-01 4.50915502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.07, Y:-6.66, Z:0.45 [[ 9.92679288e-01 1.20543020e-01 7.56380544e-03 9.90743766e+01] [-1.20538996e-01 9.92708102e-01 -9.87313151e-04 -6.66031176e+00] [-7.62766465e-03 6.83518052e-05 9.99970907e-01 4.49035966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.11, Y:-6.67, Z:0.45 [[ 9.92981274e-01 1.17966622e-01 8.48919702e-03 9.91061193e+01] [-1.17961450e-01 9.93017556e-01 -1.10915185e-03 -6.66925799e+00] [-8.56076457e-03 9.99690291e-05 9.99963351e-01 4.48435212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.14, Y:-6.68, Z:0.45 [[ 9.93306020e-01 1.15202695e-01 8.45520109e-03 9.91366558e+01] [-1.15197454e-01 9.93341997e-01 -1.10583128e-03 -6.68160225e+00] [-8.52630108e-03 1.24411230e-04 9.99963643e-01 4.47366150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.17, Y:-6.69, Z:0.45 [[ 9.93306922e-01 1.15292541e-01 6.99919415e-03 9.91680042e+01] [-1.15288945e-01 9.93331576e-01 -9.16433270e-04 -6.68847634e+00] [-7.05817847e-03 1.03369799e-04 9.99975085e-01 4.48522138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.20, Y:-6.70, Z:0.45 [[ 9.93192008e-01 1.16377340e-01 5.09403591e-03 9.91991820e+01] [-1.16375445e-01 9.93205069e-01 -6.67827802e-04 -6.69512691e+00] [-5.13714231e-03 7.04605389e-05 9.99986802e-01 4.49852664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.23, Y:-6.70, Z:0.45 [[ 9.92922969e-01 1.18700837e-01 3.75363983e-03 9.92302584e+01] [-1.18699823e-01 9.92930063e-01 -4.92777887e-04 -6.70488414e+00] [-3.78559497e-03 4.37341008e-05 9.99992834e-01 4.52718379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.26, Y:-6.71, Z:0.45 [[ 9.92756656e-01 1.20014559e-01 5.54318071e-03 9.92612390e+01] [-1.20012364e-01 9.92772130e-01 -7.28138971e-04 -6.71303412e+00] [-5.59050260e-03 5.76145878e-05 9.99984371e-01 4.52605032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.29, Y:-6.72, Z:0.45 [[ 9.92534182e-01 1.21753583e-01 7.20850408e-03 9.92937544e+01] [-1.21749905e-01 9.92560356e-01 -9.48483007e-04 -6.72173245e+00] [-7.27035659e-03 6.37671168e-05 9.99973569e-01 4.52754796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.33, Y:-6.73, Z:0.45 [[ 9.92245302e-01 1.24018894e-01 8.28098420e-03 9.93257035e+01] [-1.24014106e-01 9.92279855e-01 -1.09112346e-03 -6.73036876e+00] [-8.35237372e-03 5.57032715e-05 9.99965117e-01 4.51768083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.36, Y:-6.74, Z:0.45 [[ 9.91446302e-01 1.30240328e-01 8.46683012e-03 9.93567507e+01] [-1.30235540e-01 9.91482454e-01 -1.11684910e-03 -6.73967226e+00] [-8.54017230e-03 4.61371808e-06 9.99963532e-01 4.49905671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.39, Y:-6.74, Z:0.45 [[ 9.90813547e-01 1.35010090e-01 7.79688031e-03 9.93895619e+01] [-1.35006162e-01 9.90844223e-01 -1.03034325e-03 -6.74329535e+00] [-7.86460055e-03 -3.17488367e-05 9.99969073e-01 4.49928205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.42, Y:-6.75, Z:0.45 [[ 9.90372922e-01 1.38232485e-01 7.29770308e-03 9.94230291e+01] [-1.38229119e-01 9.90399807e-01 -9.65962076e-04 -6.74528451e+00] [-7.36117106e-03 -5.20923875e-05 9.99972905e-01 4.50388004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.46, Y:-6.75, Z:0.45 [[ 9.89841171e-01 1.42043727e-01 6.16729246e-03 9.94553176e+01] [-1.42041393e-01 9.89860382e-01 -8.16980320e-04 -6.74741921e+00] [-6.22080540e-03 -6.73300559e-05 9.99980648e-01 4.52046123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.49, Y:-6.75, Z:0.45 [[ 9.88929089e-01 1.48187734e-01 7.72350987e-03 9.94871631e+01] [-1.48184255e-01 9.88959240e-01 -1.02400745e-03 -6.75262090e+00] [-7.78998180e-03 -1.31831804e-04 9.99969649e-01 4.52937478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.52, Y:-6.76, Z:0.45 [[ 9.88418468e-01 1.51421592e-01 1.00216227e-02 9.95188211e+01] [-1.51415889e-01 9.88469251e-01 -1.32982876e-03 -6.75791576e+00] [-1.01074306e-02 -2.03005600e-04 9.99948898e-01 4.52778160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.55, Y:-6.76, Z:0.45 [[ 9.88097497e-01 1.53427573e-01 1.11047896e-02 9.95503783e+01] [-1.53420687e-01 9.88159865e-01 -1.47442805e-03 -6.76060307e+00] [-1.11995253e-02 -2.46825776e-04 9.99937253e-01 4.52924883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.58, Y:-6.76, Z:0.45 [[ 9.87829139e-01 1.55123787e-01 1.14106774e-02 9.95824644e+01] [-1.55116611e-01 9.87895003e-01 -1.51668107e-03 -6.76102427e+00] [-1.15078244e-02 -2.71763837e-04 9.99933746e-01 4.52101524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.61, Y:-6.77, Z:0.45 [[ 9.87799100e-01 1.55314978e-01 1.14103407e-02 9.96147036e+01] [-1.55307785e-01 9.87864962e-01 -1.51921237e-03 -6.76525737e+00] [-1.15078323e-02 -2.71438142e-04 9.99933746e-01 4.52265412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.65, Y:-6.76, Z:0.45 [[ 9.87684717e-01 1.56056340e-01 1.11945572e-02 9.96469158e+01] [-1.56049451e-01 9.87748118e-01 -1.49163026e-03 -6.76480597e+00] [-1.12901811e-02 -2.73644081e-04 9.99936226e-01 4.52367976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.68, Y:-6.76, Z:0.45 [[ 9.87724872e-01 1.55775143e-01 1.15620856e-02 9.96804659e+01] [-1.55767744e-01 9.87792503e-01 -1.54322159e-03 -6.76214416e+00] [-1.16613371e-02 -2.76721655e-04 9.99931966e-01 4.51566068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.71, Y:-6.76, Z:0.45 [[ 9.87716308e-01 1.55719989e-01 1.29529929e-02 9.97128123e+01] [-1.55710682e-01 9.87801190e-01 -1.73013410e-03 -6.76223765e+00] [-1.30643983e-02 -3.08037705e-04 9.99914610e-01 4.52075259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.75, Y:-6.76, Z:0.45 [[ 9.87651436e-01 1.56083048e-01 1.35175078e-02 9.97455452e+01] [-1.56072922e-01 9.87743882e-01 -1.80728433e-03 -6.76095169e+00] [-1.36339220e-02 -3.24749969e-04 9.99907001e-01 4.54044929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.78, Y:-6.76, Z:0.45 [[ 9.87584215e-01 1.56669965e-01 1.14865261e-02 9.97779633e+01] [-1.56662675e-01 9.87650972e-01 -1.53736032e-03 -6.75972607e+00] [-1.15855369e-02 -2.81237121e-04 9.99932846e-01 4.54605755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.81, Y:-6.76, Z:0.45 [[ 9.87602278e-01 1.56947616e-01 3.03073031e-03 9.98107544e+01] [-1.56947107e-01 9.87606926e-01 -4.06518106e-04 -6.75850237e+00] [-3.05697230e-03 -7.41861476e-05 9.99995325e-01 4.54087232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.84, Y:-6.76, Z:0.45 [[ 9.87671245e-01 1.56502730e-01 3.52248084e-03 9.98419345e+01] [-1.56502041e-01 9.87677522e-01 -4.72276711e-04 -6.75960049e+00] [-3.55298775e-03 -8.48213128e-05 9.99993685e-01 4.53352873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.87, Y:-6.76, Z:0.45 [[ 9.87836262e-01 1.55370404e-01 6.28943669e-03 9.98747956e+01] [-1.55368177e-01 9.87856273e-01 -8.44184052e-04 -6.75956511e+00] [-6.34422070e-03 -1.43262693e-04 9.99979865e-01 4.54429496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.91, Y:-6.76, Z:0.46 [[ 9.87966361e-01 1.54449062e-01 8.24362554e-03 9.99069261e+01] [-1.54445196e-01 9.88000736e-01 -1.10737818e-03 -6.76025741e+00] [-8.31574163e-03 -1.79135972e-04 9.99965408e-01 4.55754184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.94, Y:-6.76, Z:0.45 [[ 9.88821933e-01 1.48767970e-01 9.96369844e-03 9.99389707e+01] [-1.48762021e-01 9.88872118e-01 -1.33964887e-03 -6.76444592e+00] [-1.00521204e-02 -1.57545737e-04 9.99949464e-01 4.54323270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.97, Y:-6.77, Z:0.45 [[ 9.89358263e-01 1.45328046e-01 7.07014791e-03 9.99709101e+01] [-1.45324955e-01 9.89383521e-01 -9.51772674e-04 -6.77017722e+00] [-7.13340710e-03 -8.58247682e-05 9.99974553e-01 4.54546993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.00, Y:-6.77, Z:0.45 [[ 9.89888079e-01 1.41713240e-01 6.24088434e-03 1.00002706e+02] [-1.41710753e-01 9.89907751e-01 -8.41079376e-04 -6.77320509e+00] [-6.29709186e-03 -5.18259722e-05 9.99980172e-01 4.54116077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.04, Y:-6.77, Z:0.45 [[ 9.90745204e-01 1.35562254e-01 6.84226233e-03 1.00035709e+02] [-1.35559113e-01 9.90768830e-01 -9.23005187e-04 -6.77079667e+00] [-6.90422491e-03 -1.30680489e-05 9.99976165e-01 4.53615351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.07, Y:-6.77, Z:0.45 [[ 9.90876904e-01 1.34553241e-01 7.64104281e-03 1.00067494e+02] [-1.34549286e-01 9.90906366e-01 -1.03169868e-03 -6.77403438e+00] [-7.71037636e-03 -5.81045681e-06 9.99970275e-01 4.54231473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.10, Y:-6.78, Z:0.46 [[ 9.90891461e-01 1.34468202e-01 7.23989463e-03 1.00098883e+02] [-1.34464641e-01 9.90917909e-01 -9.78551029e-04 -6.77962039e+00] [-7.30572525e-03 -3.87197737e-06 9.99973313e-01 4.56866619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.13, Y:-6.79, Z:0.46 [[ 9.90785494e-01 1.35268731e-01 6.81723440e-03 1.00131022e+02] [-1.35265584e-01 9.90808947e-01 -9.22799109e-04 -6.78570341e+00] [-6.87940270e-03 -7.84121876e-06 9.99976337e-01 4.58061856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.16, Y:-6.79, Z:0.46 [[ 9.90638515e-01 1.36350376e-01 6.62629345e-03 1.00163250e+02] [-1.36347421e-01 9.90660676e-01 -8.97709458e-04 -6.78992763e+00] [-6.68681137e-03 -1.41724596e-05 9.99977643e-01 4.57727586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.20, Y:-6.79, Z:0.46 [[ 9.90266282e-01 1.39045624e-01 6.24536149e-03 1.00195741e+02] [-1.39043047e-01 9.90285976e-01 -8.46980471e-04 -6.79331892e+00] [-6.30246282e-03 -2.96378887e-05 9.99980139e-01 4.56976612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.23, Y:-6.80, Z:0.46 [[ 9.90389293e-01 1.38126337e-01 7.08266192e-03 1.00227396e+02] [-1.38122993e-01 9.90414617e-01 -9.61425572e-04 -6.80034725e+00] [-7.14757008e-03 -2.60928715e-05 9.99974455e-01 4.55799602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.26, Y:-6.81, Z:0.46 [[ 9.90591217e-01 1.36658700e-01 7.31028704e-03 1.00258373e+02] [-1.36655091e-01 9.90618191e-01 -9.93293468e-04 -6.80860754e+00] [-7.37744552e-03 -1.50401541e-05 9.99972786e-01 4.56060484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.29, Y:-6.81, Z:0.46 [[ 9.91047495e-01 1.33308590e-01 7.32689613e-03 1.00290474e+02] [-1.33304865e-01 9.91074578e-01 -9.96551348e-04 -6.81490397e+00] [-7.39434935e-03 1.09188168e-05 9.99972661e-01 4.57237734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.32, Y:-6.82, Z:0.46 [[ 9.91595408e-01 1.29134209e-01 7.93113853e-03 1.00322630e+02] [-1.29129703e-01 9.91627124e-01 -1.07973265e-03 -6.81857462e+00] [-8.00416251e-03 4.65123793e-05 9.99967965e-01 4.59446658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.35, Y:-6.82, Z:0.46 [[ 9.91677586e-01 1.28566531e-01 6.79804540e-03 1.00354369e+02] [-1.28563200e-01 9.91700885e-01 -9.26480523e-04 -6.82305227e+00] [-6.86074203e-03 4.47914954e-05 9.99976464e-01 4.59485402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.39, Y:-6.83, Z:0.46 [[ 9.91582847e-01 1.29318164e-01 6.34593205e-03 1.00385739e+02] [-1.29315272e-01 9.91603152e-01 -8.65747469e-04 -6.82787530e+00] [-6.40460310e-03 3.78344106e-05 9.99979490e-01 4.59627276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.42, Y:-6.83, Z:0.46 [[ 9.91252545e-01 1.31804498e-01 6.77990208e-03 1.00417182e+02] [-1.31801249e-01 9.91275730e-01 -9.25836077e-04 -6.83290884e+00] [-6.84278175e-03 2.41378071e-05 9.99976588e-01 4.59866977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.45, Y:-6.84, Z:0.46 [[ 9.90611282e-01 1.36416731e-01 8.93108212e-03 1.00448818e+02] [-1.36411271e-01 9.90651541e-01 -1.22058894e-03 -6.83741169e+00] [-9.01409902e-03 -9.17109021e-06 9.99959372e-01 4.61038994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.48, Y:-6.84, Z:0.46 [[ 9.90300670e-01 1.38588291e-01 9.89289733e-03 1.00480710e+02] [-1.38581687e-01 9.90350082e-01 -1.35332422e-03 -6.84212384e+00] [-9.98498657e-03 -3.07765158e-05 9.99950148e-01 4.61886233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.51, Y:-6.85, Z:0.46 [[ 9.90239277e-01 1.38979322e-01 1.05320138e-02 1.00512057e+02] [-1.38971844e-01 9.90295283e-01 -1.44214680e-03 -6.84780958e+00] [-1.06302322e-02 -3.55829692e-05 9.99943497e-01 4.62309453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.54, Y:-6.85, Z:0.46 [[ 9.90286146e-01 1.38731283e-01 9.32628840e-03 1.00543458e+02] [-1.38725396e-01 9.90330061e-01 -1.27839674e-03 -6.85381329e+00] [-9.41345739e-03 -2.78144690e-05 9.99955692e-01 4.62443836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.58, Y:-6.86, Z:0.46 [[ 9.90431572e-01 1.37817396e-01 7.18798529e-03 1.00575011e+02] [-1.37813866e-01 9.90457654e-01 -9.86410164e-04 -6.86056053e+00] [-7.25533953e-03 -1.36322746e-05 9.99973680e-01 4.62875372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.61, Y:-6.86, Z:0.46 [[ 9.90408556e-01 1.37971441e-01 7.40093799e-03 1.00607133e+02] [-1.37967696e-01 9.90436208e-01 -1.01662594e-03 -6.86446838e+00] [-7.47042230e-03 -1.42153293e-05 9.99972096e-01 4.63538494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.64, Y:-6.87, Z:0.46 [[ 9.90317870e-01 1.38639662e-01 7.03987925e-03 1.00638823e+02] [-1.38636283e-01 9.90342892e-01 -9.68024699e-04 -6.86721793e+00] [-7.10610099e-03 -1.73305374e-05 9.99974751e-01 4.64259684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.67, Y:-6.87, Z:0.47 [[ 9.90208700e-01 1.39338223e-01 8.46107499e-03 1.00671113e+02] [-1.39333360e-01 9.90244848e-01 -1.16446335e-03 -6.86971142e+00] [-8.54079017e-03 -2.58482664e-05 9.99963526e-01 4.65224042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.70, Y:-6.88, Z:0.47 [[ 9.89747269e-01 1.42594073e-01 8.20211626e-03 1.00702454e+02] [-1.42589605e-01 9.89781252e-01 -1.12997356e-03 -6.87599312e+00] [-8.27942843e-03 -5.11482764e-05 9.99965724e-01 4.66806578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.73, Y:-6.88, Z:0.47 [[ 9.89621735e-01 1.43525811e-01 7.01170258e-03 1.00734120e+02] [-1.43522561e-01 9.89646573e-01 -9.67029193e-04 -6.88249811e+00] [-7.07790107e-03 -4.93444063e-05 9.99974950e-01 4.67158646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.77, Y:-6.89, Z:0.47 [[ 9.89529913e-01 1.44203372e-01 5.99482284e-03 1.00765385e+02] [-1.44201003e-01 9.89548071e-01 -8.27711739e-04 -6.88850635e+00] [-6.05152420e-03 -4.54139424e-05 9.99981688e-01 4.66662635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.80, Y:-6.89, Z:0.47 [[ 9.89585151e-01 1.43836660e-01 5.67835270e-03 1.00797434e+02] [-1.43834525e-01 9.89601442e-01 -7.84831553e-04 -6.89353828e+00] [-5.73219356e-03 -4.00855105e-05 9.99983570e-01 4.66254171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.83, Y:-6.90, Z:0.47 [[ 9.89518647e-01 1.44268533e-01 6.27994143e-03 1.00829169e+02] [-1.44265924e-01 9.89538573e-01 -8.68764084e-04 -6.89622294e+00] [-6.33957961e-03 -4.63232948e-05 9.99979904e-01 4.66045948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.86, Y:-6.90, Z:0.47 [[ 9.89469663e-01 1.44592029e-01 6.55224729e-03 1.00861537e+02] [-1.44589191e-01 9.89491355e-01 -9.07297934e-04 -6.89973044e+00] [-6.61458010e-03 -4.96403557e-05 9.99978122e-01 4.66393050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.89, Y:-6.90, Z:0.47 [[ 9.89513729e-01 1.44308267e-01 6.14043550e-03 1.00893722e+02] [-1.44305763e-01 9.89532780e-01 -8.51165106e-04 -6.90368302e+00] [-6.19899237e-03 -4.38606727e-05 9.99980785e-01 4.67087151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.93, Y:-6.91, Z:0.47 [[ 9.89403918e-01 1.45046195e-01 6.44114163e-03 1.00925871e+02] [-1.45043451e-01 9.89424883e-01 -8.93705172e-04 -6.90905419e+00] [-6.50265434e-03 -5.00100094e-05 9.99978856e-01 4.67629178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.96, Y:-6.91, Z:0.47 [[ 9.89079325e-01 1.47253464e-01 6.20529321e-03 1.00957340e+02] [-1.47250954e-01 9.89098789e-01 -8.61841541e-04 -6.91421270e+00] [-6.26455715e-03 -6.13056981e-05 9.99980376e-01 4.66821930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.99, Y:-6.92, Z:0.47 [[ 9.88803783e-01 1.49084090e-01 6.40411627e-03 1.00988880e+02] [-1.49081450e-01 9.88824519e-01 -8.90317297e-04 -6.91806246e+00] [-6.46527933e-03 -7.43858291e-05 9.99979097e-01 4.66595527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.02, Y:-6.92, Z:0.47 [[ 9.88692715e-01 1.49723433e-01 8.34318079e-03 1.01021053e+02] [-1.49718967e-01 9.88727912e-01 -1.16083272e-03 -6.92163276e+00] [-8.42293958e-03 -1.01425563e-04 9.99964521e-01 4.65650336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.05, Y:-6.93, Z:0.47 [[ 9.88784704e-01 1.49113245e-01 8.36949499e-03 1.01053465e+02] [-1.49108720e-01 9.88820121e-01 -1.16562796e-03 -6.92520177e+00] [-8.44973562e-03 -9.54095806e-05 9.99964296e-01 4.66646219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.09, Y:-6.93, Z:0.47 [[ 9.89334114e-01 1.45476571e-01 7.38769804e-03 1.01085364e+02] [-1.45472935e-01 9.89361695e-01 -1.03000463e-03 -6.93056306e+00] [-7.45894700e-03 -5.56914032e-05 9.99972180e-01 4.68374423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.12, Y:-6.94, Z:0.47 [[ 9.89850245e-01 1.41966481e-01 6.48150852e-03 1.01117201e+02] [-1.41963601e-01 9.89871465e-01 -9.04635988e-04 -6.93534093e+00] [-6.54428833e-03 -2.46841366e-05 9.99978586e-01 4.67438045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.15, Y:-6.94, Z:0.47 [[ 9.90347025e-01 1.38493331e-01 5.68920103e-03 1.01148906e+02] [-1.38491050e-01 9.90363366e-01 -7.94913606e-04 -6.93929212e+00] [-5.74446652e-03 -6.63099455e-07 9.99983500e-01 4.66165173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.18, Y:-6.94, Z:0.46 [[ 9.91017458e-01 1.33472600e-01 8.33448012e-03 1.01180780e+02] [-1.33467519e-01 9.91052503e-01 -1.16532179e-03 -6.94148099e+00] [-8.41544591e-03 4.24718484e-05 9.99964589e-01 4.64611651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.21, Y:-6.95, Z:0.47 [[ 9.91156438e-01 1.32402155e-01 8.86478346e-03 1.01212931e+02] [-1.32396354e-01 9.91196079e-01 -1.24061330e-03 -6.94627293e+00] [-8.95099848e-03 5.59768450e-05 9.99959937e-01 4.65249070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.24, Y:-6.95, Z:0.47 [[ 9.91371301e-01 1.30909829e-01 6.74988883e-03 1.01244909e+02] [-1.30906424e-01 9.91394278e-01 -9.45707714e-04 -6.95150488e+00] [-6.81560360e-03 5.39436795e-05 9.99976772e-01 4.67293777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.28, Y:-6.96, Z:0.47 [[ 9.91555294e-01 1.29549994e-01 5.90752448e-03 1.01276552e+02] [-1.29547356e-01 9.91572890e-01 -8.28551372e-04 -6.95791282e+00] [-5.96507995e-03 5.62503215e-05 9.99982207e-01 4.66919184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.31, Y:-6.97, Z:0.47 [[ 9.91814791e-01 1.27537913e-01 6.12381063e-03 1.01307775e+02] [-1.27535035e-01 9.91833694e-01 -8.59673831e-04 -6.96524792e+00] [-6.18344272e-03 7.16368151e-05 9.99980880e-01 4.65487995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.34, Y:-6.98, Z:0.46 [[ 9.92519956e-01 1.21802623e-01 8.26180623e-03 1.01338868e+02] [-1.21797180e-01 9.92554331e-01 -1.16066960e-03 -6.97718376e+00] [-8.34166416e-03 1.45723034e-04 9.99965197e-01 4.64230725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.37, Y:-6.99, Z:0.47 [[ 9.92724173e-01 1.19961509e-01 1.03899947e-02 1.01370367e+02] [-1.19952787e-01 9.92778523e-01 -1.46083145e-03 -6.98619418e+00] [-1.04902071e-02 2.03893877e-04 9.99944955e-01 4.65104728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.40, Y:-6.99, Z:0.47 [[ 9.92843752e-01 1.18819128e-01 1.19707757e-02 1.01401701e+02] [-1.18807450e-01 9.92915884e-01 -1.68454089e-03 -6.99361664e+00] [-1.20861290e-02 2.50268557e-04 9.99926929e-01 4.66553063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.43, Y:-7.00, Z:0.47 [[ 9.92787770e-01 1.19480888e-01 9.83676373e-03 1.01433620e+02] [-1.19473022e-01 9.92836481e-01 -1.38562810e-03 -6.99929583e+00] [-9.93185396e-03 2.00406743e-04 9.99950658e-01 4.68564237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.47, Y:-7.00, Z:0.47 [[ 9.92643688e-01 1.20709534e-01 9.36569618e-03 1.01466049e+02] [-1.20702441e-01 9.92687854e-01 -1.32097713e-03 -7.00313321e+00] [-9.45666737e-03 1.80797223e-04 9.99955268e-01 4.66555287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.50, Y:-7.01, Z:0.46 [[ 9.92192365e-01 1.24471492e-01 7.82041725e-03 1.01497180e+02] [-1.24466656e-01 9.92223177e-01 -1.10401589e-03 -7.01277491e+00] [-7.89701775e-03 1.22014952e-04 9.99968811e-01 4.63234298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.53, Y:-7.02, Z:0.46 [[ 9.92007139e-01 1.25790147e-01 9.93351761e-03 1.01528365e+02] [-1.25782398e-01 9.92056863e-01 -1.40347176e-03 -7.02348058e+00] [-1.00311572e-02 1.42792337e-04 9.99949676e-01 4.63004119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.56, Y:-7.03, Z:0.46 [[ 9.91858265e-01 1.26933555e-01 1.02496229e-02 1.01558919e+02] [-1.26925352e-01 9.91911213e-01 -1.44946303e-03 -7.03451307e+00] [-1.03507014e-02 1.36724886e-04 9.99946421e-01 4.64605984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.59, Y:-7.04, Z:0.47 [[ 9.91532337e-01 1.29608720e-01 8.07490532e-03 1.01590177e+02] [-1.29603708e-01 9.91565213e-01 -1.14314854e-03 -7.04428819e+00] [-8.15495723e-03 8.69310740e-05 9.99966744e-01 4.66721594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.62, Y:-7.05, Z:0.47 [[ 9.91506607e-01 1.29805424e-01 8.07463077e-03 1.01622369e+02] [-1.29800403e-01 9.91539482e-01 -1.14508714e-03 -7.04878995e+00] [-8.15495373e-03 8.72711455e-05 9.99966744e-01 4.66885430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.65, Y:-7.05, Z:0.47 [[ 9.91196455e-01 1.32169075e-01 7.80539429e-03 1.01653958e+02] [-1.32164450e-01 9.91227184e-01 -1.10765034e-03 -7.05221652e+00] [-7.88331613e-03 6.63034469e-05 9.99968924e-01 4.66914238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.69, Y:-7.06, Z:0.47 [[ 9.90887444e-01 1.34477375e-01 7.60976178e-03 1.01685773e+02] [-1.34473039e-01 9.90916663e-01 -1.08094410e-03 -7.05540320e+00] [-7.68600228e-03 4.77861440e-05 9.99970461e-01 4.66438570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.72, Y:-7.06, Z:0.47 [[ 9.90552109e-01 1.36916381e-01 7.77323817e-03 1.01717976e+02] [-1.36911923e-01 9.90582608e-01 -1.10520884e-03 -7.06020062e+00] [-7.85135574e-03 3.05179590e-05 9.99969177e-01 4.66352489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.75, Y:-7.07, Z:0.47 [[ 9.89939838e-01 1.41167730e-01 9.52835692e-03 1.01748681e+02] [-1.41161218e-01 9.89985693e-01 -1.35591795e-03 -7.06993372e+00] [-9.62434889e-03 -2.75727170e-06 9.99953685e-01 4.68748267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.78, Y:-7.08, Z:0.47 [[ 9.89659707e-01 1.42978041e-01 1.14430393e-02 1.01780276e+02] [-1.42968754e-01 9.89725861e-01 -1.62982257e-03 -7.07747240e+00] [-1.15585007e-02 -2.30273394e-05 9.99933198e-01 4.68652885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.81, Y:-7.08, Z:0.47 [[ 9.89467634e-01 1.44392754e-01 1.02241954e-02 1.01812284e+02] [-1.44385400e-01 9.89520455e-01 -1.45769054e-03 -7.08315802e+00] [-1.03275304e-02 -3.38869272e-05 9.99946669e-01 4.68169462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.84, Y:-7.09, Z:0.47 [[ 9.89455337e-01 1.44626792e-01 7.82479371e-03 1.01844262e+02] [-1.44622482e-01 9.89486276e-01 -1.11685279e-03 -7.08900730e+00] [-7.90405283e-03 -2.65651357e-05 9.99968762e-01 4.65994098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.88, Y:-7.10, Z:0.46 [[ 9.89309864e-01 1.45581347e-01 8.48903288e-03 1.01875102e+02] [-1.45576300e-01 9.89346284e-01 -1.21276516e-03 -7.09953362e+00] [-8.57514912e-03 -3.60014631e-05 9.99963232e-01 4.63419725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.91, Y:-7.11, Z:0.47 [[ 9.89208309e-01 1.46185368e-01 9.83663653e-03 1.01906281e+02] [-1.46178609e-01 9.89257214e-01 -1.40653445e-03 -7.10664140e+00] [-9.93657841e-03 -4.65502799e-05 9.99950630e-01 4.66301136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.94, Y:-7.11, Z:0.47 [[ 9.88832845e-01 1.48718367e-01 9.61514047e-03 1.01937640e+02] [-1.48712016e-01 9.88879589e-01 -1.37620068e-03 -7.11245277e+00] [-9.71288248e-03 -6.90544881e-05 9.99952826e-01 4.70032166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.312320588 meters Centerline goodness [0,1] 0.9999507849795758 Centerline is valid? [True, True] Translation: X:101.97, Y:-7.12, Z:0.47 [[ 9.88366564e-01 1.51899707e-01 7.61666445e-03 1.01970589e+02] [-1.51895800e-01 9.88395909e-01 -1.09221649e-03 -7.11644741e+00] [-7.69418735e-03 -7.74290862e-05 9.99970396e-01 4.73537842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.00, Y:-7.12, Z:0.47 [[ 9.87321226e-01 1.58531796e-01 8.02909161e-03 1.02002888e+02] [-1.58527668e-01 9.87353863e-01 -1.15202054e-03 -7.11902260e+00] [-8.11018651e-03 -1.35418835e-04 9.99967103e-01 4.72775552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.03, Y:-7.12, Z:0.47 [[ 9.86718314e-01 1.62188392e-01 9.04957654e-03 1.02034883e+02] [-1.62183291e-01 9.86759794e-01 -1.29955251e-03 -7.12481041e+00] [-9.14053061e-03 -1.85397843e-04 9.99958207e-01 4.71732668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.07, Y:-7.13, Z:0.47 [[ 9.86056192e-01 1.66075987e-01 1.05807561e-02 1.02067019e+02] [-1.66069224e-01 9.86112925e-01 -1.52071635e-03 -7.12983446e+00] [-1.06863748e-02 -2.57626178e-04 9.99942866e-01 4.70614206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.10, Y:-7.13, Z:0.47 [[ 9.85370699e-01 1.70101102e-01 1.04976036e-02 1.02098837e+02] [-1.70094659e-01 9.85426571e-01 -1.51013849e-03 -7.13366021e+00] [-1.06014938e-02 -2.97540088e-04 9.99943758e-01 4.69212649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.13, Y:-7.14, Z:0.47 [[ 9.85382854e-01 1.70088377e-01 9.51704028e-03 1.02130931e+02] [-1.70083068e-01 9.85428776e-01 -1.37038145e-03 -7.13819316e+00] [-9.61145130e-03 -2.68337032e-04 9.99953773e-01 4.69737262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.16, Y:-7.14, Z:0.47 [[ 9.85532539e-01 1.69090152e-01 1.15816575e-02 1.02164329e+02] [-1.69082192e-01 9.85600539e-01 -1.67014486e-03 -7.14103432e+00] [-1.16972929e-02 -3.12269917e-04 9.99931536e-01 4.69500333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.20, Y:-7.14, Z:0.47 [[ 9.86317457e-01 1.64334302e-01 1.31191131e-02 1.02197658e+02] [-1.64323643e-01 9.86404660e-01 -1.89371850e-03 -7.13891494e+00] [-1.32519572e-02 -2.87972834e-04 9.99912147e-01 4.70449699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.23, Y:-7.12, Z:0.47 [[ 9.87869301e-01 1.54789716e-01 1.24252614e-02 1.02232423e+02] [-1.54779386e-01 9.87947428e-01 -1.79452849e-03 -7.11989749e+00] [-1.25532797e-02 -1.50414731e-04 9.99921193e-01 4.65875664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.26, Y:-7.13, Z:0.47 [[ 9.87825430e-01 1.55143792e-01 1.14596851e-02 1.02263456e+02] [-1.55135009e-01 9.87891889e-01 -1.65683615e-03 -7.12682592e+00] [-1.15779778e-02 -1.41133473e-04 9.99932963e-01 4.67669275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.30, Y:-7.13, Z:0.47 [[ 9.87570082e-01 1.56860538e-01 1.00052717e-02 1.02295889e+02] [-1.56853906e-01 9.87620753e-01 -1.44902974e-03 -7.13232012e+00] [-1.01087095e-02 -1.38347521e-04 9.99948896e-01 4.70097594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.33, Y:-7.14, Z:0.47 [[ 9.87301559e-01 1.58465969e-01 1.11431203e-02 1.02328121e+02] [-1.58457833e-01 9.87364425e-01 -1.61489987e-03 -7.13568429e+00] [-1.12582272e-02 -1.71321531e-04 9.99936609e-01 4.71973356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.36, Y:-7.14, Z:0.47 [[ 9.87270073e-01 1.58662034e-01 1.11427531e-02 1.02360303e+02] [-1.58653882e-01 9.87332938e-01 -1.61743276e-03 -7.14029510e+00] [-1.12582323e-02 -1.70998072e-04 9.99936609e-01 4.72137217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.39, Y:-7.14, Z:0.47 [[ 9.86936995e-01 1.60831822e-01 9.40707449e-03 1.02393480e+02] [-1.60826091e-01 9.86981813e-01 -1.36754695e-03 -7.14332783e+00] [-9.50455650e-03 -1.63220340e-04 9.99954817e-01 4.73738782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.43, Y:-7.15, Z:0.47 [[ 9.86904687e-01 1.61029968e-01 9.40679790e-03 1.02425661e+02] [-1.61024228e-01 9.86949504e-01 -1.36944891e-03 -7.14795409e+00] [-9.50455683e-03 -1.63206815e-04 9.99954817e-01 4.73902649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.46, Y:-7.15, Z:0.47 [[ 9.86495356e-01 1.63496869e-01 9.78200109e-03 1.02457407e+02] [-1.63490773e-01 9.86543834e-01 -1.42501083e-03 -7.15307143e+00] [-9.88335767e-03 -1.93500354e-04 9.99951140e-01 4.73030644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.49, Y:-7.16, Z:0.47 [[ 9.86219887e-01 1.65197861e-01 8.94433938e-03 1.02489619e+02] [-1.65192824e-01 9.86260427e-01 -1.30422262e-03 -7.15808953e+00] [-9.03690276e-03 -1.91290393e-04 9.99959148e-01 4.73698009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.52, Y:-7.16, Z:0.47 [[ 9.86187089e-01 1.65393558e-01 8.94403114e-03 1.02521800e+02] [-1.65388509e-01 9.86227628e-01 -1.30633563e-03 -7.16273116e+00] [-9.03691012e-03 -1.90948641e-04 9.99959148e-01 4.73861883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.55, Y:-7.17, Z:0.47 [[ 9.85959734e-01 1.66665788e-01 1.02916377e-02 1.02553281e+02] [-1.66659144e-01 9.86013419e-01 -1.50591284e-03 -7.16649891e+00] [-1.03986770e-02 -2.30426111e-04 9.99945906e-01 4.72517474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.59, Y:-7.17, Z:0.47 [[ 9.85848849e-01 1.67313537e-01 1.04031877e-02 1.02585848e+02] [-1.67306776e-01 9.85903709e-01 -1.52298697e-03 -7.16904328e+00] [-1.05113577e-02 -2.39088850e-04 9.99944726e-01 4.72737879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.62, Y:-7.17, Z:0.47 [[ 9.85770748e-01 1.67756993e-01 1.06594757e-02 1.02617411e+02] [-1.67749911e-01 9.85828347e-01 -1.56138580e-03 -7.17206448e+00] [-1.07703467e-02 -2.48957642e-04 9.99941967e-01 4.72939197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.65, Y:-7.18, Z:0.47 [[ 9.85737941e-01 1.67949682e-01 1.06590987e-02 1.02649591e+02] [-1.67942584e-01 9.85795538e-01 -1.56395801e-03 -7.17672743e+00] [-1.07703582e-02 -2.48463833e-04 9.99941967e-01 4.73103081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.68, Y:-7.18, Z:0.47 [[ 9.85714057e-01 1.68122800e-01 1.01253013e-02 1.02681268e+02] [-1.68116393e-01 9.85766031e-01 -1.48669336e-03 -7.18071556e+00] [-1.02311252e-02 -2.36774587e-04 9.99947633e-01 4.74017006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.71, Y:-7.19, Z:0.47 [[ 9.85750894e-01 1.67924754e-01 9.82100237e-03 1.02713238e+02] [-1.67918704e-01 9.85799790e-01 -1.44334295e-03 -7.18547172e+00] [-9.92391509e-03 -2.26353383e-04 9.99950731e-01 4.74779103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.75, Y:-7.19, Z:0.48 [[ 9.85730692e-01 1.68011722e-01 1.03471937e-02 1.02746039e+02] [-1.68004986e-01 9.85784969e-01 -1.52307828e-03 -7.18877140e+00] [-1.04560030e-02 -2.37035116e-04 9.99945306e-01 4.75001691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.78, Y:-7.19, Z:0.48 [[ 9.85697587e-01 1.68205855e-01 1.03468945e-02 1.02778216e+02] [-1.68199108e-01 9.85751862e-01 -1.52511030e-03 -7.19345616e+00] [-1.04560030e-02 -2.37040879e-04 9.99945306e-01 4.75165580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.81, Y:-7.19, Z:0.48 [[ 9.85676439e-01 1.68327336e-01 1.03858636e-02 1.02811290e+02] [-1.68320523e-01 9.85731125e-01 -1.53294192e-03 -7.19463945e+00] [-1.04957050e-02 -2.37169261e-04 9.99944890e-01 4.76137360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.84, Y:-7.19, Z:0.48 [[ 9.85698885e-01 1.68211945e-01 1.01217410e-02 1.02843657e+02] [-1.68205457e-01 9.85750825e-01 -1.49500519e-03 -7.19469788e+00] [-1.02289922e-02 -2.28907118e-04 9.99947656e-01 4.77482433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.88, Y:-7.20, Z:0.48 [[ 9.85665149e-01 1.68409537e-01 1.01213902e-02 1.02875833e+02] [-1.68403035e-01 9.85717087e-01 -1.49737921e-03 -7.19940178e+00] [-1.02290002e-02 -2.28558330e-04 9.99947656e-01 4.77646318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.91, Y:-7.20, Z:0.48 [[ 9.85677883e-01 1.68332945e-01 1.01553168e-02 1.02909174e+02] [-1.68326374e-01 9.85730170e-01 -1.50447760e-03 -7.20099529e+00] [-1.02636553e-02 -2.26477349e-04 9.99947302e-01 4.79022017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.94, Y:-7.20, Z:0.48 [[ 9.85727350e-01 1.68044887e-01 1.01246361e-02 1.02941206e+02] [-1.68038330e-01 9.85779320e-01 -1.50095513e-03 -7.20414847e+00] [-1.02328847e-02 -2.21794409e-04 9.99947618e-01 4.79342263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.97, Y:-7.21, Z:0.48 [[ 9.85693681e-01 1.68242285e-01 1.01242851e-02 1.02973380e+02] [-1.68235715e-01 9.85745649e-01 -1.50332169e-03 -7.20886841e+00] [-1.02328922e-02 -2.21451641e-04 9.99947618e-01 4.79506146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.01, Y:-7.21, Z:0.48 [[ 9.85954158e-01 1.66781679e-01 8.84707341e-03 1.03005350e+02] [-1.66776594e-01 9.85993833e-01 -1.31465847e-03 -7.21325819e+00] [-8.94242078e-03 -1.79291785e-04 9.99960000e-01 4.78374446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.04, Y:-7.22, Z:0.48 [[ 9.86083341e-01 1.65990906e-01 9.30936984e-03 1.03037972e+02] [-1.65985229e-01 9.86127267e-01 -1.38457808e-03 -7.21586800e+00] [-9.41005081e-03 -1.79908513e-04 9.99955708e-01 4.76303304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.07, Y:-7.22, Z:0.47 [[ 9.86329954e-01 1.64482670e-01 9.93346232e-03 1.03070389e+02] [-1.64476117e-01 9.86379957e-01 -1.47873137e-03 -7.21726118e+00] [-1.00413938e-02 -1.75300264e-04 9.99949569e-01 4.74452903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.10, Y:-7.22, Z:0.47 [[ 9.86477143e-01 1.63489531e-01 1.15766740e-02 1.03103901e+02] [-1.63480531e-01 9.86545051e-01 -1.72595044e-03 -7.21801209e+00] [-1.17030852e-02 -1.89950151e-04 9.99931499e-01 4.74250261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.14, Y:-7.21, Z:0.48 [[ 9.86529012e-01 1.63244220e-01 1.05751351e-02 1.03137305e+02] [-1.63236684e-01 9.86585676e-01 -1.57780164e-03 -7.21468897e+00] [-1.06908438e-02 -1.69702892e-04 9.99942837e-01 4.79272794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.17, Y:-7.22, Z:0.48 [[ 9.86712686e-01 1.62136575e-01 1.04788370e-02 1.03169239e+02] [-1.62129097e-01 9.86768315e-01 -1.56488142e-03 -7.21660930e+00] [-1.05939089e-02 -1.54836038e-04 9.99943871e-01 4.78818795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.20, Y:-7.22, Z:0.48 [[ 9.86893068e-01 1.61150158e-01 8.52632065e-03 1.03201429e+02] [-1.61145159e-01 9.86929893e-01 -1.27459731e-03 -7.21990146e+00] [-8.62028228e-03 -1.16084046e-04 9.99962838e-01 4.77644238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.23, Y:-7.22, Z:0.48 [[ 9.87128850e-01 1.59689422e-01 8.71333600e-03 1.03233403e+02] [-1.59684134e-01 9.87167300e-01 -1.30373406e-03 -7.22293159e+00] [-8.80971290e-03 -1.04428002e-04 9.99961188e-01 4.75634773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.27, Y:-7.23, Z:0.47 [[ 9.87235534e-01 1.58920535e-01 1.05006535e-02 1.03265879e+02] [-1.58912798e-01 9.87291370e-01 -1.57248395e-03 -7.22596764e+00] [-1.06171046e-02 -1.16276203e-04 9.99943630e-01 4.74827863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.30, Y:-7.23, Z:0.48 [[ 9.87500022e-01 1.57148788e-01 1.21640522e-02 1.03298250e+02] [-1.57138252e-01 9.87574932e-01 -1.82312955e-03 -7.22620355e+00] [-1.22994156e-02 -1.11097415e-04 9.99924353e-01 4.75507709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.33, Y:-7.23, Z:0.48 [[ 9.87600367e-01 1.56648297e-01 1.03357181e-02 1.03330309e+02] [-1.56640647e-01 9.87654445e-01 -1.55059801e-03 -7.23040359e+00] [-1.04510165e-02 -8.76224077e-05 9.99945383e-01 4.76977558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.36, Y:-7.23, Z:0.48 [[ 9.87867300e-01 1.55081728e-01 8.23738931e-03 1.03362399e+02] [-1.55076804e-01 9.87901642e-01 -1.23705836e-03 -7.23353768e+00] [-8.32957557e-03 -5.53784962e-05 9.99965307e-01 4.78183077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.39, Y:-7.23, Z:0.48 [[ 9.88393695e-01 1.51735280e-01 7.36941885e-03 1.03394539e+02] [-1.51731244e-01 9.88421167e-01 -1.10694538e-03 -7.22908496e+00] [-7.45205225e-03 -2.40732554e-05 9.99972233e-01 4.78813918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.43, Y:-7.23, Z:0.48 [[ 9.88567401e-01 1.50464452e-01 9.74379325e-03 1.03426261e+02] [-1.50457329e-01 9.88615420e-01 -1.46414782e-03 -7.23071119e+00] [-9.85316645e-03 -1.86163062e-05 9.99951456e-01 4.77285394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.46, Y:-7.24, Z:0.48 [[ 9.88670154e-01 1.49744033e-01 1.03947912e-02 1.03457736e+02] [-1.49735869e-01 9.88724797e-01 -1.56369490e-03 -7.23682677e+00] [-1.05117418e-02 -1.04946149e-05 9.99944750e-01 4.76471614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.49, Y:-7.25, Z:0.48 [[ 9.88727897e-01 1.49399283e-01 9.84883959e-03 1.03488951e+02] [-1.49391923e-01 9.88776949e-01 -1.48294208e-03 -7.24653245e+00] [-9.95985605e-03 -5.11088524e-06 9.99950399e-01 4.76260291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.752320588 meters Centerline goodness [0,1] 0.9999506733093276 Centerline is valid? [True, True] Translation: X:103.52, Y:-7.25, Z:0.48 [[ 9.88934213e-01 1.48056875e-01 9.39594037e-03 1.03519949e+02] [-1.48050104e-01 9.88978848e-01 -1.41606549e-03 -7.25427013e+00] [-9.50204451e-03 9.32566445e-06 9.99954855e-01 4.78117993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.782320588 meters Centerline goodness [0,1] 0.9999507558969813 Centerline is valid? [True, True] Translation: X:103.55, Y:-7.25, Z:0.48 [[ 9.88986741e-01 1.47716915e-01 9.21623615e-03 1.03552091e+02] [-1.47710373e-01 9.89029683e-01 -1.39022442e-03 -7.25484385e+00] [-9.32049078e-03 1.35798346e-05 9.99956563e-01 4.80163219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.812320588 meters Centerline goodness [0,1] 0.999950741342791 Centerline is valid? [True, True] Translation: X:103.58, Y:-7.26, Z:0.48 [[ 9.88948368e-01 1.47956054e-01 9.49375735e-03 1.03584541e+02] [-1.47949112e-01 9.88993936e-01 -1.43335800e-03 -7.25673402e+00] [-9.60134244e-03 1.29240921e-05 9.99953906e-01 4.81502868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.62, Y:-7.27, Z:0.48 [[ 9.88751289e-01 1.49363427e-01 7.83938526e-03 1.03615205e+02] [-1.49358728e-01 9.88782366e-01 -1.18477551e-03 -7.26625793e+00] [-7.92840803e-03 5.67704724e-07 9.99968570e-01 4.81514041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.65, Y:-7.27, Z:0.48 [[ 9.88731543e-01 1.49494089e-01 7.83922966e-03 1.03646534e+02] [-1.49489386e-01 9.88762619e-01 -1.18580488e-03 -7.27095305e+00] [-7.92840807e-03 5.61057027e-07 9.99968570e-01 4.81673667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.68, Y:-7.28, Z:0.48 [[ 9.88654102e-01 1.50097005e-01 5.82718672e-03 1.03677381e+02] [-1.50094408e-01 9.88671274e-01 -8.82966933e-04 -7.27926546e+00] [-5.89370281e-03 -1.67926233e-06 9.99982632e-01 4.81501460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.71, Y:-7.29, Z:0.48 [[ 9.88538287e-01 1.50815691e-01 6.83245550e-03 1.03707879e+02] [-1.50812140e-01 9.88561899e-01 -1.03500712e-03 -7.28611983e+00] [-6.91040050e-03 -7.27307446e-06 9.99976123e-01 4.79473774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.74, Y:-7.29, Z:0.48 [[ 9.88395142e-01 1.51754797e-01 6.74725010e-03 1.03739734e+02] [-1.51751346e-01 9.88418171e-01 -1.02337942e-03 -7.29184187e+00] [-6.82440734e-03 -1.24010349e-05 9.99976713e-01 4.80170795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.77, Y:-7.30, Z:0.48 [[ 9.88389870e-01 1.51701426e-01 8.49364050e-03 1.03771187e+02] [-1.51695949e-01 9.88426364e-01 -1.28922022e-03 -7.29754159e+00] [-8.59091474e-03 -1.41986497e-05 9.99963097e-01 4.80657595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.022320588 meters Centerline goodness [0,1] 0.9999507486209613 Centerline is valid? [True, True] Translation: X:103.80, Y:-7.30, Z:0.48 [[ 9.88581029e-01 1.50442060e-01 8.64499340e-03 1.03802188e+02] [-1.50436327e-01 9.88618828e-01 -1.31336525e-03 -7.30441950e+00] [-8.74418861e-03 -2.15308462e-06 9.99961769e-01 4.82551308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.052320588 meters Centerline goodness [0,1] 0.9998520491196923 Centerline is valid? [True, True] Translation: X:103.83, Y:-7.31, Z:0.49 [[ 9.88920882e-01 1.48271158e-01 7.15214625e-03 1.03833475e+02] [-1.48267169e-01 9.88946745e-01 -1.08765667e-03 -7.31171052e+00] [-7.23435987e-03 1.51779112e-05 9.99973832e-01 4.85073761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.082320588 meters Centerline goodness [0,1] 0.9999508140278393 Centerline is valid? [True, True] Translation: X:103.87, Y:-7.32, Z:0.48 [[ 9.88962505e-01 1.47912178e-01 8.66896007e-03 1.03865322e+02] [-1.47906295e-01 9.89000499e-01 -1.31935413e-03 -7.31728665e+00] [-8.76875438e-03 2.25980001e-05 9.99961553e-01 4.83739290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.90, Y:-7.32, Z:0.48 [[ 9.88878255e-01 1.48395934e-01 9.92189461e-03 1.03896475e+02] [-1.48388240e-01 9.88928029e-01 -1.51128012e-03 -7.32360199e+00] [-1.00363075e-02 2.21795758e-05 9.99949635e-01 4.82554198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.93, Y:-7.34, Z:0.48 [[ 9.88740725e-01 1.49167589e-01 1.18662593e-02 1.03927562e+02] [-1.49156621e-01 9.88811929e-01 -1.80894213e-03 -7.33575137e+00] [-1.20033343e-02 1.86436079e-05 9.99927957e-01 4.80610173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.96, Y:-7.34, Z:0.48 [[ 9.88645266e-01 1.49749121e-01 1.24795256e-02 1.03960109e+02] [-1.49737001e-01 9.88724026e-01 -1.90528828e-03 -7.34365543e+00] [-1.26241221e-02 1.50075009e-05 9.99920312e-01 4.80404155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.99, Y:-7.35, Z:0.48 [[ 9.88470352e-01 1.51071277e-01 1.01898479e-02 1.03992124e+02] [-1.51063254e-01 9.88522872e-01 -1.55695388e-03 -7.34978137e+00] [-1.03081087e-02 -3.08823726e-07 9.99946870e-01 4.81124436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.02, Y:-7.35, Z:0.48 [[ 9.88238210e-01 1.52772963e-01 6.75740576e-03 1.04023839e+02] [-1.52769467e-01 9.88261312e-01 -1.03365181e-03 -7.35470406e+00] [-6.83599674e-03 -1.08310557e-05 9.99976634e-01 4.81410259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.06, Y:-7.36, Z:0.48 [[ 9.87633408e-01 1.56707970e-01 4.78151847e-03 1.04055879e+02] [-1.56706262e-01 9.87644982e-01 -7.32260559e-04 -7.35783512e+00] [-4.83719379e-03 -2.60888922e-05 9.99988300e-01 4.81042716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.09, Y:-7.36, Z:0.48 [[ 9.87231905e-01 1.59131773e-01 7.08834832e-03 1.04087606e+02] [-1.59128076e-01 9.87257350e-01 -1.08616871e-03 -7.36148730e+00] [-7.17086794e-03 -5.56548231e-05 9.99974287e-01 4.82328115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.12, Y:-7.37, Z:0.48 [[ 9.86684459e-01 1.62312793e-01 1.04084157e-02 1.04119316e+02] [-1.62304986e-01 9.86739350e-01 -1.59602252e-03 -7.36540136e+00] [-1.05294482e-02 -1.14567146e-04 9.99944557e-01 4.83512434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.15, Y:-7.37, Z:0.49 [[ 9.86035255e-01 1.66046635e-01 1.27668178e-02 1.04151816e+02] [-1.66035182e-01 9.86117883e-01 -1.95922773e-03 -7.36578279e+00] [-1.29149105e-02 -1.87873297e-04 9.99916581e-01 4.85043680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.18, Y:-7.37, Z:0.48 [[ 9.85844918e-01 1.67254923e-01 1.16442225e-02 1.04184750e+02] [-1.67245447e-01 9.85913666e-01 -1.78976464e-03 -7.36837434e+00] [-1.17795450e-02 -1.83012818e-04 9.99930602e-01 4.84635459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.22, Y:-7.37, Z:0.48 [[ 9.85871597e-01 1.67218986e-01 9.74704494e-03 1.04217217e+02] [-1.67212333e-01 9.85919767e-01 -1.49931338e-03 -7.37136851e+00] [-9.86051794e-03 -1.51695648e-04 9.99951372e-01 4.83718580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.25, Y:-7.37, Z:0.48 [[ 9.86123859e-01 1.65788213e-01 8.60251080e-03 1.04249347e+02] [-1.65782965e-01 9.86161373e-01 -1.32452931e-03 -7.37469909e+00] [-8.70305521e-03 -1.19999788e-04 9.99962120e-01 4.83327779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.28, Y:-7.38, Z:0.48 [[ 9.86440057e-01 1.63898737e-01 8.55673125e-03 1.04281151e+02] [-1.63893463e-01 9.86477163e-01 -1.31865274e-03 -7.37827739e+00] [-8.65714549e-03 -1.01620436e-04 9.99962521e-01 4.82900862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.31, Y:-7.38, Z:0.48 [[ 9.87358236e-01 1.58310770e-01 7.83673378e-03 1.04313520e+02] [-1.58306158e-01 9.87389335e-01 -1.20926963e-03 -7.38244646e+00] [-7.92934776e-03 -4.66208900e-05 9.99968561e-01 4.83996316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.35, Y:-7.39, Z:0.49 [[ 9.87736450e-01 1.55948188e-01 7.54113657e-03 1.04345438e+02] [-1.55943842e-01 9.87765236e-01 -1.16456316e-03 -7.38772614e+00] [-7.63048406e-03 -2.57123250e-05 9.99970887e-01 4.85007638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.38, Y:-7.39, Z:0.49 [[ 9.87940263e-01 1.54740229e-01 5.43124911e-03 1.04377558e+02] [-1.54737951e-01 9.87955192e-01 -8.39662654e-04 -7.39267146e+00] [-5.49576035e-03 -1.08838175e-05 9.99984898e-01 4.86822203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.41, Y:-7.40, Z:0.49 [[ 9.88092945e-01 1.53768107e-01 5.26317881e-03 1.04409020e+02] [-1.53765954e-01 9.88106963e-01 -8.13714708e-04 -7.39604059e+00] [-5.32570699e-03 -5.27194683e-06 9.99985818e-01 4.88070705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.44, Y:-7.40, Z:0.49 [[ 9.88072387e-01 1.53736644e-01 8.83188961e-03 1.04440812e+02] [-1.53730577e-01 9.88111858e-01 -1.36582616e-03 -7.39597365e+00] [-8.93687239e-03 -8.19637403e-06 9.99960065e-01 4.87417950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.47, Y:-7.40, Z:0.49 [[ 9.87880651e-01 1.54874714e-01 1.02782888e-02 1.04472591e+02] [-1.54866541e-01 9.87934119e-01 -1.59118401e-03 -7.39989064e+00] [-1.04007064e-02 -1.98631398e-05 9.99945911e-01 4.87835744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.50, Y:-7.41, Z:0.49 [[ 9.87525292e-01 1.57042612e-01 1.14636808e-02 1.04504296e+02] [-1.57032574e-01 9.87591827e-01 -1.77615876e-03 -7.40606494e+00] [-1.16003701e-02 -4.61696091e-05 9.99932712e-01 4.87834665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.54, Y:-7.41, Z:0.49 [[ 9.87236102e-01 1.58987808e-01 9.36781398e-03 1.04536081e+02] [-1.58981179e-01 9.87280545e-01 -1.45282532e-03 -7.41380979e+00] [-9.47964200e-03 -5.50245062e-05 9.99955066e-01 4.88846929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.57, Y:-7.42, Z:0.49 [[ 9.87064961e-01 1.60181926e-01 6.67184740e-03 1.04567145e+02] [-1.60178584e-01 9.87087508e-01 -1.03582118e-03 -7.42122438e+00] [-6.75161706e-03 -4.62642779e-05 9.99977207e-01 4.87851042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.60, Y:-7.42, Z:0.49 [[ 9.87054746e-01 1.60262285e-01 6.23931381e-03 1.04599057e+02] [-1.60259358e-01 9.87074464e-01 -9.69568920e-04 -7.42449428e+00] [-6.31405267e-03 -4.28908201e-05 9.99980065e-01 4.86002280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.63, Y:-7.43, Z:0.48 [[ 9.86937239e-01 1.60924008e-01 7.63877031e-03 1.04630013e+02] [-1.60919640e-01 9.86966798e-01 -1.18706594e-03 -7.42793339e+00] [-7.73024008e-03 -5.76685852e-05 9.99970120e-01 4.83452649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.66, Y:-7.43, Z:0.48 [[ 9.86892833e-01 1.61275849e-01 5.71291121e-03 1.04662158e+02] [-1.61273405e-01 9.86909367e-01 -8.88988001e-04 -7.43156103e+00] [-5.78149788e-03 -4.40047580e-05 9.99983286e-01 4.84582448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.69, Y:-7.43, Z:0.49 [[ 9.87153721e-01 1.59658665e-01 6.05330025e-03 1.04693442e+02] [-1.59655890e-01 9.87172279e-01 -9.41991690e-04 -7.43349027e+00] [-6.12604734e-03 -3.65544402e-05 9.99981235e-01 4.89396549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.72, Y:-7.44, Z:0.49 [[ 9.87257003e-01 1.58995693e-01 6.63167004e-03 1.04724102e+02] [-1.58992345e-01 9.87279276e-01 -1.03240838e-03 -7.43748848e+00] [-6.71145888e-03 -3.51323686e-05 9.99977477e-01 4.90481234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.75, Y:-7.44, Z:0.49 [[ 9.87374400e-01 1.58287778e-01 6.06412317e-03 1.04754886e+02] [-1.58284962e-01 9.87393021e-01 -9.44494498e-04 -7.44332248e+00] [-6.13717484e-03 -2.72898206e-05 9.99981167e-01 4.89394697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.79, Y:-7.45, Z:0.49 [[ 9.87482696e-01 1.57519965e-01 8.08611893e-03 1.04785132e+02] [-1.57514929e-01 9.87515802e-01 -1.25986519e-03 -7.45059342e+00] [-8.18362414e-03 -2.95893743e-05 9.99966513e-01 4.85993985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.82, Y:-7.46, Z:0.48 [[ 9.87663049e-01 1.56319537e-01 9.26844068e-03 1.04816835e+02] [-1.56312854e-01 9.87706536e-01 -1.44563417e-03 -7.45716473e+00] [-9.38048031e-03 -2.09769597e-05 9.99956002e-01 4.83630640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.85, Y:-7.46, Z:0.48 [[ 9.87709286e-01 1.55869294e-01 1.16245208e-02 1.04848739e+02] [-1.55858725e-01 9.87777689e-01 -1.81525866e-03 -7.46125251e+00] [-1.17653854e-02 -1.88351494e-05 9.99930785e-01 4.83966954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.88, Y:-7.46, Z:0.49 [[ 9.87944503e-01 1.54319580e-01 1.22933530e-02 1.04881049e+02] [-1.54307621e-01 9.88020985e-01 -1.92115164e-03 -7.46142739e+00] [-1.24425620e-02 1.03316031e-06 9.99922588e-01 4.86528551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.91, Y:-7.47, Z:0.49 [[ 9.88110095e-01 1.53380473e-01 1.06241003e-02 1.04912322e+02] [-1.53371471e-01 9.88167208e-01 -1.66179762e-03 -7.46685175e+00] [-1.07532748e-02 1.26051122e-05 9.99942182e-01 4.87555355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.94, Y:-7.47, Z:0.49 [[ 9.88280519e-01 1.52355418e-01 9.45741044e-03 1.04943749e+02] [-1.52348224e-01 9.88325769e-01 -1.48066253e-03 -7.47407504e+00] [-9.57258941e-03 2.24902504e-05 9.99954181e-01 4.87452182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.97, Y:-7.48, Z:0.49 [[ 9.87719228e-01 1.55892480e-01 1.04048569e-02 1.04974921e+02] [-1.55883950e-01 9.87774030e-01 -1.63084392e-03 -7.48463872e+00] [-1.05318837e-02 -1.11342869e-05 9.99944538e-01 4.86536274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.01, Y:-7.49, Z:0.49 [[ 9.87180243e-01 1.59227660e-01 1.10326813e-02 1.05006771e+02] [-1.59218263e-01 9.87241890e-01 -1.73054397e-03 -7.49111736e+00] [-1.11674756e-02 -4.82455493e-05 9.99937641e-01 4.87727712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.04, Y:-7.50, Z:0.49 [[ 9.86688855e-01 1.62247523e-01 1.09929155e-02 1.05037918e+02] [-1.62238365e-01 9.86750087e-01 -1.72579552e-03 -7.49715191e+00] [-1.11272664e-02 -8.06494214e-05 9.99938087e-01 4.89775433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.07, Y:-7.50, Z:0.49 [[ 9.86101086e-01 1.65851226e-01 9.90047500e-03 1.05070007e+02] [-1.65843964e-01 9.86150779e-01 -1.55571353e-03 -7.50304063e+00] [-1.00213781e-02 -1.07843217e-04 9.99949779e-01 4.92186256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.10, Y:-7.51, Z:0.49 [[ 9.85727850e-01 1.68034279e-01 1.02512336e-02 1.05101393e+02] [-1.68026597e-01 9.85781144e-01 -1.61221860e-03 -7.50823317e+00] [-1.03763807e-02 -1.33271114e-04 9.99946155e-01 4.92878450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.13, Y:-7.51, Z:0.49 [[ 9.85189639e-01 1.71271107e-01 8.22094533e-03 1.05132926e+02] [-1.71266269e-01 9.85223929e-01 -1.29418453e-03 -7.51473962e+00] [-8.32112847e-03 -1.32953442e-04 9.99965370e-01 4.92611136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.16, Y:-7.53, Z:0.49 [[ 9.84083502e-01 1.77490483e-01 8.76298276e-03 1.05163394e+02] [-1.77485226e-01 9.84122497e-01 -1.38019798e-03 -7.52576835e+00] [-8.86882049e-03 -1.97069911e-04 9.99960652e-01 4.88317014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.20, Y:-7.53, Z:0.49 [[ 9.83762267e-01 1.79291883e-01 8.13768696e-03 1.05195207e+02] [-1.79287400e-01 9.83795905e-01 -1.28300294e-03 -7.53330719e+00] [-8.23585512e-03 -1.96814858e-04 9.99966065e-01 4.87107532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.23, Y:-7.54, Z:0.49 [[ 9.83444123e-01 1.81080322e-01 6.89735909e-03 1.05226051e+02] [-1.81077129e-01 9.83468294e-01 -1.08980852e-03 -7.54098044e+00] [-6.98067686e-03 -1.77188199e-04 9.99975619e-01 4.87825104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.26, Y:-7.55, Z:0.49 [[ 9.83171906e-01 1.82571868e-01 6.36526926e-03 1.05257702e+02] [-1.82569178e-01 9.83192495e-01 -1.00611997e-03 -7.54751190e+00] [-6.44197417e-03 -1.72913087e-04 9.99979235e-01 4.89792487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.29, Y:-7.55, Z:0.49 [[ 9.82522863e-01 1.85971342e-01 7.96761311e-03 1.05289645e+02] [-1.85967231e-01 9.82555139e-01 -1.26028156e-03 -7.55163846e+00] [-8.06299546e-03 -2.43459500e-04 9.99967464e-01 4.93989659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.32, Y:-7.56, Z:0.49 [[ 9.82173653e-01 1.87772343e-01 8.74423615e-03 1.05321634e+02] [-1.87767453e-01 9.82212537e-01 -1.38421357e-03 -7.55540388e+00] [-8.84861540e-03 -2.82344856e-04 9.99960810e-01 4.94327320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.35, Y:-7.56, Z:0.49 [[ 9.81971022e-01 1.88873395e-01 7.72996797e-03 1.05353844e+02] [-1.88869600e-01 9.82001413e-01 -1.22474047e-03 -7.55967686e+00] [-7.82216036e-03 -2.57296307e-04 9.99969373e-01 4.93366832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.39, Y:-7.57, Z:0.49 [[ 9.81210809e-01 1.92830189e-01 6.47042427e-03 1.05385061e+02] [-1.92827611e-01 9.81232113e-01 -1.02576065e-03 -7.56608605e+00] [-6.54678570e-03 -2.41189014e-04 9.99978540e-01 4.88896611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.42, Y:-7.57, Z:0.49 [[ 9.80765058e-01 1.95105002e-01 5.82579289e-03 1.05417332e+02] [-1.95102947e-01 9.80782333e-01 -9.24530888e-04 -7.57038702e+00] [-5.89421534e-03 -2.29881769e-04 9.99982603e-01 4.89318234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.45, Y:-7.57, Z:0.49 [[ 9.80431401e-01 1.96773628e-01 5.86577497e-03 1.05449492e+02] [-1.96771570e-01 9.80448918e-01 -9.31628578e-04 -7.57223212e+00] [-5.93441266e-03 -2.40819837e-04 9.99982362e-01 4.91310624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.48, Y:-7.57, Z:0.49 [[ 9.80240194e-01 1.97701908e-01 6.56635332e-03 1.05483241e+02] [-1.97699344e-01 9.80262149e-01 -1.04366867e-03 -7.56533872e+00] [-6.64308290e-03 -2.75117766e-04 9.99977897e-01 4.93062339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.52, Y:-7.57, Z:0.49 [[ 9.80134635e-01 1.98210672e-01 6.97325407e-03 1.05515383e+02] [-1.98207788e-01 9.80159397e-01 -1.10920957e-03 -7.56610851e+00] [-7.05475768e-03 -2.94978548e-04 9.99975071e-01 4.91839317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.55, Y:-7.57, Z:0.49 [[ 9.80184395e-01 1.97919074e-01 8.16032186e-03 1.05547584e+02] [-1.97915107e-01 9.80218304e-01 -1.29898121e-03 -7.56889967e+00] [-8.25599001e-03 -3.41809856e-04 9.99965860e-01 4.90955253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.58, Y:-7.57, Z:0.49 [[ 9.80386396e-01 1.96919958e-01 8.06507590e-03 1.05580175e+02] [-1.96916034e-01 9.80419514e-01 -1.28556640e-03 -7.57208292e+00] [-8.16031148e-03 -3.27790948e-04 9.99966650e-01 4.90043779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.61, Y:-7.57, Z:0.49 [[ 9.81520712e-01 1.91213544e-01 7.38060596e-03 1.05611856e+02] [-1.91210097e-01 9.81548427e-01 -1.17644412e-03 -7.57110418e+00] [-7.46937422e-03 -2.56542105e-04 9.99972071e-01 4.90711772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.64, Y:-7.58, Z:0.49 [[ 9.81508481e-01 1.91276315e-01 7.38053099e-03 1.05642332e+02] [-1.91272866e-01 9.81536197e-01 -1.17691446e-03 -7.57594635e+00] [-7.46937417e-03 -2.56543790e-04 9.99972071e-01 4.90867276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.67, Y:-7.58, Z:0.49 [[ 9.82093231e-01 1.88258971e-01 7.17249724e-03 1.05673529e+02] [-1.88255630e-01 9.82119396e-01 -1.14422445e-03 -7.57843527e+00] [-7.25965918e-03 -2.26527901e-04 9.99973623e-01 4.91335279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.70, Y:-7.58, Z:0.49 [[ 9.82899758e-01 1.83964787e-01 8.06372738e-03 1.05704521e+02] [-1.83960416e-01 9.82932810e-01 -1.28689959e-03 -7.58114254e+00] [-8.16284642e-03 -2.18513348e-04 9.99966660e-01 4.92168306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.74, Y:-7.58, Z:0.49 [[ 9.83401862e-01 1.81166192e-01 9.97942375e-03 1.05735333e+02] [-1.81159347e-01 9.83452466e-01 -1.59322300e-03 -7.58447324e+00] [-1.01029270e-02 -2.41087423e-04 9.99948935e-01 4.93160228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.77, Y:-7.59, Z:0.49 [[ 9.83927444e-01 1.78290104e-01 9.97113248e-03 1.05767097e+02] [-1.78283105e-01 9.83977944e-01 -1.59359767e-03 -7.58766428e+00] [-1.00954971e-02 -2.09699980e-04 9.99949017e-01 4.93744680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.80, Y:-7.59, Z:0.49 [[ 9.84453464e-01 1.75478527e-01 7.65927757e-03 1.05799278e+02] [-1.75474310e-01 9.84483249e-01 -1.22445257e-03 -7.58722441e+00] [-7.75529560e-03 -1.38589877e-04 9.99969918e-01 4.94567736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.83, Y:-7.59, Z:0.49 [[ 9.84308971e-01 1.76287538e-01 7.65209324e-03 1.05830452e+02] [-1.76283349e-01 9.84338704e-01 -1.22382911e-03 -7.59136551e+00] [-7.74799736e-03 -1.44310653e-04 9.99969973e-01 4.93678195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.86, Y:-7.60, Z:0.49 [[ 9.84061975e-01 1.77710613e-01 6.40057320e-03 1.05860801e+02] [-1.77707714e-01 9.84082782e-01 -1.02338431e-03 -7.59540207e+00] [-6.48056013e-03 -1.30357641e-04 9.99978992e-01 4.93326699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.89, Y:-7.60, Z:0.49 [[ 9.83919492e-01 1.78505660e-01 6.17756965e-03 1.05890637e+02] [-1.78502980e-01 9.83938876e-01 -9.86967345e-04 -7.59931623e+00] [-6.25453020e-03 -1.31618186e-04 9.99980432e-01 4.93675254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.92, Y:-7.60, Z:0.49 [[ 9.83744440e-01 1.79512771e-01 4.69493897e-03 1.05920598e+02] [-1.79511236e-01 9.83755637e-01 -7.49694456e-04 -7.60267991e+00] [-4.75325241e-03 -1.05286546e-04 9.99988698e-01 4.94572420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.95, Y:-7.61, Z:0.50 [[ 9.84201645e-01 1.77016374e-01 3.51059555e-03 1.05949461e+02] [-1.77015513e-01 9.84207904e-01 -5.57052665e-04 -7.60730841e+00] [-3.55376333e-03 -7.31777219e-05 9.99993683e-01 4.95949169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.98, Y:-7.61, Z:0.50 [[ 9.84635410e-01 1.74596555e-01 3.02524490e-03 1.05978030e+02] [-1.74595910e-01 9.84640056e-01 -4.78105312e-04 -7.61312320e+00] [-3.06225285e-03 -5.74359659e-05 9.99995310e-01 4.96493783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.01, Y:-7.62, Z:0.50 [[ 9.85025333e-01 1.72313942e-01 5.74436939e-03 1.06005340e+02] [-1.72311585e-01 9.85042078e-01 -9.06492882e-04 -7.61796423e+00] [-5.81464692e-03 -9.69029400e-05 9.99983090e-01 4.96172498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.03, Y:-7.62, Z:0.50 [[ 9.85426179e-01 1.69869474e-01 8.92235225e-03 1.06034974e+02] [-1.69863658e-01 9.85466563e-01 -1.41128275e-03 -7.62048142e+00] [-9.03241366e-03 -1.24868420e-04 9.99959199e-01 4.95766127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.07, Y:-7.62, Z:0.49 [[ 9.86231885e-01 1.65118410e-01 9.08731796e-03 1.06066228e+02] [-1.65112172e-01 9.86273747e-01 -1.43772233e-03 -7.61841691e+00] [-9.19997756e-03 -8.24991935e-05 9.99957676e-01 4.93090384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.10, Y:-7.62, Z:0.49 [[ 9.86564602e-01 1.63226028e-01 6.89560080e-03 1.06096324e+02] [-1.63222389e-01 9.86588699e-01 -1.09096648e-03 -7.62339615e+00] [-6.98119595e-03 -4.92075272e-05 9.99975630e-01 4.92120702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.13, Y:-7.63, Z:0.49 [[ 9.86664777e-01 1.62648279e-01 6.17705318e-03 1.06125432e+02] [-1.62645353e-01 9.86684111e-01 -9.76526799e-04 -7.63227381e+00] [-6.25363063e-03 -4.11643996e-05 9.99980445e-01 4.92891370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.15, Y:-7.64, Z:0.49 [[ 9.86649247e-01 1.62742851e-01 6.16660860e-03 1.06154829e+02] [-1.62739939e-01 9.86668517e-01 -9.74455911e-04 -7.63538925e+00] [-6.24298430e-03 -4.21073155e-05 9.99980511e-01 4.94815876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.18, Y:-7.64, Z:0.50 [[ 9.86742395e-01 1.62115749e-01 7.61116483e-03 1.06184323e+02] [-1.62111297e-01 9.86771748e-01 -1.20228543e-03 -7.63740025e+00] [-7.70539183e-03 -4.75097981e-05 9.99970312e-01 4.95433012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.21, Y:-7.64, Z:0.50 [[ 9.86927962e-01 1.60993434e-01 7.36963620e-03 1.06214069e+02] [-1.60989233e-01 9.86955477e-01 -1.16361942e-03 -7.64098650e+00] [-7.46083789e-03 -3.80235336e-05 9.99972167e-01 4.96261835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.24, Y:-7.65, Z:0.50 [[ 9.87161269e-01 1.59450121e-01 9.39613224e-03 1.06243095e+02] [-1.59443227e-01 9.87205986e-01 -1.48304135e-03 -7.64702931e+00] [-9.51238911e-03 -3.41486636e-05 9.99954756e-01 4.95846367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.27, Y:-7.66, Z:0.50 [[ 9.87512944e-01 1.57144961e-01 1.11196426e-02 1.06273485e+02] [-1.57135144e-01 9.87575547e-01 -1.75656507e-03 -7.65690607e+00] [-1.12575225e-02 -1.26558999e-05 9.99936632e-01 4.96657756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.30, Y:-7.66, Z:0.50 [[ 9.87582141e-01 1.56624948e-01 1.22531585e-02 1.06304639e+02] [-1.56612978e-01 9.87658152e-01 -1.93641510e-03 -7.66256633e+00] [-1.24052228e-02 -6.63467582e-06 9.99923052e-01 4.96889363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.34, Y:-7.67, Z:0.50 [[ 9.87599714e-01 1.56576769e-01 1.14245187e-02 1.06336069e+02] [-1.56566337e-01 9.87665791e-01 -1.80736528e-03 -7.66764507e+00] [-1.15665977e-02 -3.74160930e-06 9.99933105e-01 4.97890610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.37, Y:-7.67, Z:0.50 [[ 9.87716472e-01 1.55887748e-01 1.07322140e-02 1.06367793e+02] [-1.55878486e-01 9.87774777e-01 -1.69933848e-03 -7.67347047e+00] [-1.08659163e-02 5.54334155e-06 9.99940964e-01 4.97375850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.40, Y:-7.68, Z:0.50 [[ 9.87866086e-01 1.55054764e-01 8.86663865e-03 1.06399198e+02] [-1.55048396e-01 9.87905876e-01 -1.40524896e-03 -7.68130937e+00] [-8.97729497e-03 1.34396860e-05 9.99959703e-01 4.97171407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.43, Y:-7.69, Z:0.50 [[ 9.88186062e-01 1.53103834e-01 6.89369791e-03 1.06429021e+02] [-1.53099936e-01 9.88210107e-01 -1.09283997e-03 -7.69253932e+00] [-6.97973993e-03 2.45045172e-05 9.99975641e-01 4.99702626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.46, Y:-7.70, Z:0.50 [[ 9.88331510e-01 1.52216844e-01 5.55505119e-03 1.06459843e+02] [-1.52214296e-01 9.88347121e-01 -8.81067744e-04 -7.69849092e+00] [-5.62443220e-03 2.52288091e-05 9.99984182e-01 5.02123919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.602320588 meters Centerline goodness [0,1] 0.9999508091888435 Centerline is valid? [True, True] Translation: X:106.49, Y:-7.70, Z:0.50 [[ 9.88353176e-01 1.52041068e-01 6.44298932e-03 1.06489927e+02] [-1.52037640e-01 9.88374176e-01 -1.02151175e-03 -7.70435239e+00] [-6.52339600e-03 3.00374921e-05 9.99978722e-01 5.02131092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.52, Y:-7.71, Z:0.50 [[ 9.88400863e-01 1.51758475e-01 5.75323958e-03 1.06520070e+02] [-1.51755732e-01 9.88417606e-01 -9.12875622e-04 -7.71229369e+00] [-5.82513991e-03 2.91999685e-05 9.99983033e-01 5.01384399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.55, Y:-7.73, Z:0.50 [[ 9.88568433e-01 1.50687920e-01 5.06006449e-03 1.06549520e+02] [-1.50685783e-01 9.88581382e-01 -8.03268145e-04 -7.72786775e+00] [-5.12332836e-03 3.16057532e-05 9.99986875e-01 4.98617801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.58, Y:-7.74, Z:0.50 [[ 9.88777430e-01 1.49278130e-01 5.93575994e-03 1.06579790e+02] [-1.49275161e-01 9.88795246e-01 -9.42623102e-04 -7.73537837e+00] [-6.00996422e-03 4.59829291e-05 9.99981939e-01 4.98570041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.61, Y:-7.74, Z:0.50 [[ 9.88930776e-01 1.48302886e-01 4.70901796e-03 1.06610432e+02] [-1.48301004e-01 9.88941986e-01 -7.48192729e-04 -7.74141357e+00] [-4.76790472e-03 4.15587232e-05 9.99988633e-01 4.99970490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.64, Y:-7.75, Z:0.50 [[ 9.89059981e-01 1.47463351e-01 3.86183870e-03 1.06640768e+02] [-1.47462078e-01 9.89067520e-01 -6.13906616e-04 -7.74790521e+00] [-3.91014795e-03 3.77157060e-05 9.99992355e-01 5.00490388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.67, Y:-7.76, Z:0.50 [[ 9.89310563e-01 1.45807861e-01 2.16293317e-03 1.06670961e+02] [-1.45807456e-01 9.89312927e-01 -3.44612230e-04 -7.76154034e+00] [-2.19006492e-03 2.55567361e-05 9.99997601e-01 5.02240000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.70, Y:-7.77, Z:0.50 [[ 9.89617530e-01 1.43706052e-01 2.39051132e-03 1.06700934e+02] [-1.43705552e-01 9.89620417e-01 -3.80620162e-04 -7.77059586e+00] [-2.42039623e-03 3.31386361e-05 9.99997070e-01 5.01136581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.73, Y:-7.78, Z:0.50 [[ 9.89914499e-01 1.41642902e-01 2.56367090e-03 1.06731264e+02] [-1.41642319e-01 9.89917818e-01 -4.08332156e-04 -7.77907048e+00] [-2.59566086e-03 4.10896297e-05 9.99996630e-01 5.00152830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.76, Y:-7.79, Z:0.50 [[ 9.90381262e-01 1.38351840e-01 1.92973582e-03 1.06761634e+02] [-1.38351503e-01 9.90383141e-01 -3.07567848e-04 -7.78730496e+00] [-1.95373040e-03 3.76275817e-05 9.99998091e-01 5.00423116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.79, Y:-7.80, Z:0.50 [[ 9.90462213e-01 1.37729781e-01 3.88743173e-03 1.06792205e+02] [-1.37728408e-01 9.90469839e-01 -6.20109210e-04 -7.79755335e+00] [-3.93579139e-03 7.87849573e-05 9.99992252e-01 5.00332740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.82, Y:-7.81, Z:0.50 [[ 9.90595220e-01 1.36611297e-01 7.64612304e-03 1.06821907e+02] [-1.36605947e-01 9.90624715e-01 -1.22005381e-03 -7.81328980e+00] [-7.74111159e-03 1.64073596e-04 9.99970024e-01 5.03236550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.85, Y:-7.82, Z:0.50 [[ 9.90375277e-01 1.38138484e-01 8.63540718e-03 1.06852947e+02] [-1.38131710e-01 9.90412908e-01 -1.37896891e-03 -7.82228852e+00] [-8.74310742e-03 1.72873158e-04 9.99961763e-01 5.03489448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.88, Y:-7.83, Z:0.50 [[ 9.90137253e-01 1.39890075e-01 7.68030268e-03 1.06884517e+02] [-1.39884760e-01 9.90167030e-01 -1.22754496e-03 -7.82957773e+00] [-7.77650385e-03 1.41080693e-04 9.99969753e-01 5.03286759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.92, Y:-7.84, Z:0.50 [[ 9.89409155e-01 1.45130622e-01 2.57430871e-03 1.06915226e+02] [-1.45130040e-01 9.89412503e-01 -4.12245585e-04 -7.83937303e+00] [-2.60688269e-03 3.42700285e-05 9.99996601e-01 5.00682191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.95, Y:-7.85, Z:0.50 [[ 9.89132007e-01 1.47029925e-01 2.71370508e-04 1.06945941e+02] [-1.47029919e-01 9.89132044e-01 -4.40968565e-05 -7.84900283e+00] [-2.74904823e-04 3.71802847e-06 9.99999962e-01 5.00673037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.082320588 meters Centerline goodness [0,1] 0.9999507122085859 Centerline is valid? [True, True] Translation: X:106.98, Y:-7.86, Z:0.50 [[ 9.89131600e-01 1.47032224e-01 4.50514325e-04 1.06977000e+02] [-1.47032206e-01 9.89131703e-01 -7.28314524e-05 -7.86001811e+00] [-4.56326571e-04 5.79977621e-06 9.99999896e-01 5.01704526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.112320588 meters Centerline goodness [0,1] 0.999950818865883 Centerline is valid? [True, True] Translation: X:107.01, Y:-7.87, Z:0.50 [[ 9.89144080e-01 1.46928121e-01 2.47305033e-03 1.07007399e+02] [-1.46927587e-01 9.89147171e-01 -3.97069087e-04 -7.87098536e+00] [-2.50455135e-03 2.93992195e-05 9.99996863e-01 5.04222776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.04, Y:-7.88, Z:0.51 [[ 9.89280500e-01 1.45748357e-01 9.02826987e-03 1.07037912e+02] [-1.45741206e-01 9.89321688e-01 -1.44853043e-03 -7.88082232e+00] [-9.14298412e-03 1.17211971e-04 9.99958195e-01 5.08470996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.172320588 meters Centerline goodness [0,1] 0.9999508430418326 Centerline is valid? [True, True] Translation: X:107.07, Y:-7.89, Z:0.51 [[ 9.89075169e-01 1.46984792e-01 1.12152490e-02 1.07069608e+02] [-1.46973818e-01 9.89138743e-01 -1.80098753e-03 -7.88563458e+00] [-1.13581551e-02 1.32964076e-04 9.99935485e-01 5.07371746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.10, Y:-7.89, Z:0.51 [[ 9.88775591e-01 1.49049389e-01 1.03494231e-02 1.07101533e+02] [-1.49040137e-01 9.88829747e-01 -1.66390512e-03 -7.89062020e+00] [-1.04818214e-02 1.02749342e-04 9.99945059e-01 5.06329210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.13, Y:-7.90, Z:0.50 [[ 9.88323878e-01 1.51981073e-01 1.08473501e-02 1.07132900e+02] [-1.51971072e-01 9.88383401e-01 -1.74525484e-03 -7.89671188e+00] [-1.09865865e-02 7.63936047e-05 9.99939643e-01 5.02648492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.16, Y:-7.90, Z:0.50 [[ 9.87970607e-01 1.54420327e-01 8.27301051e-03 1.07164558e+02] [-1.54414584e-01 9.88005243e-01 -1.33235467e-03 -7.90403828e+00] [-8.37952040e-03 3.88537739e-05 9.99964890e-01 5.01376178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.19, Y:-7.92, Z:0.50 [[ 9.87486267e-01 1.57550315e-01 6.98367077e-03 1.07194955e+02] [-1.57546293e-01 9.87510961e-01 -1.12579397e-03 -7.91769491e+00] [-7.07382063e-03 1.14546471e-05 9.99974980e-01 5.01606297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.23, Y:-7.93, Z:0.50 [[ 9.87335489e-01 1.58513814e-01 6.48102790e-03 1.07226948e+02] [-1.58510360e-01 9.87356760e-01 -1.04652792e-03 -7.92795402e+00] [-6.56497583e-03 5.96408870e-06 9.99978450e-01 5.03946315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.26, Y:-7.94, Z:0.51 [[ 9.87159061e-01 1.59583544e-01 7.07671274e-03 1.07258866e+02] [-1.59579443e-01 9.87184427e-01 -1.14412280e-03 -7.93761068e+00] [-7.16860378e-03 1.33313694e-07 9.99974305e-01 5.05431762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.29, Y:-7.95, Z:0.51 [[ 9.86985371e-01 1.60657882e-01 6.99447373e-03 1.07291170e+02] [-1.60653892e-01 9.87010154e-01 -1.13231004e-03 -7.94572961e+00] [-7.08553113e-03 -6.11597690e-06 9.99974897e-01 5.08138522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.32, Y:-7.95, Z:0.51 [[ 9.86675939e-01 1.62490448e-01 8.21250584e-03 1.07322893e+02] [-1.62485006e-01 9.86710116e-01 -1.33008871e-03 -7.95126761e+00] [-8.31948930e-03 -2.20425355e-05 9.99965392e-01 5.08044783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.36, Y:-7.95, Z:0.50 [[ 9.85591398e-01 1.68949252e-01 8.10847146e-03 1.07355592e+02] [-1.68944155e-01 9.85624749e-01 -1.31436625e-03 -7.95343017e+00] [-8.21397134e-03 -7.44507889e-05 9.99966262e-01 5.03072823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.39, Y:-7.96, Z:0.50 [[ 9.84880110e-01 1.73115451e-01 6.49681731e-03 1.07387561e+02] [-1.73112263e-01 9.84901535e-01 -1.05413079e-03 -7.95814703e+00] [-6.58121167e-03 -8.64862940e-05 9.99978340e-01 5.02585892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.42, Y:-7.97, Z:0.50 [[ 9.83261720e-01 1.82043937e-01 7.50965405e-03 1.07418187e+02] [-1.82039902e-01 9.83290383e-01 -1.22315301e-03 -7.96698585e+00] [-7.60683820e-03 -1.64377161e-04 9.99971054e-01 5.03773586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.45, Y:-7.97, Z:0.51 [[ 9.82879585e-01 1.84093435e-01 7.57156509e-03 1.07449453e+02] [-1.84089366e-01 9.82908732e-01 -1.23686545e-03 -7.97465773e+00] [-7.66985625e-03 -1.78154822e-04 9.99970570e-01 5.05230855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.48, Y:-7.98, Z:0.51 [[ 9.82514012e-01 1.86067510e-01 6.71548370e-03 1.07480956e+02] [-1.86064333e-01 9.82536948e-01 -1.10030886e-03 -7.98119966e+00] [-6.80294258e-03 -1.68443124e-04 9.99976846e-01 5.06499429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.51, Y:-7.99, Z:0.51 [[ 9.82408516e-01 1.86665106e-01 5.44472811e-03 1.07513482e+02] [-1.86663007e-01 9.82423595e-01 -8.95709204e-04 -7.98759578e+00] [-5.51622702e-03 -1.36376970e-04 9.99984776e-01 5.06402846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.55, Y:-7.99, Z:0.51 [[ 9.82531902e-01 1.86034638e-01 4.70900946e-03 1.07545263e+02] [-1.86033050e-01 9.82543180e-01 -7.76898008e-04 -7.99358030e+00] [-4.77133507e-03 -1.12704316e-04 9.99988611e-01 5.06248896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.58, Y:-8.00, Z:0.51 [[ 9.82297150e-01 1.87257365e-01 5.19512687e-03 1.07577171e+02] [-1.87255434e-01 9.82310879e-01 -8.59954537e-04 -7.99989375e+00] [-5.26426246e-03 -1.28084844e-04 9.99986135e-01 5.06353377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.61, Y:-8.00, Z:0.51 [[ 9.82200902e-01 1.87761558e-01 5.19468776e-03 1.07609277e+02] [-1.87759620e-01 9.82214631e-01 -8.62607066e-04 -8.00489479e+00] [-5.26426277e-03 -1.28099162e-04 9.99986135e-01 5.06517326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.64, Y:-8.01, Z:0.51 [[ 9.81739811e-01 1.90160717e-01 5.08391508e-03 1.07641394e+02] [-1.90158882e-01 9.81752965e-01 -8.46267054e-04 -8.00926478e+00] [-5.15207545e-03 -1.35937550e-04 9.99986719e-01 5.08073975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.742320588 meters Centerline goodness [0,1] 0.9999508091888435 Centerline is valid? [True, True] Translation: X:107.67, Y:-8.01, Z:0.51 [[ 9.81210653e-01 1.92887822e-01 4.46564212e-03 1.07673645e+02] [-1.92886424e-01 9.81220807e-01 -7.45649926e-04 -8.01261284e+00] [-4.52560776e-03 -1.29722089e-04 9.99989751e-01 5.08764638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.71, Y:-8.02, Z:0.51 [[ 9.80569520e-01 1.96171905e-01 -1.33850097e-05 1.07705654e+02] [-1.96171905e-01 9.80569520e-01 -1.85668246e-08 -8.01632752e+00] [ 1.31212904e-05 2.64396892e-06 1.00000000e+00 5.09775093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.74, Y:-8.02, Z:0.51 [[ 9.80310004e-01 1.97464654e-01 8.68067451e-05 1.07737141e+02] [-1.97464653e-01 9.80310007e-01 -1.51437498e-05 -8.02259584e+00] [-8.80878761e-05 -2.29569439e-06 9.99999996e-01 5.08782249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.77, Y:-8.03, Z:0.51 [[ 9.80196577e-01 1.98023074e-01 1.23811564e-03 1.07768582e+02] [-1.98022969e-01 9.80197358e-01 -2.07631066e-04 -8.02759518e+00] [-1.25471342e-03 -4.16560749e-05 9.99999212e-01 5.08342793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.80, Y:-8.03, Z:0.51 [[ 9.80047872e-01 1.98740451e-01 2.89865283e-03 1.07800221e+02] [-1.98739876e-01 9.80052154e-01 -4.87876866e-04 -8.03040044e+00] [-2.93779182e-03 -9.79352196e-05 9.99995680e-01 5.09229079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.83, Y:-8.03, Z:0.51 [[ 9.80142684e-01 1.98208471e-01 5.80695186e-03 1.07832995e+02] [-1.98206167e-01 9.80159867e-01 -9.75330110e-04 -8.03198820e+00] [-5.88505985e-03 -1.95010997e-04 9.99982664e-01 5.09582872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.87, Y:-8.03, Z:0.51 [[ 9.80238807e-01 1.97759290e-01 4.81097160e-03 1.07865494e+02] [-1.97757686e-01 9.80250600e-01 -8.11638277e-04 -8.03316316e+00] [-4.87646681e-03 -1.55807274e-04 9.99988098e-01 5.10472079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.90, Y:-8.04, Z:0.51 [[ 9.80785909e-01 1.95055527e-01 3.51315249e-03 1.07897242e+02] [-1.95054646e-01 9.80792196e-01 -5.94908195e-04 -8.03645996e+00] [-3.56171267e-03 -1.01779141e-04 9.99993652e-01 5.08308355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.93, Y:-8.04, Z:0.51 [[ 9.81248085e-01 1.92718644e-01 3.42341164e-03 1.07929269e+02] [-1.92717798e-01 9.81254053e-01 -5.78615764e-04 -8.04154254e+00] [-3.47074659e-03 -9.19867421e-05 9.99993973e-01 5.08127308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.012320588 meters Centerline goodness [0,1] 0.9999016135379771 Centerline is valid? [True, True] Translation: X:107.96, Y:-8.05, Z:0.51 [[ 9.81602875e-01 1.90862880e-01 5.21126526e-03 1.07960769e+02] [-1.90860890e-01 9.81616699e-01 -8.81150829e-04 -8.04579891e+00] [-5.28364399e-03 -1.29686539e-04 9.99986033e-01 5.08621448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.99, Y:-8.05, Z:0.51 [[ 9.82837978e-01 1.84409725e-01 4.75001679e-03 1.07993220e+02] [-1.84407992e-01 9.82849452e-01 -8.04186136e-04 -8.04869409e+00] [-4.81685115e-03 -8.55563804e-05 9.99988395e-01 5.09681899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.02, Y:-8.05, Z:0.51 [[ 9.83561309e-01 1.80509939e-01 4.82844814e-03 1.08024819e+02] [-1.80508098e-01 9.83573158e-01 -8.17950719e-04 -8.05390936e+00] [-4.89678022e-03 -6.70693111e-05 9.99988008e-01 5.09215581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.06, Y:-8.06, Z:0.51 [[ 9.84197976e-01 1.77029776e-01 3.84731040e-03 1.08057035e+02] [-1.77028577e-01 9.84205495e-01 -6.52719697e-04 -8.05947549e+00] [-3.90209485e-03 -3.86784812e-05 9.99992386e-01 5.09094694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.09, Y:-8.06, Z:0.51 [[ 9.84661652e-01 1.74437526e-01 3.60274575e-03 1.08089156e+02] [-1.74436455e-01 9.84668243e-01 -6.11919895e-04 -8.06451256e+00] [-3.65425112e-03 -2.59161428e-05 9.99993323e-01 5.09056456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.12, Y:-8.07, Z:0.51 [[ 9.84807756e-01 1.73605499e-01 3.84891897e-03 1.08121871e+02] [-1.73604266e-01 9.84815277e-01 -6.54697276e-04 -8.06934313e+00] [-3.90413325e-03 -2.34377975e-05 9.99992379e-01 5.09188268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.15, Y:-8.07, Z:0.51 [[ 9.85065477e-01 1.72133105e-01 4.02489667e-03 1.08153327e+02] [-1.72131744e-01 9.85073700e-01 -6.84766569e-04 -8.07393669e+00] [-4.08269085e-03 -1.82725763e-05 9.99991666e-01 5.12858115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.19, Y:-8.08, Z:0.51 [[ 9.84992877e-01 1.72551027e-01 3.89556450e-03 1.08185128e+02] [-1.72549751e-01 9.85000580e-01 -6.63956708e-04 -8.08242389e+00] [-3.95169970e-03 -1.81860540e-05 9.99992192e-01 5.13630728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.22, Y:-8.09, Z:0.51 [[ 9.85004391e-01 1.72506384e-01 2.81013465e-03 1.08216104e+02] [-1.72505719e-01 9.85008400e-01 -4.79281858e-04 -8.09188808e+00] [-2.85068542e-03 -1.26695633e-05 9.99995937e-01 5.14662706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.25, Y:-8.10, Z:0.51 [[ 9.84881853e-01 1.73177885e-01 4.14198432e-03 1.08247498e+02] [-1.73176444e-01 9.84890562e-01 -7.06691335e-04 -8.10168970e+00] [-4.20178457e-03 -2.12866450e-05 9.99991172e-01 5.13370972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.28, Y:-8.11, Z:0.51 [[ 9.84770793e-01 1.73758346e-01 5.87561169e-03 1.08279129e+02] [-1.73755455e-01 9.84788320e-01 -1.00299633e-03 -8.10949430e+00] [-5.96051275e-03 -3.31980853e-05 9.99982235e-01 5.13208032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.31, Y:-8.11, Z:0.51 [[ 9.84778953e-01 1.73647543e-01 7.54615422e-03 1.08310871e+02] [-1.73642763e-01 9.84807864e-01 -1.28901925e-03 -8.11409749e+00] [-7.65534704e-03 -4.09360432e-05 9.99970697e-01 5.12250708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.34, Y:-8.12, Z:0.51 [[ 9.84731979e-01 1.73911686e-01 7.59309580e-03 1.08343206e+02] [-1.73906839e-01 9.84761252e-01 -1.29896131e-03 -8.12006700e+00] [-7.70329108e-03 -4.13625479e-05 9.99970328e-01 5.11707217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.37, Y:-8.13, Z:0.51 [[ 9.84559250e-01 1.74975970e-01 5.14722846e-03 1.08374968e+02] [-1.74973752e-01 9.84572704e-01 -8.81578490e-04 -8.12805516e+00] [-5.22207569e-03 -3.26636194e-05 9.99986364e-01 5.11625685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.41, Y:-8.14, Z:0.51 [[ 9.83866230e-01 1.78902092e-01 1.13237425e-03 1.08406589e+02] [-1.78901986e-01 9.83866882e-01 -1.95028115e-04 -8.13921728e+00] [-1.14899646e-03 -1.07024257e-05 9.99999340e-01 5.12602864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.44, Y:-8.15, Z:0.51 [[ 9.83413368e-01 1.81375387e-01 1.05711780e-03 1.08438593e+02] [-1.81375296e-01 9.83413936e-01 -1.81923942e-04 -8.14531946e+00] [-1.07258090e-03 -1.28286182e-05 9.99999425e-01 5.13070703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.47, Y:-8.15, Z:0.51 [[ 9.83154812e-01 1.82773629e-01 6.45586510e-04 1.08470154e+02] [-1.82773595e-01 9.83155024e-01 -1.11448617e-04 -8.14953479e+00] [-6.55081489e-04 -8.42492373e-06 9.99999785e-01 5.13389484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.50, Y:-8.15, Z:0.51 [[ 9.82582643e-01 1.85807432e-01 2.63583847e-03 1.08501795e+02] [-1.85806884e-01 9.82586177e-01 -4.53320919e-04 -8.15458361e+00] [-2.67416884e-03 -4.43316679e-05 9.99996423e-01 5.13011833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.53, Y:-8.16, Z:0.51 [[ 9.81606649e-01 1.90866678e-01 4.27750973e-03 1.08533531e+02] [-1.90865283e-01 9.81615965e-01 -7.35790333e-04 -8.16115165e+00] [-4.33930970e-03 -9.41714210e-05 9.99990581e-01 5.12806159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.57, Y:-8.17, Z:0.51 [[ 9.81163678e-01 1.93103237e-01 5.38309811e-03 1.08565520e+02] [-1.93101040e-01 9.81178436e-01 -9.29908325e-04 -8.16737576e+00] [-5.46134809e-03 -1.27089572e-04 9.99985079e-01 5.12743201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.60, Y:-8.17, Z:0.51 [[ 9.80775781e-01 1.95078847e-01 4.80728781e-03 1.08597063e+02] [-1.95077107e-01 9.80787555e-01 -8.32878469e-04 -8.17354858e+00] [-4.87740503e-03 -1.20924768e-04 9.99988098e-01 5.13352399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.63, Y:-8.18, Z:0.51 [[ 9.80704641e-01 1.95385967e-01 6.53690908e-03 1.08629987e+02] [-1.95382736e-01 9.80726413e-01 -1.13547799e-03 -8.17903809e+00] [-6.63277586e-03 -1.63630652e-04 9.99977990e-01 5.12774483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.66, Y:-8.18, Z:0.51 [[ 9.80747392e-01 1.95182338e-01 6.19740769e-03 1.08661367e+02] [-1.95179413e-01 9.80766961e-01 -1.07916060e-03 -8.18338065e+00] [-6.28884580e-03 -1.51222453e-04 9.99980214e-01 5.14165637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.69, Y:-8.18, Z:0.51 [[ 9.81143612e-01 1.93102473e-01 8.28539086e-03 1.08693595e+02] [-1.93097146e-01 9.81178578e-01 -1.44581977e-03 -8.18491539e+00] [-8.40863940e-03 -1.81328500e-04 9.99964630e-01 5.13671141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.73, Y:-8.19, Z:0.51 [[ 9.81136902e-01 1.93187867e-01 6.98770879e-03 1.08725499e+02] [-1.93184054e-01 9.81161773e-01 -1.22295690e-03 -8.18784077e+00] [-7.09233318e-03 -1.50025763e-04 9.99974838e-01 5.13806289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.76, Y:-8.19, Z:0.51 [[ 9.81072755e-01 1.93594033e-01 4.19526509e-03 1.08757422e+02] [-1.93592651e-01 9.81081721e-01 -7.37104903e-04 -8.19061138e+00] [-4.25859701e-03 -8.90189520e-05 9.99990928e-01 5.13754196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.79, Y:-8.19, Z:0.51 [[ 9.80810221e-01 1.94947883e-01 2.57540800e-03 1.08789680e+02] [-1.94947367e-01 9.80813601e-01 -4.52091797e-04 -8.19384753e+00] [-2.61412953e-03 -5.86527542e-05 9.99996581e-01 5.14895241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.82, Y:-8.20, Z:0.52 [[ 9.80350992e-01 1.97212210e-01 4.39043600e-03 1.08822384e+02] [-1.97210735e-01 9.80360817e-01 -7.70823619e-04 -8.19524908e+00] [-4.45622726e-03 -1.10163410e-04 9.99990065e-01 5.17258152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.85, Y:-8.20, Z:0.52 [[ 9.79918107e-01 1.99238041e-01 8.04398431e-03 1.08854345e+02] [-1.99233152e-01 9.79951098e-01 -1.41277825e-03 -8.20038766e+00] [-8.16419043e-03 -2.18221362e-04 9.99966649e-01 5.17051291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.89, Y:-8.21, Z:0.52 [[ 9.79513482e-01 2.01169379e-01 9.17708243e-03 1.08885965e+02] [-2.01163047e-01 9.79556437e-01 -1.61750637e-03 -8.20542862e+00] [-9.31486292e-03 -2.61720560e-04 9.99956581e-01 5.16036393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.92, Y:-8.21, Z:0.51 [[ 9.79356020e-01 2.01938430e-01 9.09154401e-03 1.08918774e+02] [-2.01932200e-01 9.79398184e-01 -1.60752858e-03 -8.21000654e+00] [-9.22886349e-03 -2.61532694e-04 9.99957379e-01 5.14425761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.95, Y:-8.21, Z:0.51 [[ 9.79117474e-01 2.03200947e-01 6.19257400e-03 1.08951982e+02] [-2.03198057e-01 9.79137039e-01 -1.09903545e-03 -8.21165741e+00] [-6.28670361e-03 -1.82234187e-04 9.99980222e-01 5.12264469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.98, Y:-8.21, Z:0.51 [[ 9.79285991e-01 2.02428248e-01 4.66382997e-03 1.08984824e+02] [-2.02426603e-01 9.79297088e-01 -8.27024978e-04 -8.21318706e+00] [-4.73468832e-03 -1.34189283e-04 9.99988782e-01 5.11788178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.02, Y:-8.21, Z:0.51 [[ 9.79421891e-01 2.01769552e-01 4.66979605e-03 1.09017055e+02] [-2.01767893e-01 9.79433015e-01 -8.28699481e-04 -8.21305987e+00] [-4.74095874e-03 -1.30568495e-04 9.99988753e-01 5.13059208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.05, Y:-8.21, Z:0.52 [[ 9.79522850e-01 2.01259874e-01 5.42679459e-03 1.09049427e+02] [-2.01257621e-01 9.79537871e-01 -9.63652537e-04 -8.21324411e+00] [-5.50969540e-03 -1.48264090e-04 9.99984811e-01 5.15884227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.08, Y:-8.22, Z:0.52 [[ 9.79483958e-01 2.01332841e-01 8.73292918e-03 1.09081254e+02] [-2.01326968e-01 9.79522859e-01 -1.55558920e-03 -8.21508164e+00] [-8.86729495e-03 -2.34499491e-04 9.99960657e-01 5.16682495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.11, Y:-8.22, Z:0.52 [[ 9.79722649e-01 2.00007063e-01 1.18619565e-02 1.09113851e+02] [-1.99996139e-01 9.79794408e-01 -2.11228415e-03 -8.21682230e+00] [-1.20447504e-02 -3.02892875e-04 9.99927413e-01 5.18767279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.15, Y:-8.22, Z:0.52 [[ 9.79772887e-01 1.99794688e-01 1.12770918e-02 1.09146522e+02] [-1.99784721e-01 9.79837744e-01 -2.01501705e-03 -8.21804833e+00] [-1.14523099e-02 -2.78731568e-04 9.99934381e-01 5.17126499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.18, Y:-8.22, Z:0.51 [[ 9.80063964e-01 1.98443639e-01 9.73387882e-03 1.09179738e+02] [-1.98436142e-01 9.80112275e-01 -1.73973114e-03 -8.21821539e+00] [-9.88553269e-03 -2.26505565e-04 9.99951111e-01 5.14751587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.21, Y:-8.22, Z:0.51 [[ 9.80684985e-01 1.95406193e-01 8.56618638e-03 1.09212454e+02] [-1.95400248e-01 9.80722382e-01 -1.53377898e-03 -8.21616066e+00] [-8.70076062e-03 -1.69680924e-04 9.99962133e-01 5.12703516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.24, Y:-8.22, Z:0.51 [[ 9.81029226e-01 1.93650235e-01 9.01354300e-03 1.09244195e+02] [-1.93643572e-01 9.81070620e-01 -1.61444860e-03 -8.22217579e+00] [-9.15556056e-03 -1.61593402e-04 9.99958074e-01 5.13978896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.28, Y:-8.23, Z:0.52 [[ 9.81434829e-01 1.91540461e-01 9.89588474e-03 1.09275581e+02] [-1.91532310e-01 9.81484706e-01 -1.77377946e-03 -8.22836868e+00] [-1.00524101e-02 -1.54532722e-04 9.99949461e-01 5.15893690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.31, Y:-8.23, Z:0.52 [[ 9.81850121e-01 1.89415064e-01 9.60589412e-03 1.09307264e+02] [-1.89407268e-01 9.81897101e-01 -1.72315771e-03 -8.23242881e+00] [-9.75839162e-03 -1.27543563e-04 9.99952378e-01 5.18383829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.34, Y:-8.24, Z:0.52 [[ 9.82143179e-01 1.87770145e-01 1.17110805e-02 1.09340208e+02] [-1.87758410e-01 9.82212989e-01 -2.10346620e-03 -8.23505851e+00] [-1.18977435e-02 -1.32948862e-04 9.99929211e-01 5.18729764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.37, Y:-8.24, Z:0.52 [[ 9.82139030e-01 1.87556293e-01 1.50187149e-02 1.09372342e+02] [-1.87536852e-01 9.82253843e-01 -2.70516342e-03 -8.23562817e+00] [-1.52595609e-02 -1.59715932e-04 9.99883553e-01 5.16265963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.41, Y:-8.24, Z:0.52 [[ 9.82088262e-01 1.87815006e-01 1.51052705e-02 1.09405284e+02] [-1.87795341e-01 9.82204407e-01 -2.72270843e-03 -8.24034422e+00] [-1.53478287e-02 -1.62759426e-04 9.99882202e-01 5.15983730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.44, Y:-8.24, Z:0.52 [[ 9.82119679e-01 1.87746536e-01 1.38626794e-02 1.09436791e+02] [-1.87729943e-01 9.82217500e-01 -2.50039881e-03 -8.24442340e+00] [-1.40856075e-02 -1.46749137e-04 9.99900782e-01 5.15186079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.47, Y:-8.25, Z:0.51 [[ 9.82520565e-01 1.85850006e-01 1.06355312e-02 1.09468586e+02] [-1.85840111e-01 9.82578123e-01 -1.91994520e-03 -8.25161505e+00] [-1.08070621e-02 -9.01226539e-05 9.99941598e-01 5.14969524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.50, Y:-8.26, Z:0.51 [[ 9.82590236e-01 1.85431341e-01 1.14736949e-02 1.09500659e+02] [-1.85419764e-01 9.82657219e-01 -2.07398569e-03 -8.26146744e+00] [-1.16592910e-02 -8.95717061e-05 9.99932024e-01 5.14469521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.53, Y:-8.27, Z:0.52 [[ 9.82654870e-01 1.85124723e-01 1.08739646e-02 1.09532057e+02] [-1.85114293e-01 9.82715030e-01 -1.96679615e-03 -8.27102483e+00] [-1.10501110e-02 -8.02444444e-05 9.99938942e-01 5.15525388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.56, Y:-8.28, Z:0.52 [[ 9.82595602e-01 1.85449272e-01 1.06981178e-02 1.09564620e+02] [-1.85439167e-01 9.82653836e-01 -1.93759401e-03 -8.27811576e+00] [-1.08718719e-02 -7.99787052e-05 9.99940896e-01 5.17539186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.60, Y:-8.28, Z:0.52 [[ 9.82142034e-01 1.87737143e-01 1.23202769e-02 1.09597445e+02] [-1.87723906e-01 9.82219299e-01 -2.23258599e-03 -8.27646522e+00] [-1.25203531e-02 -1.20093962e-04 9.99921610e-01 5.20204150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.63, Y:-8.28, Z:0.52 [[ 9.82104007e-01 1.87936009e-01 1.23197632e-02 1.09629444e+02] [-1.87922752e-01 9.82181267e-01 -2.23541974e-03 -8.28221070e+00] [-1.25203565e-02 -1.19749133e-04 9.99921610e-01 5.20368003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.66, Y:-8.28, Z:0.52 [[ 9.81587524e-01 1.90526822e-01 1.36184987e-02 1.09662101e+02] [-1.90510852e-01 9.81681976e-01 -2.47249900e-03 -8.28491090e+00] [-1.38401121e-02 -1.67497631e-04 9.99904207e-01 5.20574015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.69, Y:-8.29, Z:0.52 [[ 9.80885485e-01 1.94120128e-01 1.34551255e-02 1.09693353e+02] [-1.94104774e-01 9.80977743e-01 -2.45036344e-03 -8.29011976e+00] [-1.36748435e-02 -2.08178167e-04 9.99906473e-01 5.19944466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.72, Y:-8.30, Z:0.52 [[ 9.80474047e-01 1.96141140e-01 1.41172649e-02 1.09724475e+02] [-1.96124442e-01 9.80575643e-01 -2.57126081e-03 -8.29713066e+00] [-1.43473762e-02 -2.47686219e-04 9.99897040e-01 5.18897308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.76, Y:-8.30, Z:0.52 [[ 9.79984332e-01 1.98452178e-01 1.57302738e-02 1.09755968e+02] [-1.98431711e-01 9.80110522e-01 -2.86712697e-03 -8.30476412e+00] [-1.59863944e-02 -3.11645626e-04 9.99872161e-01 5.18329332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.79, Y:-8.31, Z:0.52 [[ 9.79807655e-01 1.99306380e-01 1.59350494e-02 1.09788442e+02] [-1.99285453e-01 9.79937171e-01 -2.90660837e-03 -8.30759918e+00] [-1.61946529e-02 -3.27706422e-04 9.99868804e-01 5.18524985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.82, Y:-8.31, Z:0.52 [[ 9.79640703e-01 2.00157028e-01 1.55324629e-02 1.09821109e+02] [-2.00137197e-01 9.79763775e-01 -2.83668520e-03 -8.30976580e+00] [-1.57859269e-02 -3.29691296e-04 9.99875340e-01 5.18081830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.85, Y:-8.31, Z:0.52 [[ 9.79578105e-01 2.00677037e-01 1.24685010e-02 1.09853349e+02] [-2.00664281e-01 9.79657417e-01 -2.27864953e-03 -8.31186882e+00] [-1.26721321e-02 -2.69867591e-04 9.99919669e-01 5.19655741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.89, Y:-8.31, Z:0.52 [[ 9.79349320e-01 2.01884493e-01 1.08425896e-02 1.09886531e+02] [-2.01874892e-01 9.79409307e-01 -1.98416213e-03 -8.31396736e+00] [-1.10199047e-02 -2.45658759e-04 9.99939249e-01 5.20803072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.92, Y:-8.31, Z:0.52 [[ 9.78699088e-01 2.05033140e-01 1.04645699e-02 1.09919034e+02] [-2.05024371e-01 9.78754994e-01 -1.91557462e-03 -8.31214660e+00] [-1.06350063e-02 -2.70720716e-04 9.99943410e-01 5.22526396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.95, Y:-8.32, Z:0.52 [[ 9.78215071e-01 2.07275033e-01 1.15036864e-02 1.09950868e+02] [-2.07264570e-01 9.78282657e-01 -2.10748258e-03 -8.31569317e+00] [-1.16906854e-02 -3.22735385e-04 9.99931610e-01 5.22187432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.98, Y:-8.32, Z:0.52 [[ 9.77836003e-01 2.08999029e-01 1.24962498e-02 1.09982197e+02] [-2.08986810e-01 9.77915777e-01 -2.29035079e-03 -8.32060403e+00] [-1.26989609e-02 -3.71963924e-04 9.99919296e-01 5.21847180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.01, Y:-8.32, Z:0.52 [[ 9.77323547e-01 2.11338313e-01 1.32212666e-02 1.10014507e+02] [-2.11324823e-01 9.77412880e-01 -2.42512120e-03 -8.32250054e+00] [-1.34351573e-02 -4.23853765e-04 9.99909654e-01 5.21788386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.05, Y:-8.32, Z:0.52 [[ 9.77251670e-01 2.11619635e-01 1.40108698e-02 1.10047022e+02] [-2.11604489e-01 9.77351997e-01 -2.57178324e-03 -8.32224120e+00] [-1.42377914e-02 -4.51483475e-04 9.99898536e-01 5.21288519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.08, Y:-8.32, Z:0.52 [[ 9.77307028e-01 2.11395158e-01 1.35300055e-02 1.10079936e+02] [-2.11380986e-01 9.77400584e-01 -2.48537503e-03 -8.32115370e+00] [-1.37496315e-02 -4.31011424e-04 9.99905376e-01 5.21283227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.11, Y:-8.32, Z:0.52 [[ 9.77228472e-01 2.11841895e-01 1.21460028e-02 1.10112524e+02] [-2.11830488e-01 9.77303872e-01 -2.23284304e-03 -8.32147031e+00] [-1.23433452e-02 -3.90895899e-04 9.99923742e-01 5.19997663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.14, Y:-8.32, Z:0.52 [[ 9.76875732e-01 2.13430191e-01 1.27026464e-02 1.10144700e+02] [-2.13417827e-01 9.76958223e-01 -2.33684142e-03 -8.32367398e+00] [-1.29087074e-02 -4.28167526e-04 9.99916587e-01 5.20049882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.18, Y:-8.33, Z:0.52 [[ 9.76621245e-01 2.14649381e-01 1.16870149e-02 1.10177038e+02] [-2.14638983e-01 9.76691086e-01 -2.15160179e-03 -8.32683907e+00] [-1.18764433e-02 -4.07188972e-04 9.99929390e-01 5.20720611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.21, Y:-8.33, Z:0.52 [[ 9.75915780e-01 2.17821889e-01 1.19170290e-02 1.10209939e+02] [-2.17811295e-01 9.75988432e-01 -2.19552089e-03 -8.32600593e+00] [-1.21091150e-02 -4.53020045e-04 9.99926579e-01 5.22204414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.24, Y:-8.33, Z:0.52 [[ 9.75650115e-01 2.19080894e-01 1.05078679e-02 1.10242249e+02] [-2.19072715e-01 9.75706612e-01 -1.93737460e-03 -8.32706209e+00] [-1.06770379e-02 -4.11787400e-04 9.99942914e-01 5.23455414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.27, Y:-8.33, Z:0.52 [[ 9.75472350e-01 2.19909148e-01 9.67786158e-03 1.10274382e+02] [-2.19902247e-01 9.75520280e-01 -1.78470247e-03 -8.32778362e+00] [-9.83342264e-03 -3.87255603e-04 9.99951576e-01 5.22527392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.31, Y:-8.33, Z:0.52 [[ 9.75398039e-01 2.20177080e-01 1.09872307e-02 1.10305264e+02] [-2.20168206e-01 9.75459818e-01 -2.02579354e-03 -8.32893006e+00] [-1.11636354e-02 -4.43083830e-04 9.99937587e-01 5.22006804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.34, Y:-8.33, Z:0.52 [[ 9.75054925e-01 2.21693447e-01 1.09503015e-02 1.10335667e+02] [-2.21684740e-01 9.75116303e-01 -2.01794162e-03 -8.32545679e+00] [-1.11251820e-02 -4.59910834e-04 9.99938007e-01 5.21809298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.36, Y:-8.32, Z:0.52 [[ 9.75041660e-01 2.21797430e-01 9.98306168e-03 1.10364924e+02] [-2.21790260e-01 9.75092672e-01 -1.83363957e-03 -8.32323579e+00] [-1.01411068e-02 -4.26270877e-04 9.99948487e-01 5.23406736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.39, Y:-8.32, Z:0.53 [[ 9.75020001e-01 2.21897797e-01 9.86737769e-03 1.10394664e+02] [-2.21890845e-01 9.75069836e-01 -1.80759286e-03 -8.32028609e+00] [-1.00224832e-02 -4.27041581e-04 9.99949682e-01 5.25201028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.42, Y:-8.32, Z:0.53 [[ 9.75015659e-01 2.21909595e-01 1.00297716e-02 1.10424006e+02] [-2.21902415e-01 9.75067148e-01 -1.83721415e-03 -8.31727283e+00] [-1.01873963e-02 -4.34317972e-04 9.99948013e-01 5.26332890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.45, Y:-8.31, Z:0.53 [[ 9.75245016e-01 2.20885503e-01 1.03321786e-02 1.10454076e+02] [-2.20877890e-01 9.75299646e-01 -1.88639525e-03 -8.31088822e+00] [-1.04936475e-02 -4.42452260e-04 9.99944842e-01 5.25782344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.48, Y:-8.31, Z:0.53 [[ 9.75518404e-01 2.19662945e-01 1.05845890e-02 1.10483488e+02] [-2.19654937e-01 9.75575724e-01 -1.92760908e-03 -8.31096500e+00] [-1.07494923e-02 -4.44539094e-04 9.99942124e-01 5.25302057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.51, Y:-8.31, Z:0.52 [[ 9.76097499e-01 2.16995621e-01 1.21066895e-02 1.10512704e+02] [-2.16985005e-01 9.76172459e-01 -2.19947411e-03 -8.30958212e+00] [-1.22954931e-02 -4.80068905e-04 9.99924292e-01 5.24474376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.54, Y:-8.31, Z:0.53 [[ 9.76770914e-01 2.13913527e-01 1.26326358e-02 1.10542901e+02] [-2.13901778e-01 9.76852489e-01 -2.28981661e-03 -8.30683697e+00] [-1.28300445e-02 -4.65517005e-04 9.99917583e-01 5.25241274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.57, Y:-8.30, Z:0.53 [[ 9.77304902e-01 2.11500372e-01 1.19465816e-02 1.10572433e+02] [-2.11489756e-01 9.77377829e-01 -2.15954122e-03 -8.30456132e+00] [-1.21330678e-02 -4.16049407e-04 9.99926305e-01 5.25877795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.60, Y:-8.30, Z:0.53 [[ 9.78498164e-01 2.06049256e-01 9.22208219e-03 1.10603201e+02] [-2.06042680e-01 9.78541584e-01 -1.66788584e-03 -8.30117161e+00] [-9.36785755e-03 -2.68119302e-04 9.99956085e-01 5.27338896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.63, Y:-8.30, Z:0.53 [[ 9.79356362e-01 2.01873154e-01 1.04089267e-02 1.10632469e+02] [-2.01864577e-01 9.79411641e-01 -1.87910490e-03 -8.30387535e+00] [-1.05739648e-02 -2.60880251e-04 9.99944060e-01 5.26797764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.66, Y:-8.31, Z:0.53 [[ 9.80212475e-01 1.97667930e-01 1.05305547e-02 1.10660891e+02] [-1.97658973e-01 9.80269014e-01 -1.89502186e-03 -8.30629949e+00] [-1.06973615e-02 -2.23934556e-04 9.99942757e-01 5.26610491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.69, Y:-8.31, Z:0.53 [[ 9.81023334e-01 1.93493882e-01 1.23829177e-02 1.10689309e+02] [-1.93481232e-01 9.81101458e-01 -2.22298178e-03 -8.30931595e+00] [-1.25790320e-02 -2.15065174e-04 9.99920858e-01 5.25006494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.72, Y:-8.31, Z:0.52 [[ 9.81891973e-01 1.89150195e-01 1.05050679e-02 1.10717740e+02] [-1.89140898e-01 9.81948158e-01 -1.88057105e-03 -8.31413984e+00] [-1.06711424e-02 -1.40420359e-04 9.99943052e-01 5.24998225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.75, Y:-8.32, Z:0.53 [[ 9.83517366e-01 1.80464192e-01 1.12368249e-02 1.10745969e+02] [-1.80453045e-01 9.83581554e-01 -2.00647327e-03 -8.31933444e+00] [-1.14144303e-02 -5.43179680e-05 9.99934852e-01 5.25083889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.77, Y:-8.32, Z:0.53 [[ 9.83841213e-01 1.78643598e-01 1.19554173e-02 1.10773240e+02] [-1.78630924e-01 9.83913850e-01 -2.12829413e-03 -8.32322124e+00] [-1.21433067e-02 -4.17037564e-05 9.99926266e-01 5.25571452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.80, Y:-8.33, Z:0.53 [[ 9.83897319e-01 1.78308664e-01 1.23323184e-02 1.10801202e+02] [-1.78295234e-01 9.83974603e-01 -2.18889323e-03 -8.32610146e+00] [-1.25249867e-02 -4.51474129e-05 9.99921558e-01 5.26405310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.83, Y:-8.33, Z:0.53 [[ 9.83278124e-01 1.81520807e-01 1.46399374e-02 1.10830067e+02] [-1.81502323e-01 9.83387098e-01 -2.59262943e-03 -8.32890018e+00] [-1.48673417e-02 -1.07906838e-04 9.99889469e-01 5.26629547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.86, Y:-8.34, Z:0.53 [[ 9.83030512e-01 1.82975830e-01 1.30712865e-02 1.10857389e+02] [-1.82961323e-01 9.83117404e-01 -2.30733861e-03 -8.33525535e+00] [-1.32727965e-02 -1.23355625e-04 9.99911905e-01 5.26956506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.88, Y:-8.34, Z:0.53 [[ 9.82746642e-01 1.84601104e-01 1.14660510e-02 1.10884761e+02] [-1.84590120e-01 9.82813520e-01 -2.01812042e-03 -8.34286564e+00] [-1.16415372e-02 -1.33218663e-04 9.99932226e-01 5.26366249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.91, Y:-8.35, Z:0.53 [[ 9.82718472e-01 1.84788739e-01 1.08410186e-02 1.10911331e+02] [-1.84778999e-01 9.82778258e-01 -1.90194722e-03 -8.35061048e+00] [-1.10057758e-02 -1.34113897e-04 9.99939426e-01 5.25556390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.94, Y:-8.36, Z:0.53 [[ 9.82779582e-01 1.84435280e-01 1.13102325e-02 1.10938564e+02] [-1.84424723e-01 9.82844651e-01 -1.97834215e-03 -8.35735017e+00] [-1.14810776e-02 -1.41612237e-04 9.99934080e-01 5.25337014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.97, Y:-8.36, Z:0.53 [[ 9.83041888e-01 1.82906423e-01 1.31866522e-02 1.10966966e+02] [-1.82892009e-01 9.83130316e-01 -2.30108195e-03 -8.36220371e+00] [-1.33850802e-02 -1.49673372e-04 9.99910405e-01 5.26977234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.99, Y:-8.37, Z:0.53 [[ 9.83264891e-01 1.81704303e-01 1.31795354e-02 1.10994423e+02] [-1.81689895e-01 9.83353205e-01 -2.29251861e-03 -8.36525374e+00] [-1.33766989e-02 -1.40435336e-04 9.99910518e-01 5.28072420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.952320588 meters Centerline goodness [0,1] 0.9999509178364583 Centerline is valid? [True, True] Translation: X:111.02, Y:-8.37, Z:0.53 [[ 9.83576786e-01 1.80046506e-01 1.26476245e-02 1.11023176e+02] [-1.80033172e-01 9.83658092e-01 -2.19440045e-03 -8.36696315e+00] [-1.28360323e-02 -1.18630619e-04 9.99917608e-01 5.30078777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.05, Y:-8.37, Z:0.53 [[ 9.83975276e-01 1.77973730e-01 1.08630938e-02 1.11052430e+02] [-1.77963821e-01 9.84035235e-01 -1.87994466e-03 -8.36923696e+00] [-1.10242478e-02 -8.34185960e-05 9.99939228e-01 5.29537060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.08, Y:-8.38, Z:0.53 [[ 9.84560691e-01 1.74631843e-01 1.19985387e-02 1.11079725e+02] [-1.74619586e-01 9.84633798e-01 -2.06983023e-03 -8.37550462e+00] [-1.21756250e-02 -5.73063881e-05 9.99925873e-01 5.26843796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.11, Y:-8.38, Z:0.53 [[ 9.84880793e-01 1.72689578e-01 1.37161650e-02 1.11107971e+02] [-1.72673451e-01 9.84976298e-01 -2.36037971e-03 -8.38369248e+00] [-1.39177104e-02 -4.37249095e-05 9.99903143e-01 5.25877018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.14, Y:-8.39, Z:0.53 [[ 9.85434686e-01 1.69295161e-01 1.60507723e-02 1.11135688e+02] [-1.69272740e-01 9.85565395e-01 -2.75520446e-03 -8.39052739e+00] [-1.62855286e-02 -1.88416656e-06 9.99867382e-01 5.25728095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.16, Y:-8.40, Z:0.53 [[ 9.85842951e-01 1.66955837e-01 1.54733629e-02 1.11162911e+02] [-1.66934834e-01 9.85964375e-01 -2.64826522e-03 -8.39693024e+00] [-1.56983279e-02 2.77303318e-05 9.99876773e-01 5.27732597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.19, Y:-8.40, Z:0.53 [[ 9.86819616e-01 1.61334259e-01 1.25818615e-02 1.11190940e+02] [-1.61319993e-01 9.86899817e-01 -2.14726006e-03 -8.40337468e+00] [-1.27634634e-02 8.92525428e-05 9.99918540e-01 5.28912007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.22, Y:-8.41, Z:0.53 [[ 9.87182195e-01 1.59156439e-01 1.18550044e-02 1.11218303e+02] [-1.59143696e-01 9.87253370e-01 -2.01664790e-03 -8.40905270e+00] [-1.20248556e-02 1.04149682e-04 9.99927693e-01 5.28675936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.25, Y:-8.41, Z:0.53 [[ 9.87444951e-01 1.57551298e-01 1.14042717e-02 1.11246094e+02] [-1.57539469e-01 9.87510798e-01 -1.93393374e-03 -8.41450720e+00] [-1.15665352e-02 1.13030201e-04 9.99933099e-01 5.28643719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.27, Y:-8.42, Z:0.53 [[ 9.87652735e-01 1.56281449e-01 1.08712727e-02 1.11273139e+02] [-1.56270687e-01 9.87712557e-01 -1.83774797e-03 -8.42066199e+00] [-1.10248985e-02 1.16195556e-04 9.99939217e-01 5.28400516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.30, Y:-8.43, Z:0.53 [[ 9.87656849e-01 1.56099413e-01 1.29198234e-02 1.11301152e+02] [-1.56084262e-01 9.87741340e-01 -2.17902074e-03 -8.42887425e+00] [-1.31015875e-02 1.35543662e-04 9.99914161e-01 5.26819890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.33, Y:-8.44, Z:0.53 [[ 9.87466007e-01 1.57076500e-01 1.54226266e-02 1.11327976e+02] [-1.57055132e-01 9.87586428e-01 -2.59461721e-03 -8.44000009e+00] [-1.56387301e-02 1.39893651e-04 9.99877698e-01 5.28189259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.36, Y:-8.45, Z:0.53 [[ 9.87463228e-01 1.56850658e-01 1.77269528e-02 1.11356645e+02] [-1.56822530e-01 9.87622320e-01 -2.97451751e-03 -8.44549563e+00] [-1.79740893e-02 1.57241075e-04 9.99838441e-01 5.29300826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.39, Y:-8.45, Z:0.53 [[ 9.87682746e-01 1.55553966e-01 1.69043412e-02 1.11385436e+02] [-1.55528331e-01 9.87827382e-01 -2.82874875e-03 -8.45007348e+00] [-1.71385942e-02 1.64802377e-04 9.99853110e-01 5.30628917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.41, Y:-8.46, Z:0.53 [[ 9.88001899e-01 1.53420216e-01 1.77337507e-02 1.11413166e+02] [-1.53391800e-01 9.88161017e-01 -2.95971400e-03 -8.45653125e+00] [-1.79778810e-02 2.03991119e-04 9.99838364e-01 5.30051749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.44, Y:-8.47, Z:0.53 [[ 9.88407535e-01 1.50954256e-01 1.62282685e-02 1.11440323e+02] [-1.50930240e-01 9.88540724e-01 -2.70160492e-03 -8.46589343e+00] [-1.64501230e-02 2.20950203e-04 9.99864663e-01 5.28858481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.47, Y:-8.48, Z:0.53 [[ 9.88828989e-01 1.48251512e-01 1.54505781e-02 1.11467776e+02] [-1.48229403e-01 9.88949657e-01 -2.57279363e-03 -8.47941309e+00] [-1.56612644e-02 2.53822959e-04 9.99877323e-01 5.26195259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.50, Y:-8.48, Z:0.53 [[ 9.88974491e-01 1.47272803e-01 1.54976715e-02 1.11495728e+02] [-1.47250578e-01 9.89095877e-01 -2.57176907e-03 -8.48499651e+00] [-1.57074347e-02 2.61372904e-04 9.99876596e-01 5.26697046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.52, Y:-8.49, Z:0.53 [[ 9.88983592e-01 1.47211693e-01 1.54975208e-02 1.11524498e+02] [-1.47189446e-01 9.89104973e-01 -2.57267656e-03 -8.48979159e+00] [-1.57074029e-02 2.63263396e-04 9.99876596e-01 5.26844320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.55, Y:-8.49, Z:0.53 [[ 9.89301325e-01 1.45147708e-01 1.46639615e-02 1.11553256e+02] [-1.45127689e-01 9.89409960e-01 -2.42586751e-03 -8.49387171e+00] [-1.48607787e-02 2.71767091e-04 9.99889536e-01 5.27984781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.58, Y:-8.50, Z:0.53 [[ 9.89497892e-01 1.43847082e-01 1.42105394e-02 1.11581388e+02] [-1.43828239e-01 9.89599889e-01 -2.34455687e-03 -8.49993521e+00] [-1.44000059e-02 2.76057223e-04 9.99896276e-01 5.28235809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.61, Y:-8.51, Z:0.53 [[ 9.89750399e-01 1.42235183e-01 1.27788848e-02 1.11608925e+02] [-1.42219887e-01 9.89832856e-01 -2.10245273e-03 -8.50923021e+00] [-1.29480028e-02 2.63491861e-04 9.99916136e-01 5.28422717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.64, Y:-8.53, Z:0.53 [[ 9.89815588e-01 1.41778904e-01 1.28001553e-02 1.11635281e+02] [-1.41763512e-01 9.89898313e-01 -2.10646918e-03 -8.52864430e+00] [-1.29695050e-02 2.70421062e-04 9.99915856e-01 5.27965151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.66, Y:-8.54, Z:0.53 [[ 9.89730140e-01 1.42175249e-01 1.48475192e-02 1.11663810e+02] [-1.42154595e-01 9.89841454e-01 -2.44268050e-03 -8.53853076e+00] [-1.50439787e-02 3.06951440e-04 9.99886786e-01 5.28512375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.69, Y:-8.55, Z:0.53 [[ 9.89658849e-01 1.42576290e-01 1.57277903e-02 1.11694349e+02] [-1.42553139e-01 9.89783764e-01 -2.58915930e-03 -8.54550135e+00] [-1.59362642e-02 3.20338535e-04 9.99872958e-01 5.29689483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.72, Y:-8.55, Z:0.53 [[ 9.89015974e-01 1.47184658e-01 1.35676118e-02 1.11724866e+02] [-1.47167842e-01 9.89109009e-01 -2.23506367e-03 -8.55457508e+00] [-1.37488141e-02 2.13797532e-04 9.99905458e-01 5.30387606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.75, Y:-8.56, Z:0.53 [[ 9.88547437e-01 1.50308240e-01 1.34683934e-02 1.11754938e+02] [-1.50291957e-01 9.88639168e-01 -2.21884247e-03 -8.56287560e+00] [-1.36488916e-02 1.69239825e-04 9.99906835e-01 5.28576025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.79, Y:-8.57, Z:0.53 [[ 9.88148268e-01 1.53019170e-01 1.21710524e-02 1.11785064e+02] [-1.53006067e-01 9.88223213e-01 -2.00608506e-03 -8.57177841e+00] [-1.23346860e-02 1.20064611e-04 9.99923918e-01 5.27915289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.81, Y:-8.58, Z:0.53 [[ 9.87627823e-01 1.56384624e-01 1.16246532e-02 1.11814904e+02] [-1.56372901e-01 9.87696231e-01 -1.91625808e-03 -8.58138356e+00] [-1.17812995e-02 7.47690460e-05 9.99930595e-01 5.28514859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.84, Y:-8.59, Z:0.53 [[ 9.87056483e-01 1.59963629e-01 1.14514832e-02 1.11844013e+02] [-1.59952495e-01 9.87122908e-01 -1.88755180e-03 -8.59099125e+00] [-1.16059610e-02 3.14269359e-05 9.99932648e-01 5.29467963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.87, Y:-8.61, Z:0.53 [[ 9.86056695e-01 1.66022383e-01 1.13473241e-02 1.11873433e+02] [-1.66011840e-01 9.86121984e-01 -1.87147097e-03 -8.60560712e+00] [-1.15005518e-02 -3.84136606e-05 9.99933866e-01 5.33617093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.90, Y:-8.61, Z:0.54 [[ 9.85706935e-01 1.68102282e-01 1.11113290e-02 1.11903910e+02] [-1.68092296e-01 9.85769557e-01 -1.83330043e-03 -8.61430019e+00] [-1.12613919e-02 -6.06318570e-05 9.99936587e-01 5.35644993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.93, Y:-8.62, Z:0.54 [[ 9.85207079e-01 1.70945053e-01 1.20332838e-02 1.11934971e+02] [-1.70933544e-01 9.85280558e-01 -1.98619650e-03 -8.62121030e+00] [-1.21956911e-02 -1.00076995e-04 9.99925625e-01 5.36225625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.97, Y:-8.63, Z:0.53 [[ 9.84567774e-01 1.74528828e-01 1.28835928e-02 1.11965745e+02] [-1.74515929e-01 9.84652053e-01 -2.12738697e-03 -8.62640302e+00] [-1.30571464e-02 -1.53835507e-04 9.99914740e-01 5.34023914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.00, Y:-8.63, Z:0.53 [[ 9.84141905e-01 1.76877348e-01 1.33833496e-02 1.11997492e+02] [-1.76863618e-01 9.84232883e-01 -2.21203081e-03 -8.63078399e+00] [-1.35635910e-02 -1.90075414e-04 9.99907992e-01 5.31542449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.03, Y:-8.64, Z:0.53 [[ 9.83331729e-01 1.81485050e-01 1.10402713e-02 1.12029017e+02] [-1.81475978e-01 9.83393682e-01 -1.82636855e-03 -8.63598770e+00] [-1.11883916e-02 -2.07617891e-04 9.99937386e-01 5.30367622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.06, Y:-8.64, Z:0.53 [[ 9.83166507e-01 1.82384736e-01 1.09282720e-02 1.12060068e+02] [-1.82375899e-01 9.83227218e-01 -1.80824359e-03 -8.64222072e+00] [-1.10747705e-02 -2.15248896e-04 9.99938650e-01 5.31361323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.09, Y:-8.65, Z:0.53 [[ 9.82902462e-01 1.83793604e-01 1.10752280e-02 1.12090930e+02] [-1.83784608e-01 9.82964830e-01 -1.83330413e-03 -8.64904073e+00] [-1.12235092e-02 -2.33497299e-04 9.99936987e-01 5.33327088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.12, Y:-8.66, Z:0.53 [[ 9.82791997e-01 1.84378943e-01 1.11487924e-02 1.12121423e+02] [-1.84369857e-01 9.82855202e-01 -1.84623477e-03 -8.65596604e+00] [-1.12980554e-02 -2.41036503e-04 9.99936146e-01 5.33501838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.15, Y:-8.66, Z:0.53 [[ 9.82775138e-01 1.84576485e-01 9.19512847e-03 1.12152034e+02] [-1.84570306e-01 9.82818132e-01 -1.52339431e-03 -8.66129801e+00] [-9.31832175e-03 -1.99993625e-04 9.99956563e-01 5.32403029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.18, Y:-8.67, Z:0.53 [[ 9.82594239e-01 1.85581247e-01 8.25601632e-03 1.12181422e+02] [-1.85576304e-01 9.82628905e-01 -1.36750440e-03 -8.66758031e+00] [-8.36638345e-03 -1.88419046e-04 9.99964983e-01 5.31450996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.21, Y:-8.67, Z:0.53 [[ 9.82693221e-01 1.85062016e-01 8.12918870e-03 1.12211492e+02] [-1.85057206e-01 9.82726827e-01 -1.34649701e-03 -8.67331190e+00] [-8.23795727e-03 -1.81171462e-04 9.99966051e-01 5.31411554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.24, Y:-8.68, Z:0.53 [[ 9.82544384e-01 1.85781170e-01 9.58599223e-03 1.12241522e+02] [-1.85774516e-01 9.82591120e-01 -1.58779804e-03 -8.67743139e+00] [-9.71409381e-03 -2.20751014e-04 9.99952793e-01 5.33356182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.27, Y:-8.68, Z:0.54 [[ 9.82351935e-01 1.86717791e-01 1.10064221e-02 1.12271591e+02] [-1.86709078e-01 9.82413557e-01 -1.82307424e-03 -8.67982113e+00] [-1.11532587e-02 -2.64098412e-04 9.99937766e-01 5.35772709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.30, Y:-8.68, Z:0.54 [[ 9.81849571e-01 1.89413149e-01 9.69946924e-03 1.12302368e+02] [-1.89406504e-01 9.81897445e-01 -1.60758390e-03 -8.68350786e+00] [-9.82838159e-03 -2.58736997e-04 9.99951667e-01 5.35869831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.33, Y:-8.69, Z:0.53 [[ 9.81814424e-01 1.89694005e-01 7.52471818e-03 1.12332535e+02] [-1.89690015e-01 9.81843238e-01 -1.24688183e-03 -8.68956424e+00] [-7.62461967e-03 -2.03157346e-04 9.99970912e-01 5.34413983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.36, Y:-8.69, Z:0.53 [[ 9.82198430e-01 1.87679762e-01 7.90890855e-03 1.12362092e+02] [-1.87675296e-01 9.82230252e-01 -1.30967307e-03 -8.69406304e+00] [-8.01416837e-03 -1.97947927e-04 9.99967866e-01 5.33062359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.39, Y:-8.69, Z:0.53 [[ 9.82889944e-01 1.83908030e-01 1.02564646e-02 1.12392158e+02] [-1.83900321e-01 9.82943431e-01 -1.69781610e-03 -8.69274658e+00] [-1.03937665e-02 -2.17400762e-04 9.99945960e-01 5.33604162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.42, Y:-8.69, Z:0.54 [[ 9.83218526e-01 1.82103021e-01 1.09462661e-02 1.12422474e+02] [-1.82094124e-01 9.83279434e-01 -1.81236407e-03 -8.69466171e+00] [-1.10932753e-02 -2.11300821e-04 9.99938445e-01 5.35107547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.45, Y:-8.70, Z:0.54 [[ 9.83462963e-01 1.80698385e-01 1.21940007e-02 1.12453127e+02] [-1.80687237e-01 9.83538533e-01 -2.01895042e-03 -8.69830481e+00] [-1.23580906e-02 -2.17737327e-04 9.99923612e-01 5.36560744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.48, Y:-8.70, Z:0.54 [[ 9.83721178e-01 1.79252496e-01 1.26959136e-02 1.12483877e+02] [-1.79240276e-01 9.83803080e-01 -2.10324368e-03 -8.70274089e+00] [-1.28672906e-02 -2.06613707e-04 9.99917192e-01 5.37642647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.51, Y:-8.71, Z:0.54 [[ 9.84012204e-01 1.77756705e-01 1.10696436e-02 1.12514534e+02] [-1.77747323e-01 9.84074452e-01 -1.83353841e-03 -8.70641200e+00] [-1.12192772e-02 -1.63375346e-04 9.99937049e-01 5.37663764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.55, Y:-8.71, Z:0.54 [[ 9.84322519e-01 1.76116069e-01 9.60779801e-03 1.12545005e+02] [-1.76108924e-01 9.84369399e-01 -1.59140324e-03 -8.70812866e+00] [-9.73789404e-03 -1.25564920e-04 9.99952578e-01 5.35465796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.57, Y:-8.71, Z:0.53 [[ 9.84867747e-01 1.73018723e-01 1.00020900e-02 1.12573960e+02] [-1.73010892e-01 9.84918530e-01 -1.64960070e-03 -8.70711258e+00] [-1.01366556e-02 -1.05831988e-04 9.99948617e-01 5.31540721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.60, Y:-8.71, Z:0.53 [[ 9.85192060e-01 1.71160967e-01 1.00263601e-02 1.12602040e+02] [-1.71153050e-01 9.85243074e-01 -1.64885393e-03 -8.71081881e+00] [-1.01606213e-02 -9.16043068e-05 9.99948375e-01 5.32251314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.63, Y:-8.71, Z:0.53 [[ 9.85543789e-01 1.69103336e-01 1.03683467e-02 1.12630234e+02] [-1.69094805e-01 9.85598324e-01 -1.70029850e-03 -8.71488027e+00] [-1.05065512e-02 -7.75149305e-05 9.99944802e-01 5.34278185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.66, Y:-8.72, Z:0.54 [[ 9.85780557e-01 1.67708144e-01 1.05201035e-02 1.12658584e+02] [-1.67699334e-01 9.85836687e-01 -1.72030404e-03 -8.71791717e+00] [-1.06596129e-02 -6.83720709e-05 9.99943182e-01 5.36148689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.69, Y:-8.72, Z:0.54 [[ 9.86008050e-01 1.66479321e-01 8.52997275e-03 1.12687923e+02] [-1.66473522e-01 9.86044945e-01 -1.39037123e-03 -8.71857185e+00] [-8.64240456e-03 -4.90973853e-05 9.99962653e-01 5.37229876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.72, Y:-8.72, Z:0.54 [[ 9.86205612e-01 1.65285940e-01 8.89092812e-03 1.12715461e+02] [-1.65279637e-01 9.86245687e-01 -1.44419630e-03 -8.72140838e+00] [-9.00734486e-03 -4.52148703e-05 9.99959432e-01 5.37195881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.74, Y:-8.72, Z:0.54 [[ 9.86371834e-01 1.64209649e-01 1.02857513e-02 1.12743781e+02] [-1.64201164e-01 9.86425461e-01 -1.66981717e-03 -8.72355338e+00] [-1.04203270e-02 -4.18717110e-05 9.99945706e-01 5.37045990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.77, Y:-8.73, Z:0.54 [[ 9.86904515e-01 1.60957803e-01 1.05860475e-02 1.12771446e+02] [-1.60948704e-01 9.86961289e-01 -1.71149523e-03 -8.72571296e+00] [-1.07234976e-02 -1.47282531e-05 9.99942502e-01 5.36422874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.80, Y:-8.73, Z:0.54 [[ 9.87311462e-01 1.58497098e-01 9.73384027e-03 1.12799068e+02] [-1.58489339e-01 9.87359443e-01 -1.56830555e-03 -8.72952113e+00] [-9.85937098e-03 5.69613196e-06 9.99951395e-01 5.36459078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.83, Y:-8.73, Z:0.53 [[ 9.88129946e-01 1.53196494e-01 1.14036860e-02 1.12827108e+02] [-1.53185543e-01 9.88195745e-01 -1.83286869e-03 -8.73446981e+00] [-1.15498630e-02 6.42326117e-05 9.99933296e-01 5.34781423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.86, Y:-8.74, Z:0.54 [[ 9.88550836e-01 1.50458798e-01 1.13751812e-02 1.12855921e+02] [-1.50447780e-01 9.88616276e-01 -1.82305599e-03 -8.73804295e+00] [-1.15199841e-02 9.08127618e-05 9.99933639e-01 5.35112364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.88, Y:-8.74, Z:0.54 [[ 9.89010685e-01 1.47472230e-01 1.04788586e-02 1.12884397e+02] [-1.47462776e-01 9.89066191e-01 -1.67343646e-03 -8.73974565e+00] [-1.06110701e-02 1.09804974e-04 9.99943695e-01 5.36182691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.91, Y:-8.74, Z:0.54 [[ 9.89368600e-01 1.45020867e-01 1.08958970e-02 1.12912907e+02] [-1.45010546e-01 9.89428587e-01 -1.73551432e-03 -8.74250246e+00] [-1.10323978e-02 1.37043391e-04 9.99939132e-01 5.37142223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.94, Y:-8.75, Z:0.54 [[ 9.89791815e-01 1.41970437e-01 1.25123476e-02 1.12941311e+02] [-1.41956652e-01 9.89870880e-01 -1.98762783e-03 -8.74974656e+00] [-1.26677929e-02 1.91126790e-04 9.99919742e-01 5.37605642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.97, Y:-8.76, Z:0.54 [[ 9.89889391e-01 1.41221176e-01 1.32504230e-02 1.12969878e+02] [-1.41205632e-01 9.89978047e-01 -2.10610714e-03 -8.75781833e+00] [-1.34150549e-02 2.13778744e-04 9.99909991e-01 5.37764229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.00, Y:-8.76, Z:0.54 [[ 9.89874129e-01 1.41443890e-01 1.19513166e-02 1.12999597e+02] [-1.41431258e-01 9.89946256e-01 -1.89990561e-03 -8.76488119e+00] [-1.20998912e-02 1.90377672e-04 9.99926776e-01 5.36394049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.03, Y:-8.77, Z:0.54 [[ 9.89957027e-01 1.41011665e-01 1.00396918e-02 1.13028315e+02] [-1.41002750e-01 9.90007921e-01 -1.59386866e-03 -8.77150846e+00] [-1.01641285e-02 1.62237326e-04 9.99948331e-01 5.36070317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.052320588 meters Centerline goodness [0,1] 0.999950799507995 Centerline is valid? [True, True] Translation: X:113.06, Y:-8.78, Z:0.53 [[ 9.90261100e-01 1.39108587e-01 5.63521089e-03 1.13056069e+02] [-1.39105773e-01 9.90277129e-01 -8.90200066e-04 -8.77851705e+00] [-5.70425493e-03 9.76401319e-05 9.99983726e-01 5.33939059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.08, Y:-8.78, Z:0.53 [[ 9.90490253e-01 1.37458285e-01 5.85485306e-03 1.13084566e+02] [-1.37455233e-01 9.90507551e-01 -9.22334916e-04 -8.78457437e+00] [-5.92605874e-03 1.08783551e-04 9.99982435e-01 5.34919222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.11, Y:-8.79, Z:0.54 [[ 9.90579873e-01 1.36813804e-01 5.78770218e-03 1.13112096e+02] [-1.36810830e-01 9.90596775e-01 -9.08424959e-04 -8.79031681e+00] [-5.85756419e-03 1.08047139e-04 9.99982838e-01 5.37549220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.14, Y:-8.80, Z:0.54 [[ 9.90617496e-01 1.36524060e-01 6.17716317e-03 1.13139365e+02] [-1.36520687e-01 9.90636749e-01 -9.66474125e-04 -8.79603638e+00] [-6.25127181e-03 1.14095618e-04 9.99980454e-01 5.38863671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.17, Y:-8.80, Z:0.54 [[ 9.90554982e-01 1.36973259e-01 6.25726041e-03 1.13166410e+02] [-1.36969827e-01 9.90574739e-01 -9.75812862e-04 -8.80279770e+00] [-6.33194437e-03 1.09540417e-04 9.99979947e-01 5.39640862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.19, Y:-8.81, Z:0.54 [[ 9.90605822e-01 1.36498643e-01 8.25991395e-03 1.13193553e+02] [-1.36492668e-01 9.90640247e-01 -1.28554236e-03 -8.81436997e+00] [-8.35807798e-03 1.46048055e-04 9.99965060e-01 5.37449800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.22, Y:-8.82, Z:0.54 [[ 9.90594494e-01 1.36497326e-01 9.54085700e-03 1.13221874e+02] [-1.36489341e-01 9.90640425e-01 -1.48609845e-03 -8.82208873e+00] [-9.65440709e-03 1.69895649e-04 9.99953381e-01 5.37102786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.262320588 meters Centerline goodness [0,1] 0.999950888910716 Centerline is valid? [True, True] Translation: X:113.25, Y:-8.83, Z:0.54 [[ 9.90623699e-01 1.36281788e-01 9.58968822e-03 1.13251602e+02] [-1.36273707e-01 9.90670099e-01 -1.49418947e-03 -8.83030091e+00] [-9.70384819e-03 1.73357134e-04 9.99952902e-01 5.37089891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.28, Y:-8.84, Z:0.54 [[ 9.90555399e-01 1.36775226e-01 9.61975991e-03 1.13281171e+02] [-1.36767117e-01 9.90602094e-01 -1.49887500e-03 -8.83856616e+00] [-9.73436328e-03 1.69051893e-04 9.99952606e-01 5.37949283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.31, Y:-8.85, Z:0.54 [[ 9.90404644e-01 1.37835789e-01 9.99678260e-03 1.13311753e+02] [-1.37827077e-01 9.90455081e-01 -1.55858795e-03 -8.84635993e+00] [-1.01161933e-02 1.65805424e-04 9.99948816e-01 5.39626089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.34, Y:-8.85, Z:0.54 [[ 9.90182584e-01 1.39415139e-01 1.00930661e-02 1.13342242e+02] [-1.39406333e-01 9.90234011e-01 -1.57425052e-03 -8.85113858e+00] [-1.02139717e-02 1.51758111e-04 9.99947825e-01 5.40254373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.37, Y:-8.86, Z:0.54 [[ 9.90173781e-01 1.39477655e-01 1.00929668e-02 1.13372723e+02] [-1.39468846e-01 9.90225207e-01 -1.57488726e-03 -8.85587412e+00] [-1.02139717e-02 1.51757637e-04 9.99947825e-01 5.40409807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.40, Y:-8.86, Z:0.54 [[ 9.90026280e-01 1.40553163e-01 9.63192994e-03 1.13403481e+02] [-1.40545185e-01 9.90073124e-01 -1.50358697e-03 -8.86100510e+00] [-9.74764886e-03 1.34869236e-04 9.99952481e-01 5.40200762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.43, Y:-8.87, Z:0.54 [[ 9.89789743e-01 1.42228610e-01 9.34272910e-03 1.13433662e+02] [-1.42221173e-01 9.89833829e-01 -1.45906457e-03 -8.86867617e+00] [-9.45527005e-03 1.15433260e-04 9.99955291e-01 5.40748853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.46, Y:-8.88, Z:0.54 [[ 9.89537390e-01 1.44096724e-01 7.20330916e-03 1.13463570e+02] [-1.44092348e-01 9.89563605e-01 -1.12550068e-03 -8.88097551e+00] [-7.29031354e-03 7.57832748e-05 9.99973422e-01 5.40060142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.49, Y:-8.89, Z:0.54 [[ 9.89425558e-01 1.44874865e-01 6.95265833e-03 1.13493858e+02] [-1.44870810e-01 9.89449983e-01 -1.08602045e-03 -8.88743527e+00] [-7.03664473e-03 6.72991446e-05 9.99975240e-01 5.40708485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.52, Y:-8.89, Z:0.54 [[ 9.89348167e-01 1.45353730e-01 7.90555199e-03 1.13524099e+02] [-1.45348503e-01 9.89379749e-01 -1.23486452e-03 -8.89199862e+00] [-8.00108521e-03 7.26508073e-05 9.99967988e-01 5.40175984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.55, Y:-8.90, Z:0.54 [[ 9.89283667e-01 1.45659005e-01 1.00637838e-02 1.13554851e+02] [-1.45650540e-01 9.89334850e-01 -1.57297611e-03 -8.89628274e+00] [-1.01855702e-02 9.03240407e-05 9.99948122e-01 5.40769525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.59, Y:-8.90, Z:0.54 [[ 9.89299229e-01 1.45573626e-01 9.76502308e-03 1.13586047e+02] [-1.45565645e-01 9.89347417e-01 -1.52693421e-03 -8.90133869e+00] [-9.88328171e-03 8.91429539e-05 9.99951155e-01 5.41304112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.62, Y:-8.91, Z:0.54 [[ 9.89220877e-01 1.46274328e-01 6.77328178e-03 1.13616930e+02] [-1.46270501e-01 9.89244064e-01 -1.05967203e-03 -8.90798888e+00] [-6.85543161e-03 5.75183700e-05 9.99976500e-01 5.41643908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.65, Y:-8.91, Z:0.54 [[ 9.89152511e-01 1.46778885e-01 5.76785293e-03 1.13646810e+02] [-1.46776120e-01 9.89169327e-01 -9.02093400e-04 -8.91272185e+00] [-5.83779147e-03 4.57248752e-05 9.99982959e-01 5.40305222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.68, Y:-8.92, Z:0.54 [[ 9.88939740e-01 1.48202080e-01 5.85945198e-03 1.13675761e+02] [-1.48199256e-01 9.88957098e-01 -9.15700743e-04 -8.91706102e+00] [-5.93045539e-03 3.72064311e-05 9.99982414e-01 5.39528147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.71, Y:-8.92, Z:0.54 [[ 9.88667101e-01 1.49809648e-01 9.71769422e-03 1.13705095e+02] [-1.49801962e-01 9.88714856e-01 -1.51822960e-03 -8.92135084e+00] [-9.83547409e-03 4.52939954e-05 9.99951630e-01 5.40985391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.74, Y:-8.93, Z:0.54 [[ 9.88607752e-01 1.50338872e-01 7.27579264e-03 1.13736201e+02] [-1.50334570e-01 9.88634524e-01 -1.13778691e-03 -8.92629702e+00] [-7.36415339e-03 3.10218081e-05 9.99972884e-01 5.43429100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.77, Y:-8.93, Z:0.54 [[ 9.88629904e-01 1.50315255e-01 4.02946080e-03 1.13766190e+02] [-1.50313936e-01 9.88638116e-01 -6.29942439e-04 -8.93091996e+00] [-4.07836849e-03 1.70958210e-05 9.99991683e-01 5.43536683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.79, Y:-8.94, Z:0.54 [[ 9.88701753e-01 1.49887105e-01 1.64280403e-03 1.13794923e+02] [-1.49886891e-01 9.88703118e-01 -2.53686486e-04 -8.93588521e+00] [-1.66226980e-03 4.58548491e-06 9.99998618e-01 5.43320897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.82, Y:-8.94, Z:0.54 [[ 9.88893828e-01 1.48619066e-01 1.17061087e-03 1.13822897e+02] [-1.48618958e-01 9.88894521e-01 -1.79118193e-04 -8.94041706e+00] [-1.18423105e-03 3.15390916e-06 9.99999299e-01 5.43052689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.85, Y:-8.94, Z:0.54 [[ 9.89000125e-01 1.47831016e-01 4.97425700e-03 1.13851631e+02] [-1.47829024e-01 9.89012634e-01 -7.67859317e-04 -8.94437387e+00] [-5.03311644e-03 2.40734034e-05 9.99987333e-01 5.43903312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.892320588 meters Centerline goodness [0,1] 0.9999507340624693 Centerline is valid? [True, True] Translation: X:113.88, Y:-8.95, Z:0.54 [[ 9.88892257e-01 1.48492992e-01 6.47577906e-03 1.13881246e+02] [-1.48489615e-01 9.88913460e-01 -1.00195749e-03 -8.94831852e+00] [-6.55276874e-03 2.92420702e-05 9.99978530e-01 5.44089831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.91, Y:-8.95, Z:0.54 [[ 9.88713160e-01 1.49679406e-01 6.50872288e-03 1.13911021e+02] [-1.49676023e-01 9.88734583e-01 -1.00661568e-03 -8.95232548e+00] [-6.58606904e-03 2.10544152e-05 9.99978311e-01 5.44815978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.94, Y:-8.96, Z:0.54 [[ 9.88464449e-01 1.51238907e-01 8.05148959e-03 1.13940347e+02] [-1.51233785e-01 9.88497240e-01 -1.24475923e-03 -8.95615883e+00] [-8.14713126e-03 1.27430044e-05 9.99966811e-01 5.44732020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.97, Y:-8.96, Z:0.54 [[ 9.88247329e-01 1.52645060e-01 8.16714898e-03 1.13970477e+02] [-1.52639835e-01 9.88281076e-01 -1.26297769e-03 -8.96003551e+00] [-8.26422608e-03 1.50205507e-06 9.99965851e-01 5.44536985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.00, Y:-8.97, Z:0.54 [[ 9.87876690e-01 1.55025628e-01 8.16704496e-03 1.14001090e+02] [-1.55020477e-01 9.87910449e-01 -1.26385524e-03 -8.96521728e+00] [-8.26423900e-03 -1.75260735e-05 9.99965850e-01 5.43267884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.03, Y:-8.97, Z:0.54 [[ 9.87965478e-01 1.54486423e-01 7.62619102e-03 1.14031100e+02] [-1.54481918e-01 9.87994911e-01 -1.17984167e-03 -8.96973970e+00] [-7.71690744e-03 -1.24657731e-05 9.99970224e-01 5.43288173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.06, Y:-8.97, Z:0.54 [[ 9.88137675e-01 1.53453623e-01 5.99332281e-03 1.14061671e+02] [-1.53450822e-01 9.88155851e-01 -9.27221991e-04 -8.97387633e+00] [-6.06462258e-03 -3.45732978e-06 9.99981610e-01 5.44148424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.09, Y:-8.98, Z:0.54 [[ 9.88372838e-01 1.51927273e-01 6.10211745e-03 1.14091306e+02] [-1.51924345e-01 9.88391675e-01 -9.43299146e-04 -8.97705239e+00] [-6.17459496e-03 5.27105808e-06 9.99980937e-01 5.44194820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.12, Y:-8.98, Z:0.54 [[ 9.88944510e-01 1.47867504e-01 1.11335700e-02 1.14121172e+02] [-1.47857504e-01 9.89007178e-01 -1.72062064e-03 -8.97893593e+00] [-1.12656045e-02 5.54164773e-05 9.99936540e-01 5.44056759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.162320588 meters Centerline goodness [0,1] 0.9999508647798742 Centerline is valid? [True, True] Translation: X:114.15, Y:-8.98, Z:0.54 [[ 9.89195551e-01 1.45978880e-01 1.35028826e-02 1.14152035e+02] [-1.45963971e-01 9.89287702e-01 -2.08841502e-03 -8.98415034e+00] [-1.36631001e-02 9.49164850e-05 9.99906651e-01 5.44020738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.18, Y:-8.99, Z:0.54 [[ 9.89380550e-01 1.44705281e-01 1.36568408e-02 1.14184034e+02] [-1.44689879e-01 9.89474794e-01 -2.11435818e-03 -8.98975883e+00] [-1.38190586e-02 1.15898208e-04 9.99904506e-01 5.44418167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.22, Y:-9.00, Z:0.54 [[ 9.89642613e-01 1.43049077e-01 1.20191374e-02 1.14215561e+02] [-1.43037006e-01 9.89715588e-01 -1.86246609e-03 -8.99542570e+00] [-1.21619517e-02 1.23994384e-04 9.99926033e-01 5.44733459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.25, Y:-9.00, Z:0.54 [[ 9.90169338e-01 1.39657839e-01 7.76988327e-03 1.14246586e+02] [-1.39652680e-01 9.90199816e-01 -1.20525779e-03 -9.00438371e+00] [-7.86206069e-03 1.08324282e-04 9.99969088e-01 5.44577167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.28, Y:-9.01, Z:0.54 [[ 9.90412943e-01 1.37978466e-01 6.64414239e-03 1.14277374e+02] [-1.37974655e-01 9.90435224e-01 -1.03084133e-03 -9.01302215e+00] [-6.72282656e-03 1.04235337e-04 9.99977396e-01 5.43234911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.31, Y:-9.02, Z:0.54 [[ 9.90618362e-01 1.36556264e-01 5.25814515e-03 1.14306462e+02] [-1.36553858e-01 9.90632313e-01 -8.15543504e-04 -9.02163967e+00] [-5.32025607e-03 8.98723609e-05 9.99985843e-01 5.44712596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.34, Y:-9.03, Z:0.55 [[ 9.90726150e-01 1.35782898e-01 4.96990116e-03 1.14335981e+02] [-1.35780739e-01 9.90738612e-01 -7.70836577e-04 -9.02962787e+00] [-5.02853940e-03 8.88711027e-05 9.99987353e-01 5.46185810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.37, Y:-9.04, Z:0.55 [[ 9.90587808e-01 1.36631433e-01 8.22475995e-03 1.14365886e+02] [-1.36625550e-01 9.90621942e-01 -1.27566839e-03 -9.03619452e+00] [-8.32192407e-03 1.39949202e-04 9.99965362e-01 5.46942228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.40, Y:-9.04, Z:0.55 [[ 9.90416793e-01 1.37849843e-01 8.48514062e-03 1.14397579e+02] [-1.37843611e-01 9.90453130e-01 -1.31781032e-03 -9.04209774e+00] [-8.58579403e-03 1.35559053e-04 9.99963132e-01 5.46870791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.43, Y:-9.05, Z:0.55 [[ 9.90086435e-01 1.40085556e-01 1.02414769e-02 1.14427694e+02] [-1.40076594e-01 9.90139393e-01 -1.59079113e-03 -9.04935557e+00] [-1.03633365e-02 1.40429527e-04 9.99946289e-01 5.46037339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.46, Y:-9.06, Z:0.54 [[ 9.89623075e-01 1.43304149e-01 1.04923932e-02 1.14458647e+02] [-1.43294905e-01 9.89678690e-01 -1.63148161e-03 -9.05853390e+00] [-1.06178960e-02 1.11045369e-04 9.99943622e-01 5.44220965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.49, Y:-9.07, Z:0.54 [[ 9.89102246e-01 1.46848812e-01 1.05911425e-02 1.14490089e+02] [-1.46839581e-01 9.89158946e-01 -1.64824830e-03 -9.06833649e+00] [-1.07183666e-02 7.50871703e-05 9.99942554e-01 5.42892866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.52, Y:-9.08, Z:0.54 [[ 9.87781378e-01 1.55514619e-01 1.01564462e-02 1.14521153e+02] [-1.55506573e-01 9.87833591e-01 -1.58199427e-03 -9.07983168e+00] [-1.02789019e-02 -1.67296549e-05 9.99947171e-01 5.44973666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.55, Y:-9.08, Z:0.55 [[ 9.87239844e-01 1.59004217e-01 8.66886382e-03 1.14552770e+02] [-1.58998479e-01 9.87277903e-01 -1.35156542e-03 -9.08462203e+00] [-8.77348229e-03 -4.40169288e-05 9.99961511e-01 5.47617168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.58, Y:-9.09, Z:0.55 [[ 9.86797686e-01 1.61795303e-01 7.25305056e-03 1.14584492e+02] [-1.61791353e-01 9.86824339e-01 -1.13193258e-03 -9.08861599e+00] [-7.34062820e-03 -5.64924098e-05 9.99973056e-01 5.50577991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.62, Y:-9.09, Z:0.55 [[ 9.85893247e-01 1.67240842e-01 6.70871881e-03 1.14615900e+02] [-1.67237582e-01 9.85916068e-01 -1.04795243e-03 -9.09433486e+00] [-6.78949412e-03 -8.87806875e-05 9.99976947e-01 5.50264694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.65, Y:-9.10, Z:0.55 [[ 9.85553679e-01 1.69239183e-01 6.48419088e-03 1.14648187e+02] [-1.69236175e-01 9.85575004e-01 -1.01379249e-03 -9.09825294e+00] [-6.56222986e-03 -9.82127464e-05 9.99978464e-01 5.49585811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.68, Y:-9.10, Z:0.55 [[ 9.85037115e-01 1.72144206e-01 8.26162596e-03 1.14680754e+02] [-1.72139417e-01 9.85071749e-01 -1.29263852e-03 -9.10079228e+00] [-8.36081457e-03 -1.48854558e-04 9.99965037e-01 5.48868493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.71, Y:-9.10, Z:0.55 [[ 9.84475744e-01 1.75237597e-01 9.96463703e-03 1.14712977e+02] [-1.75230776e-01 9.84526150e-01 -1.56031276e-03 -9.10321547e+00] [-1.00838712e-02 -2.10021014e-04 9.99949134e-01 5.49153534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.75, Y:-9.11, Z:0.55 [[ 9.83519610e-01 1.80526496e-01 9.96798112e-03 1.14745186e+02] [-1.80519928e-01 9.83570087e-01 -1.56218630e-03 -9.10540607e+00] [-1.00862241e-02 -2.62978378e-04 9.99949098e-01 5.49549033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.78, Y:-9.11, Z:0.55 [[ 9.83122049e-01 1.82679431e-01 9.96301852e-03 1.14776948e+02] [-1.82672967e-01 9.83172490e-01 -1.56273552e-03 -9.10838776e+00] [-1.00808454e-02 -2.83614409e-04 9.99949147e-01 5.49598084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.81, Y:-9.11, Z:0.55 [[ 9.82735281e-01 1.84796005e-01 9.04458568e-03 1.14809465e+02] [-1.84790756e-01 9.82776862e-01 -1.41994341e-03 -9.10888950e+00] [-9.15120940e-03 -2.75927335e-04 9.99958089e-01 5.49441703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.84, Y:-9.11, Z:0.55 [[ 9.82271023e-01 1.87299022e-01 7.91914992e-03 1.14841013e+02] [-1.87295077e-01 9.82302910e-01 -1.24352890e-03 -9.10827869e+00] [-8.01191576e-03 -2.61735390e-04 9.99967870e-01 5.49535338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.87, Y:-9.11, Z:0.55 [[ 9.81845717e-01 1.89539517e-01 7.33214893e-03 1.14872403e+02] [-1.89536194e-01 9.81873059e-01 -1.15186670e-03 -9.10989776e+00] [-7.41756376e-03 -2.58752216e-04 9.99972456e-01 5.49441594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.90, Y:-9.11, Z:0.55 [[ 9.81363434e-01 1.92065573e-01 6.05186908e-03 1.14902545e+02] [-1.92063361e-01 9.81382068e-01 -9.50104848e-04 -9.11100574e+00] [-6.12167822e-03 -2.29944159e-04 9.99981236e-01 5.49162198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.93, Y:-9.11, Z:0.55 [[ 9.81038542e-01 1.93669038e-01 7.46212009e-03 1.14932426e+02] [-1.93665722e-01 9.81066876e-01 -1.17129952e-03 -9.11370586e+00] [-7.54768330e-03 -2.96066906e-04 9.99971472e-01 5.49759191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.96, Y:-9.11, Z:0.55 [[ 9.81034070e-01 1.93689766e-01 7.51180206e-03 1.14962730e+02] [-1.93686411e-01 9.81062784e-01 -1.17844369e-03 -9.11427033e+00] [-7.59780192e-03 -2.98840569e-04 9.99971092e-01 5.50549187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.99, Y:-9.11, Z:0.55 [[ 9.81083229e-01 1.93381952e-01 8.89482754e-03 1.14993069e+02] [-1.93377241e-01 9.81123487e-01 -1.39488462e-03 -9.11471414e+00] [-8.99666972e-03 -3.51559301e-04 9.99959467e-01 5.51129120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.02, Y:-9.11, Z:0.55 [[ 9.81543529e-01 1.90809342e-01 1.28099919e-02 1.15023743e+02] [-1.90799361e-01 9.81627002e-01 -2.00816501e-03 -9.11280796e+00] [-1.29578106e-02 -4.73036898e-04 9.99915932e-01 5.50805081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.05, Y:-9.12, Z:0.55 [[ 9.81726527e-01 1.89948844e-01 1.15092060e-02 1.15054984e+02] [-1.89940712e-01 9.81793902e-01 -1.80562367e-03 -9.11583664e+00] [-1.16426444e-02 -4.13438135e-04 9.99932137e-01 5.52076327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.09, Y:-9.12, Z:0.55 [[ 9.81642300e-01 1.90400471e-01 1.12274529e-02 1.15085712e+02] [-1.90392765e-01 9.81706419e-01 -1.76110155e-03 -9.11808476e+00] [-1.13573771e-02 -4.08854013e-04 9.99935419e-01 5.52390610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.12, Y:-9.12, Z:0.55 [[ 9.81490751e-01 1.91288201e-01 9.20492113e-03 1.15116113e+02] [-1.91283069e-01 9.81533854e-01 -1.44292460e-03 -9.11842602e+00] [-9.31095616e-03 -3.44528412e-04 9.99956593e-01 5.52237025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.15, Y:-9.11, Z:0.55 [[ 9.81051312e-01 1.93642001e-01 6.41077896e-03 1.15146286e+02] [-1.93639594e-01 9.81072223e-01 -9.99909304e-04 -9.11374561e+00] [-6.48306161e-03 -2.60418303e-04 9.99978951e-01 5.50163498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.17, Y:-9.12, Z:0.55 [[ 9.81070790e-01 1.93492944e-01 7.78367785e-03 1.15174912e+02] [-1.93489416e-01 9.81101615e-01 -1.21094002e-03 -9.11586129e+00] [-7.87088726e-03 -3.18041402e-04 9.99968974e-01 5.49441759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.20, Y:-9.12, Z:0.55 [[ 9.80936956e-01 1.94089421e-01 9.59086624e-03 1.15203662e+02] [-1.94084130e-01 9.80983759e-01 -1.48824785e-03 -9.11888453e+00] [-9.69733718e-03 -4.01557618e-04 9.99952899e-01 5.51255587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.23, Y:-9.12, Z:0.55 [[ 9.80956874e-01 1.93947678e-01 1.03879254e-02 1.15232814e+02] [-1.93941511e-01 9.81011777e-01 -1.60736477e-03 -9.12037288e+00] [-1.05024218e-02 -4.37894424e-04 9.99944752e-01 5.53582579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.26, Y:-9.12, Z:0.55 [[ 9.81272154e-01 1.92267009e-01 1.17625541e-02 1.15262044e+02] [-1.92259043e-01 9.81342533e-01 -1.81494915e-03 -9.11958064e+00] [-1.18920495e-02 -4.80498338e-04 9.99929172e-01 5.54926219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.272320588 meters Centerline goodness [0,1] 0.9999509298787967 Centerline is valid? [True, True] Translation: X:115.29, Y:-9.11, Z:0.55 [[ 9.82241863e-01 1.87161689e-01 1.30929313e-02 1.15292415e+02] [-1.87151363e-01 9.82329011e-01 -2.02039411e-03 -9.11188952e+00] [-1.32397066e-02 -4.65844278e-04 9.99912243e-01 5.54013964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.302320588 meters Centerline goodness [0,1] 0.9999509298787967 Centerline is valid? [True, True] Translation: X:115.32, Y:-9.12, Z:0.55 [[ 9.82339104e-01 1.86650543e-01 1.30942816e-02 1.15319497e+02] [-1.86640289e-01 9.82426260e-01 -2.01163049e-03 -9.11635149e+00] [-1.32396380e-02 -4.67817202e-04 9.99912243e-01 5.54152356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.35, Y:-9.12, Z:0.55 [[ 9.82849794e-01 1.83930592e-01 1.32597212e-02 1.15348111e+02] [-1.83919908e-01 9.82939134e-01 -2.03121918e-03 -9.11823535e+00] [-1.34071022e-02 -4.42343346e-04 9.99910023e-01 5.52940726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.38, Y:-9.12, Z:0.55 [[ 9.83434429e-01 1.80789478e-01 1.31106103e-02 1.15377100e+02] [-1.80778835e-01 9.83521735e-01 -2.00221528e-03 -9.12080216e+00] [-1.32565496e-02 -4.01073412e-04 9.99912048e-01 5.52963342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.41, Y:-9.12, Z:0.55 [[ 9.84170310e-01 1.76885913e-01 1.09624269e-02 1.15405678e+02] [-1.76878232e-01 9.84231319e-01 -1.67396995e-03 -9.12259917e+00] [-1.10856656e-02 -2.91543162e-04 9.99938510e-01 5.53098172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.44, Y:-9.12, Z:0.55 [[ 9.85664549e-01 1.68442927e-01 9.61130574e-03 1.15435601e+02] [-1.68436678e-01 9.85711392e-01 -1.46186210e-03 -9.11961855e+00] [-9.72021389e-03 -1.77990761e-04 9.99952742e-01 5.52053129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.46, Y:-9.12, Z:0.55 [[ 9.86299799e-01 1.64742635e-01 8.51879913e-03 1.15464348e+02] [-1.64737625e-01 9.86336579e-01 -1.29130807e-03 -9.12118346e+00] [-8.61513669e-03 -1.29749850e-04 9.99962881e-01 5.51942453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.49, Y:-9.12, Z:0.55 [[ 9.87023475e-01 1.60298957e-01 9.42885381e-03 1.15493397e+02] [-1.60292657e-01 9.87068505e-01 -1.42502345e-03 -9.12374623e+00] [-9.53535440e-03 -1.04844434e-04 9.99954532e-01 5.50992483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.52, Y:-9.13, Z:0.55 [[ 9.87748128e-01 1.55765013e-01 9.53395460e-03 1.15522629e+02] [-1.55758399e-01 9.87794137e-01 -1.43693794e-03 -9.12600603e+00] [-9.64140911e-03 -6.56607468e-05 9.99953518e-01 5.51285927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.55, Y:-9.12, Z:0.55 [[ 9.88742708e-01 1.49360445e-01 8.90593341e-03 1.15552815e+02] [-1.49354449e-01 9.88782816e-01 -1.33830248e-03 -9.12214534e+00] [-9.00592337e-03 -6.90396351e-06 9.99959446e-01 5.53599751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.58, Y:-9.12, Z:0.55 [[ 9.89175969e-01 1.46528925e-01 7.75737618e-03 1.15580607e+02] [-1.46524326e-01 9.89206386e-01 -1.16091935e-03 -9.12452001e+00] [-7.84375432e-03 1.17092074e-05 9.99969237e-01 5.53595134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.61, Y:-9.13, Z:0.55 [[ 9.89631205e-01 1.43383543e-01 8.44026426e-03 1.15609032e+02] [-1.43378013e-01 9.89667196e-01 -1.25980282e-03 -9.12973736e+00] [-8.53368766e-03 3.65918551e-05 9.99963587e-01 5.52635957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.64, Y:-9.14, Z:0.55 [[ 9.90410368e-01 1.37380939e-01 1.46212421e-02 1.15636276e+02] [-1.37363703e-01 9.90518276e-01 -2.18140255e-03 -9.13813788e+00] [-1.47822906e-02 1.52055752e-04 9.99890724e-01 5.51886332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.66, Y:-9.14, Z:0.55 [[ 9.90717558e-01 1.35023352e-01 1.57294515e-02 1.15664525e+02] [-1.35003233e-01 9.90842398e-01 -2.33884244e-03 -9.14242638e+00] [-1.59012057e-02 1.93605471e-04 9.99873549e-01 5.52857155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.69, Y:-9.15, Z:0.55 [[ 9.90944889e-01 1.33263257e-01 1.64052233e-02 1.15693116e+02] [-1.33241251e-01 9.91080650e-01 -2.43208475e-03 -9.14593346e+00] [-1.65830069e-02 2.24209475e-04 9.99862467e-01 5.52799768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.72, Y:-9.15, Z:0.55 [[ 9.91216001e-01 1.31556063e-01 1.35587988e-02 1.15721915e+02] [-1.31540960e-01 9.91308711e-01 -2.00365448e-03 -9.15047052e+00] [-1.37045482e-02 2.02516982e-04 9.99906068e-01 5.52631564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.75, Y:-9.16, Z:0.55 [[ 9.91220936e-01 1.31667647e-01 1.20285487e-02 1.15750009e+02] [-1.31655837e-01 9.91293902e-01 -1.77192829e-03 -9.15705645e+00] [-1.21571326e-02 1.72743773e-04 9.99926084e-01 5.50756426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.78, Y:-9.16, Z:0.55 [[ 9.91289256e-01 1.31319049e-01 1.00458087e-02 1.15778029e+02] [-1.31310843e-01 9.91340147e-01 -1.47499223e-03 -9.16383251e+00] [-1.01525081e-02 1.43020345e-04 9.99948452e-01 5.50105923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.81, Y:-9.17, Z:0.55 [[ 9.91022018e-01 1.33432980e-01 8.42616045e-03 1.15805889e+02] [-1.33427318e-01 9.91057834e-01 -1.23307185e-03 -9.17040920e+00] [-8.51534478e-03 9.77213644e-05 9.99963739e-01 5.51526034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.83, Y:-9.18, Z:0.55 [[ 9.90938162e-01 1.34059293e-01 8.34658721e-03 1.15833621e+02] [-1.34053799e-01 9.90973309e-01 -1.21674838e-03 -9.17508770e+00] [-8.43436157e-03 8.68306845e-05 9.99964426e-01 5.52530569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.86, Y:-9.18, Z:0.55 [[ 9.90831594e-01 1.34748537e-01 9.77666311e-03 1.15860627e+02] [-1.34741078e-01 9.90879823e-01 -1.42067295e-03 -9.18118735e+00] [-9.87893181e-03 9.03295120e-05 9.99951198e-01 5.53454507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.89, Y:-9.19, Z:0.55 [[ 9.90820715e-01 1.34705578e-01 1.13454101e-02 1.15888373e+02] [-1.34695580e-01 9.90885663e-01 -1.64426229e-03 -9.18774774e+00] [-1.14634955e-02 1.00992544e-04 9.99934287e-01 5.54162907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.92, Y:-9.19, Z:0.55 [[ 9.90879554e-01 1.34293123e-01 1.10935677e-02 1.15916076e+02] [-1.34283607e-01 9.90941647e-01 -1.60165022e-03 -9.19197898e+00] [-1.12081688e-02 9.73581756e-05 9.99937182e-01 5.54320944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.94, Y:-9.19, Z:0.55 [[ 9.90971466e-01 1.33680864e-01 1.02459418e-02 1.15943950e+02] [-1.33672770e-01 9.91024429e-01 -1.47380594e-03 -9.19408359e+00] [-1.03509983e-02 9.08962060e-05 9.99946423e-01 5.52734521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.97, Y:-9.20, Z:0.55 [[ 9.90918042e-01 1.34078544e-01 1.02165570e-02 1.15971407e+02] [-1.34070572e-01 9.90970705e-01 -1.46432656e-03 -9.19741625e+00] [-1.03206434e-02 8.12879673e-05 9.99946737e-01 5.51710869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.00, Y:-9.20, Z:0.55 [[ 9.90929452e-01 1.33818751e-01 1.23029451e-02 1.15999529e+02] [-1.33807229e-01 9.91005819e-01 -1.75866783e-03 -9.20158503e+00] [-1.24276330e-02 9.64927611e-05 9.99922769e-01 5.53060800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.03, Y:-9.21, Z:0.55 [[ 9.91048196e-01 1.33028441e-01 1.12652861e-02 1.16027176e+02] [-1.33018801e-01 9.91112216e-01 -1.60400297e-03 -9.20506087e+00] [-1.13785407e-02 9.11493940e-05 9.99935258e-01 5.53985980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.06, Y:-9.21, Z:0.55 [[ 9.91229777e-01 1.31837280e-01 9.08079747e-03 1.16056020e+02] [-1.31831006e-01 9.91271368e-01 -1.28864951e-03 -9.20720233e+00] [-9.17142658e-03 8.02170982e-05 9.99957938e-01 5.54374760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.08, Y:-9.21, Z:0.55 [[ 9.91347709e-01 1.31074635e-01 7.01138704e-03 1.16084904e+02] [-1.31070899e-01 9.91372501e-01 -9.91736544e-04 -9.20958125e+00] [-7.08088781e-03 6.41669475e-05 9.99974928e-01 5.54640785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.11, Y:-9.21, Z:0.55 [[ 9.91449934e-01 1.30177629e-01 8.98957970e-03 1.16113425e+02] [-1.30171458e-01 9.91490684e-01 -1.27066685e-03 -9.21006738e+00] [-9.07849693e-03 8.96158689e-05 9.99958786e-01 5.52493681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.14, Y:-9.21, Z:0.55 [[ 9.91607016e-01 1.28892819e-01 1.01077724e-02 1.16142239e+02] [-1.28885006e-01 9.91658525e-01 -1.42332229e-03 -9.21287688e+00] [-1.02069147e-02 1.08636054e-04 9.99947902e-01 5.53556981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.17, Y:-9.21, Z:0.55 [[ 9.91743417e-01 1.27682477e-01 1.19239475e-02 1.16171313e+02] [-1.27671576e-01 9.91815087e-01 -1.67412194e-03 -9.21482374e+00] [-1.20401071e-02 1.37950231e-04 9.99927506e-01 5.53992185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.20, Y:-9.22, Z:0.56 [[ 9.91817526e-01 1.27249282e-01 1.02769501e-02 1.16199797e+02] [-1.27241211e-01 9.91870761e-01 -1.43804930e-03 -9.21780445e+00] [-1.03763970e-02 1.18630924e-04 9.99946157e-01 5.55286931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.23, Y:-9.22, Z:0.55 [[ 9.92177631e-01 1.24508539e-01 9.00953690e-03 1.16227109e+02] [-1.24502270e-01 9.92218529e-01 -1.25551378e-03 -9.22126886e+00] [-9.09575163e-03 1.23984897e-04 9.99958625e-01 5.54931678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.26, Y:-9.23, Z:0.56 [[ 9.92409555e-01 1.22668759e-01 8.69769275e-03 1.16255589e+02] [-1.22662878e-01 9.92447660e-01 -1.20843349e-03 -9.22618974e+00] [-8.78024185e-03 1.32376922e-04 9.99961444e-01 5.55472748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.28, Y:-9.23, Z:0.56 [[ 9.92931671e-01 1.18344124e-01 9.02021453e-03 1.16283974e+02] [-1.18337656e-01 9.92972627e-01 -1.24937413e-03 -9.23223308e+00] [-9.10468221e-03 1.73112100e-04 9.99958537e-01 5.55593837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.31, Y:-9.24, Z:0.56 [[ 9.93050309e-01 1.17189624e-01 1.08478765e-02 1.16312618e+02] [-1.17180247e-01 9.93109533e-01 -1.49824052e-03 -9.23695434e+00] [-1.09487078e-02 2.16671365e-04 9.99940038e-01 5.55009072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.34, Y:-9.24, Z:0.55 [[ 9.93111982e-01 1.16661486e-01 1.08944879e-02 1.16339870e+02] [-1.16652059e-01 9.93171712e-01 -1.49891250e-03 -9.24108927e+00] [-1.09949626e-02 2.17723514e-04 9.99939530e-01 5.54875324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.37, Y:-9.24, Z:0.56 [[ 9.93143757e-01 1.16302122e-01 1.18022842e-02 1.16368266e+02] [-1.16291089e-01 9.93213855e-01 -1.61916782e-03 -9.24391450e+00] [-1.19105049e-02 2.35565925e-04 9.99929040e-01 5.56330253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.40, Y:-9.25, Z:0.56 [[ 9.93171877e-01 1.16205423e-01 1.02918804e-02 1.16397223e+02] [-1.16197078e-01 9.93225180e-01 -1.40711158e-03 -9.24741485e+00] [-1.03856688e-02 2.01617218e-04 9.99946047e-01 5.56935084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.43, Y:-9.25, Z:0.56 [[ 9.93178009e-01 1.16220480e-01 9.49956954e-03 1.16425915e+02] [-1.16213413e-01 9.93223422e-01 -1.29444598e-03 -9.25173576e+00] [-9.58563611e-03 1.81637879e-04 9.99954040e-01 5.56335295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.45, Y:-9.26, Z:0.55 [[ 9.93373793e-01 1.14652623e-01 7.95507278e-03 1.16453114e+02] [-1.14647654e-01 9.93405632e-01 -1.07932940e-03 -9.25928277e+00] [-8.02636205e-03 1.60147104e-04 9.99967775e-01 5.54240905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.48, Y:-9.26, Z:0.55 [[ 9.93508381e-01 1.13521181e-01 7.35108561e-03 1.16480913e+02] [-1.13516936e-01 9.93535565e-01 -9.93456735e-04 -9.26497855e+00] [-7.41634337e-03 1.52534875e-04 9.99972487e-01 5.54487637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.51, Y:-9.27, Z:0.56 [[ 9.93728808e-01 1.11521204e-01 8.12876881e-03 1.16509051e+02] [-1.11515971e-01 9.93762038e-01 -1.09563103e-03 -9.27021269e+00] [-8.20024795e-03 1.82272567e-04 9.99966361e-01 5.56486636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.54, Y:-9.27, Z:0.56 [[ 9.93893107e-01 1.10071052e-01 7.80095731e-03 1.16537703e+02] [-1.10066215e-01 9.93923704e-01 -1.04791587e-03 -9.27394281e+00] [-7.86890159e-03 1.82894511e-04 9.99969023e-01 5.59586325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.57, Y:-9.28, Z:0.56 [[ 9.94098285e-01 1.08284442e-01 6.56348419e-03 1.16566397e+02] [-1.08281001e-01 9.94119939e-01 -8.78497674e-04 -9.27676916e+00] [-6.62001813e-03 1.62612394e-04 9.99978074e-01 5.61635504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.59, Y:-9.28, Z:0.56 [[ 9.94278761e-01 1.06750879e-01 3.74111035e-03 1.16593489e+02] [-1.06749762e-01 9.94285794e-01 -4.97616414e-04 -9.28233679e+00] [-3.77285387e-03 9.54067920e-05 9.99992878e-01 5.60072073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.62, Y:-9.29, Z:0.56 [[ 9.94211002e-01 1.07312472e-01 5.34014376e-03 1.16620461e+02] [-1.07310213e-01 9.94225335e-01 -7.08665423e-04 -9.28931615e+00] [-5.38535485e-03 1.31510999e-04 9.99985490e-01 5.57244652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.65, Y:-9.30, Z:0.56 [[ 9.94086711e-01 1.08271364e-01 8.30199512e-03 1.16647654e+02] [-1.08265960e-01 9.94121358e-01 -1.09892714e-03 -9.29536618e+00] [-8.37217300e-03 1.93605392e-04 9.99964934e-01 5.55635587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.68, Y:-9.30, Z:0.56 [[ 9.93933533e-01 1.09450554e-01 1.08031986e-02 1.16675305e+02] [-1.09441524e-01 9.93992214e-01 -1.42537572e-03 -9.29960818e+00] [-1.08943034e-02 2.34410212e-04 9.99940628e-01 5.56444400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.70, Y:-9.30, Z:0.56 [[ 9.93785395e-01 1.10825718e-01 1.04042543e-02 1.16704377e+02] [-1.10817430e-01 9.93839834e-01 -1.37149974e-03 -9.30315340e+00] [-1.04921598e-02 2.10003684e-04 9.99944934e-01 5.59245114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.73, Y:-9.31, Z:0.56 [[ 9.93702560e-01 1.11675871e-01 9.14999461e-03 1.16733072e+02] [-1.11669541e-01 9.93744671e-01 -1.20143769e-03 -9.30929922e+00] [-9.22692998e-03 1.72096016e-04 9.99957416e-01 5.61499466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.76, Y:-9.32, Z:0.56 [[ 9.93759658e-01 1.11359388e-01 6.38981007e-03 1.16761392e+02] [-1.11356318e-01 9.93780193e-01 -8.35387147e-04 -9.31605649e+00] [-6.44309488e-03 1.18628322e-04 9.99979236e-01 5.61653380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.79, Y:-9.32, Z:0.56 [[ 9.93805335e-01 1.10953412e-01 6.34789301e-03 1.16789284e+02] [-1.10950397e-01 9.93825602e-01 -8.26360295e-04 -9.32171889e+00] [-6.40038608e-03 1.16940022e-04 9.99979510e-01 5.60382117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.82, Y:-9.32, Z:0.56 [[ 9.93671076e-01 1.11933853e-01 9.41307375e-03 1.16816773e+02] [-1.11927299e-01 9.93715647e-01 -1.22185341e-03 -9.32328652e+00] [-9.49068543e-03 1.60540466e-04 9.99954950e-01 5.59561381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.85, Y:-9.33, Z:0.56 [[ 9.93616509e-01 1.12215850e-01 1.15687858e-02 1.16845589e+02] [-1.12206019e-01 9.93683837e-01 -1.49745931e-03 -9.32645229e+00] [-1.16637541e-02 1.89812899e-04 9.99931958e-01 5.58705737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.87, Y:-9.33, Z:0.56 [[ 9.93516125e-01 1.13233094e-01 1.01968397e-02 1.16874127e+02] [-1.13225558e-01 9.93568439e-01 -1.31514966e-03 -9.33238049e+00] [-1.02801765e-02 1.52079528e-04 9.99947146e-01 5.59712397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.90, Y:-9.34, Z:0.56 [[ 9.93423253e-01 1.14100816e-01 9.55218387e-03 1.16902117e+02] [-1.14094286e-01 9.93469168e-01 -1.22759888e-03 -9.33902914e+00] [-9.62987019e-03 1.29675677e-04 9.99953623e-01 5.59154609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.93, Y:-9.35, Z:0.56 [[ 9.92948689e-01 1.18458642e-01 4.52220730e-03 1.16930049e+02] [-1.18457237e-01 9.92958986e-01 -5.78274038e-04 -9.34583307e+00] [-4.55886793e-03 3.85082674e-05 9.99989608e-01 5.61807920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.96, Y:-9.35, Z:0.56 [[ 9.92656673e-01 1.20870740e-01 4.79510822e-03 1.16957916e+02] [-1.20869202e-01 9.92668255e-01 -6.10280575e-04 -9.34800047e+00] [-4.83371677e-03 2.62181830e-05 9.99988317e-01 5.61826769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.99, Y:-9.35, Z:0.56 [[ 9.92293601e-01 1.23779028e-01 5.67112707e-03 1.16986282e+02] [-1.23776937e-01 9.92309806e-01 -7.19602651e-04 -9.34993308e+00] [-5.71658672e-03 1.21023661e-05 9.99983660e-01 5.62278815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.01, Y:-9.35, Z:0.56 [[ 9.92016664e-01 1.25957831e-01 6.12889312e-03 1.17013826e+02] [-1.25955450e-01 9.92035597e-01 -7.74411383e-04 -9.35288275e+00] [-6.17762332e-03 -3.73849737e-06 9.99980918e-01 5.62046970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.04, Y:-9.36, Z:0.56 [[ 9.91674644e-01 1.28346303e-01 1.04224188e-02 1.17042244e+02] [-1.28339578e-01 9.91729411e-01 -1.31431703e-03 -9.35749454e+00] [-1.05049070e-02 -3.42339617e-05 9.99944821e-01 5.60661785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.07, Y:-9.36, Z:0.56 [[ 9.91584376e-01 1.29016178e-01 1.07354946e-02 1.17069778e+02] [-1.29009146e-01 9.91642488e-01 -1.34792224e-03 -9.36119836e+00] [-1.08196763e-02 -4.83983527e-05 9.99941464e-01 5.60586303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.10, Y:-9.36, Z:0.56 [[ 9.91650740e-01 1.28505032e-01 1.07361879e-02 1.17096944e+02] [-1.28498030e-01 9.91708856e-01 -1.34239387e-03 -9.36493268e+00] [-1.08196770e-02 -4.83931203e-05 9.99941464e-01 5.60724832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.13, Y:-9.37, Z:0.56 [[ 9.91772595e-01 1.27789152e-01 7.55325342e-03 1.17125518e+02] [-1.27785695e-01 9.91801357e-01 -9.40514210e-04 -9.36771741e+00] [-7.61151451e-03 -3.24215159e-05 9.99971031e-01 5.61962571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.15, Y:-9.37, Z:0.56 [[ 9.92019992e-01 1.25964001e-01 5.42271962e-03 1.17154392e+02] [-1.25962209e-01 9.92034813e-01 -6.72047020e-04 -9.36977077e+00] [-5.46418037e-03 -1.63736635e-05 9.99985071e-01 5.62720373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.18, Y:-9.37, Z:0.56 [[ 9.92677217e-01 1.20637448e-01 6.20886276e-03 1.17182617e+02] [-1.20635015e-01 9.92696633e-01 -7.66185828e-04 -9.37112419e+00] [-6.25594786e-03 1.15689603e-05 9.99980431e-01 5.63570893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.21, Y:-9.37, Z:0.57 [[ 9.92904065e-01 1.18697270e-01 7.24402844e-03 1.17211176e+02] [-1.18693926e-01 9.92930490e-01 -8.91355772e-04 -9.37434120e+00] [-7.29861821e-03 2.52085938e-05 9.99973364e-01 5.65005522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.24, Y:-9.38, Z:0.57 [[ 9.93248585e-01 1.15799188e-01 6.91351121e-03 1.17239010e+02] [-1.15796100e-01 9.93272645e-01 -8.46665976e-04 -9.37690173e+00] [-6.96504480e-03 4.03921479e-05 9.99975743e-01 5.65622460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.27, Y:-9.38, Z:0.56 [[ 9.93502999e-01 1.13574423e-01 7.25538787e-03 1.17268021e+02] [-1.13570983e-01 9.93529490e-01 -8.85728515e-04 -9.37990721e+00] [-7.30903791e-03 5.59724073e-05 9.99973287e-01 5.64063043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.30, Y:-9.38, Z:0.56 [[ 9.93714676e-01 1.11827780e-01 5.06857886e-03 1.17295778e+02] [-1.11826097e-01 9.93727601e-01 -6.15128312e-04 -9.38415674e+00] [-5.10557515e-03 4.44626410e-05 9.99986965e-01 5.63049595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.32, Y:-9.39, Z:0.56 [[ 9.93843997e-01 1.10676830e-01 4.97478777e-03 1.17323249e+02] [-1.10675207e-01 9.93856447e-01 -6.01117712e-04 -9.39072164e+00] [-5.01075470e-03 4.68315629e-05 9.99987445e-01 5.60412956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.35, Y:-9.39, Z:0.56 [[ 9.93816699e-01 1.10805904e-01 7.10065800e-03 1.17352042e+02] [-1.10802615e-01 9.93842064e-01 -8.56243471e-04 -9.39490072e+00] [-7.15180943e-03 6.41775882e-05 9.99974423e-01 5.62079237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.38, Y:-9.40, Z:0.56 [[ 9.93818696e-01 1.10639796e-01 9.12335059e-03 1.17380870e+02] [-1.10634390e-01 9.93860568e-01 -1.09665559e-03 -9.39805311e+00] [-9.18867215e-03 8.05205000e-05 9.99957780e-01 5.63551410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.41, Y:-9.40, Z:0.57 [[ 9.93877824e-01 1.10138614e-01 8.73827476e-03 1.17408283e+02] [-1.10133675e-01 9.93916234e-01 -1.04587726e-03 -9.40463345e+00] [-8.80030461e-03 7.70959056e-05 9.99961274e-01 5.67533165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.44, Y:-9.41, Z:0.57 [[ 9.94122093e-01 1.08029772e-01 7.12975723e-03 1.17435652e+02] [-1.08026461e-01 9.94147657e-01 -8.48971269e-04 -9.40939972e+00] [-7.17974562e-03 7.37786516e-05 9.99974223e-01 5.67786613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.46, Y:-9.41, Z:0.57 [[ 9.94348160e-01 1.05941547e-01 6.93723959e-03 1.17464489e+02] [-1.05938382e-01 9.94372356e-01 -8.23257240e-04 -9.41317560e+00] [-6.98541642e-03 8.36843881e-05 9.99975598e-01 5.67394192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.49, Y:-9.42, Z:0.57 [[ 9.94593675e-01 1.03538989e-01 7.94348886e-03 1.17493396e+02] [-1.03534787e-01 9.94625389e-01 -9.39456000e-04 -9.41609396e+00] [-7.99806603e-03 1.11949566e-04 9.99968009e-01 5.65950133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.52, Y:-9.42, Z:0.56 [[ 9.94892950e-01 1.00389272e-01 1.04887081e-02 1.17521620e+02] [-1.00381812e-01 9.94948221e-01 -1.23652957e-03 -9.42083813e+00] [-1.05598558e-02 1.77339028e-04 9.99944227e-01 5.63709505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.55, Y:-9.42, Z:0.56 [[ 9.95058760e-01 9.87778143e-02 1.00502934e-02 1.17550510e+02] [-9.87709296e-02 9.95109497e-01 -1.18030217e-03 -9.42467620e+00] [-1.01177300e-02 1.81793192e-04 9.99948798e-01 5.64198999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.58, Y:-9.43, Z:0.57 [[ 9.95170549e-01 9.77408746e-02 9.07194573e-03 1.17578754e+02] [-9.77352690e-02 9.95211883e-01 -1.06025745e-03 -9.42716518e+00] [-9.13213869e-03 1.68487931e-04 9.99958287e-01 5.65765360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.61, Y:-9.43, Z:0.57 [[ 9.95260997e-01 9.69771030e-02 7.14071064e-03 1.17607082e+02] [-9.69736347e-02 9.95286604e-01 -8.31173440e-04 -9.42981346e+00] [-7.18765843e-03 1.34773841e-04 9.99974159e-01 5.67489645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.63, Y:-9.44, Z:0.57 [[ 9.95166086e-01 9.77544731e-02 9.40874546e-03 1.17634824e+02] [-9.77485281e-02 9.95210548e-01 -1.09075594e-03 -9.43702588e+00] [-9.47030900e-03 1.65792302e-04 9.99955142e-01 5.67180248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.66, Y:-9.44, Z:0.57 [[ 9.95184133e-01 9.73862192e-02 1.11564095e-02 1.17663404e+02] [-9.73778829e-02 9.95246646e-01 -1.28930448e-03 -9.44393522e+00] [-1.12289396e-02 1.96707820e-04 9.99936934e-01 5.67180128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.69, Y:-9.45, Z:0.57 [[ 9.95145534e-01 9.72463087e-02 1.51169399e-02 1.17693073e+02] [-9.72309508e-02 9.95260309e-01 -1.74934508e-03 -9.44910760e+00] [-1.52154076e-02 2.71018510e-04 9.99884202e-01 5.67195553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.72, Y:-9.45, Z:0.57 [[ 9.95356953e-01 9.50556640e-02 1.51313501e-02 1.17724774e+02] [-9.50399925e-02 9.95471912e-01 -1.75306986e-03 -9.45101555e+00] [-1.52294733e-02 3.06846874e-04 9.99883978e-01 5.67301306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.76, Y:-9.45, Z:0.57 [[ 9.95502784e-01 9.40368654e-02 1.14575019e-02 1.17756486e+02] [-9.40277992e-02 9.95568686e-01 -1.32861020e-03 -9.45424055e+00] [-1.15316685e-02 2.45311463e-04 9.99933478e-01 5.67168063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.79, Y:-9.46, Z:0.57 [[ 9.95678830e-01 9.25506189e-02 7.61912057e-03 1.17786389e+02] [-9.25465687e-02 9.95707966e-01 -8.83201084e-04 -9.45899781e+00] [-7.66815985e-03 1.74261156e-04 9.99970584e-01 5.67481764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.942320588 meters Centerline goodness [0,1] 0.9999507558969813 Centerline is valid? [True, True] Translation: X:117.81, Y:-9.46, Z:0.57 [[ 9.95789158e-01 9.15111799e-02 5.44573368e-03 1.17814277e+02] [-9.15091241e-02 9.95804041e-01 -6.26009564e-04 -9.46454587e+00] [-5.48017048e-03 1.25039217e-04 9.99984976e-01 5.66212223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.84, Y:-9.47, Z:0.57 [[ 9.95806352e-01 9.13650259e-02 4.70535768e-03 1.17842109e+02] [-9.13635021e-02 9.95817464e-01 -5.38229383e-04 -9.47078916e+00] [-4.73485270e-03 1.06074282e-04 9.99988785e-01 5.66209462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.87, Y:-9.48, Z:0.57 [[ 9.95703634e-01 9.19887338e-02 1.05993513e-02 1.17870020e+02] [-9.19810504e-02 9.95760021e-01 -1.21114330e-03 -9.47702627e+00] [-1.06658218e-02 2.31000318e-04 9.99943092e-01 5.69800108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.90, Y:-9.48, Z:0.57 [[ 9.95590866e-01 9.27565799e-02 1.39658054e-02 1.17899884e+02] [-9.27432750e-02 9.95688771e-01 -1.59873277e-03 -9.48074591e+00] [-1.40538886e-02 2.96449208e-04 9.99901195e-01 5.71583892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.93, Y:-9.48, Z:0.57 [[ 9.95597853e-01 9.28298534e-02 1.29434531e-02 1.17931942e+02] [-9.28184022e-02 9.95681948e-01 -1.48393955e-03 -9.48462107e+00] [-1.30253165e-02 2.76016394e-04 9.99915129e-01 5.74068693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09232058799999 meters Centerline goodness [0,1] 0.9999509106082176 Centerline is valid? [True, True] Translation: X:117.96, Y:-9.49, Z:0.57 [[ 9.95600663e-01 9.31167144e-02 1.04210239e-02 1.17962967e+02] [-9.31093026e-02 9.95655176e-01 -1.19521112e-03 -9.48916383e+00] [-1.04870405e-02 2.19658709e-04 9.99944985e-01 5.73014022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.99, Y:-9.50, Z:0.57 [[ 9.95769089e-01 9.17323669e-02 5.39390289e-03 1.17993155e+02] [-9.17303618e-02 9.95783690e-01 -6.18476864e-04 -9.49756702e+00] [-5.42789487e-03 1.21075480e-04 9.99985262e-01 5.68863972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.02, Y:-9.51, Z:0.57 [[ 9.95841437e-01 9.09115755e-02 5.90918870e-03 1.18021462e+02] [-9.09091829e-02 9.95858960e-01 -6.72800403e-04 -9.50526032e+00] [-5.94588386e-03 1.32803003e-04 9.99982314e-01 5.68652677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.05, Y:-9.51, Z:0.57 [[ 9.95813261e-01 9.09485059e-02 9.18246374e-03 1.18050023e+02] [-9.09427563e-02 9.95855576e-01 -1.04263628e-03 -9.51236809e+00] [-9.23923393e-03 2.03192470e-04 9.99957297e-01 5.69216049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.08, Y:-9.52, Z:0.57 [[ 9.95682697e-01 9.20551554e-02 1.19086372e-02 1.18080234e+02] [-9.20455297e-02 9.95753877e-01 -1.35503948e-03 -9.51798333e+00] [-1.19828100e-02 2.53052550e-04 9.99928172e-01 5.70790895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.242320588 meters Centerline goodness [0,1] 0.9999508067689886 Centerline is valid? [True, True] Translation: X:118.11, Y:-9.52, Z:0.57 [[ 9.95350698e-01 9.57044065e-02 1.08469007e-02 1.18111089e+02] [-9.56966264e-02 9.95409780e-01 -1.23522765e-03 -9.52227162e+00] [-1.09153278e-02 1.91472901e-04 9.99940408e-01 5.72048913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.14, Y:-9.53, Z:0.57 [[ 9.95126862e-01 9.81876331e-02 9.03980898e-03 1.18141134e+02] [-9.81823342e-02 9.95167910e-01 -1.02917596e-03 -9.52736345e+00] [-9.09718017e-03 1.36611099e-04 9.99958610e-01 5.70574517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.17, Y:-9.53, Z:0.57 [[ 9.94782371e-01 1.01611756e-01 9.11509460e-03 1.18171175e+02] [-1.01606512e-01 9.94824125e-01 -1.03774718e-03 -9.53450787e+00] [-9.17336333e-03 1.06179630e-04 9.99957918e-01 5.68478657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.20, Y:-9.54, Z:0.57 [[ 9.94441945e-01 1.04962087e-01 8.25705779e-03 1.18200662e+02] [-1.04957918e-01 9.94476222e-01 -9.37923823e-04 -9.54226033e+00] [-8.30989407e-03 6.60671997e-05 9.99965470e-01 5.68540670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.23, Y:-9.55, Z:0.57 [[ 9.93761826e-01 1.11169082e-01 8.88080580e-03 1.18229913e+02] [-1.11164506e-01 9.93801507e-01 -1.00872495e-03 -9.55066194e+00] [-8.93789721e-03 1.52019586e-05 9.99960056e-01 5.73098986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.26, Y:-9.55, Z:0.57 [[ 9.93493211e-01 1.13582847e-01 8.37720117e-03 1.18260122e+02] [-1.13578858e-01 9.93528528e-01 -9.51835340e-04 -9.55493184e+00] [-8.43110052e-03 -5.83099774e-06 9.99964458e-01 5.74934651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.29, Y:-9.56, Z:0.58 [[ 9.93257918e-01 1.15745463e-01 6.45723981e-03 1.18290168e+02] [-1.15743139e-01 9.93278907e-01 -7.33685264e-04 -9.55760937e+00] [-6.49876084e-03 -1.86425062e-05 9.99978883e-01 5.75321277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.32, Y:-9.56, Z:0.57 [[ 9.92965176e-01 1.18131041e-01 8.07566424e-03 1.18318430e+02] [-1.18127535e-01 9.92998013e-01 -9.11473665e-04 -9.56000763e+00] [-8.12679188e-03 -4.88967007e-05 9.99966976e-01 5.73439435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.35, Y:-9.56, Z:0.57 [[ 9.92617074e-01 1.20656901e-01 1.23797020e-02 1.18347765e+02] [-1.20648835e-01 9.92694264e-01 -1.39909536e-03 -9.56072453e+00] [-1.24580697e-02 -1.04830679e-04 9.99922390e-01 5.70373743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.38, Y:-9.56, Z:0.57 [[ 9.92399002e-01 1.22138819e-01 1.50442687e-02 1.18378600e+02] [-1.22127048e-01 9.92513016e-01 -1.70216658e-03 -9.56466970e+00] [-1.51395331e-02 -1.48083700e-04 9.99885380e-01 5.69188626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.41, Y:-9.57, Z:0.57 [[ 9.92211195e-01 1.23973640e-01 1.21441763e-02 1.18410727e+02] [-1.23966082e-01 9.92285502e-01 -1.37601625e-03 -9.56845310e+00] [-1.22210798e-02 -1.40167224e-04 9.99925310e-01 5.74060885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.44, Y:-9.57, Z:0.58 [[ 9.92236542e-01 1.23975567e-01 9.83378939e-03 1.18441505e+02] [-1.23970617e-01 9.92285264e-01 -1.11370342e-03 -9.57059581e+00] [-9.89599632e-03 -1.14043712e-04 9.99951027e-01 5.75373872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.47, Y:-9.57, Z:0.58 [[ 9.92262174e-01 1.23928713e-01 7.57966776e-03 1.18471777e+02] [-1.23925786e-01 9.92291120e-01 -8.56476873e-04 -9.57125478e+00] [-7.62737909e-03 -8.94666771e-05 9.99970907e-01 5.76395489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.50, Y:-9.57, Z:0.57 [[ 9.92325598e-01 1.23338543e-01 8.80406806e-03 1.18500605e+02] [-1.23334620e-01 9.92364647e-01 -9.89287488e-04 -9.57170376e+00] [-8.85886317e-03 -1.04151088e-04 9.99960754e-01 5.74948132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:-9.57, Z:0.57 [[ 9.92217924e-01 1.23923763e-01 1.21033876e-02 1.18529801e+02] [-1.23916449e-01 9.92291730e-01 -1.35530811e-03 -9.57264544e+00] [-1.21780463e-02 -1.55047815e-04 9.99925833e-01 5.74547656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.56, Y:-9.57, Z:0.57 [[ 9.92134148e-01 1.24372129e-01 1.41917638e-02 1.18560746e+02] [-1.24362079e-01 9.92235627e-01 -1.59187830e-03 -9.57209119e+00] [-1.42795590e-02 -1.85560437e-04 9.99898025e-01 5.74344235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.59, Y:-9.57, Z:0.57 [[ 9.92111388e-01 1.24570726e-01 1.40402200e-02 1.18591255e+02] [-1.24560910e-01 9.92210713e-01 -1.57487976e-03 -9.57351928e+00] [-1.41270406e-02 -1.86406436e-04 9.99900191e-01 5.73882355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.62, Y:-9.57, Z:0.57 [[ 9.92219875e-01 1.23839465e-01 1.27869787e-02 1.18622159e+02] [-1.23831262e-01 9.92302253e-01 -1.43430473e-03 -9.57345693e+00] [-1.28661713e-02 -1.60282062e-04 9.99917215e-01 5.72863213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.65, Y:-9.57, Z:0.57 [[ 9.92258303e-01 1.23586773e-01 1.22380041e-02 1.18652524e+02] [-1.23579247e-01 9.92333758e-01 -1.37215853e-03 -9.57323810e+00] [-1.23137653e-02 -1.50827647e-04 9.99924171e-01 5.72771227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.68, Y:-9.57, Z:0.57 [[ 9.92262765e-01 1.23531243e-01 1.24352881e-02 1.18682711e+02] [-1.23523480e-01 9.92340672e-01 -1.39329716e-03 -9.57356547e+00] [-1.25121579e-02 -1.53533176e-04 9.99921708e-01 5.72427851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.71, Y:-9.57, Z:0.58 [[ 9.92276453e-01 1.23405060e-01 1.25949486e-02 1.18712532e+02] [-1.23397097e-01 9.92356371e-01 -1.41036643e-03 -9.57161511e+00] [-1.26727238e-02 -1.54706698e-04 9.99919686e-01 5.75194757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.74, Y:-9.57, Z:0.58 [[ 9.92396963e-01 1.22469650e-01 1.22250897e-02 1.18741270e+02] [-1.22462171e-01 9.92472248e-01 -1.36130611e-03 -9.57176569e+00] [-1.22997810e-02 -1.46154979e-04 9.99924344e-01 5.77525022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.77, Y:-9.57, Z:0.58 [[ 9.92448169e-01 1.21856604e-01 1.40570577e-02 1.18770528e+02] [-1.21846741e-01 9.92547702e-01 -1.55916526e-03 -9.57078698e+00] [-1.41422949e-02 -1.65415949e-04 9.99899979e-01 5.77987732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.80, Y:-9.57, Z:0.58 [[ 9.92601459e-01 1.20690223e-01 1.32745535e-02 1.18800334e+02] [-1.20681310e-01 9.92690209e-01 -1.47335838e-03 -9.56936770e+00] [-1.33553393e-02 -1.39532830e-04 9.99910804e-01 5.76727910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.83, Y:-9.57, Z:0.57 [[ 9.92833192e-01 1.19223139e-01 8.25202489e-03 1.18829250e+02] [-1.19219690e-01 9.92867482e-01 -9.10463125e-04 -9.56802101e+00] [-8.30171545e-03 -7.98658344e-05 9.99965537e-01 5.73395745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.86, Y:-9.57, Z:0.57 [[ 9.92943561e-01 1.18399562e-01 6.68042752e-03 1.18857884e+02] [-1.18397308e-01 9.92966031e-01 -7.33352936e-04 -9.57284582e+00] [-6.72026627e-03 -6.27665582e-05 9.99977417e-01 5.71995653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.89, Y:-9.58, Z:0.57 [[ 9.93163492e-01 1.16604172e-01 5.45398430e-03 1.18886168e+02] [-1.16602659e-01 9.93178466e-01 -5.95696155e-04 -9.57807459e+00] [-5.48624042e-03 -4.43253984e-05 9.99984949e-01 5.71877047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.91, Y:-9.58, Z:0.57 [[ 9.93561520e-01 1.13020258e-01 7.86943959e-03 1.18914237e+02] [-1.13017023e-01 9.93592683e-01 -8.56032203e-04 -9.57942871e+00] [-7.91576657e-03 -3.88599807e-05 9.99968669e-01 5.74745909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.94, Y:-9.58, Z:0.58 [[ 9.93817653e-01 1.10627210e-01 9.38581699e-03 1.18943196e+02] [-1.10622534e-01 9.93861972e-01 -1.01748577e-03 -9.58090457e+00] [-9.44076820e-03 -2.70875358e-05 9.99955435e-01 5.76282243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.97, Y:-9.58, Z:0.58 [[ 9.93874794e-01 1.10112622e-01 9.38637481e-03 1.18970416e+02] [-1.10107972e-01 9.93919116e-01 -1.01233394e-03 -9.58417990e+00] [-9.44076810e-03 -2.73815140e-05 9.99955435e-01 5.76420725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.00, Y:-9.59, Z:0.58 [[ 9.93974985e-01 1.09011526e-01 1.14112754e-02 1.18998586e+02] [-1.09004630e-01 9.94040485e-01 -1.22639077e-03 -9.58718105e+00] [-1.14769605e-02 -2.48801090e-05 9.99934137e-01 5.76879293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.03, Y:-9.59, Z:0.58 [[ 9.94107664e-01 1.07657055e-01 1.26455986e-02 1.19027416e+02] [-1.07648548e-01 9.94188090e-01 -1.35343508e-03 -9.59096886e+00] [-1.27178104e-02 -1.58201469e-05 9.99919125e-01 5.76601081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.06, Y:-9.59, Z:0.58 [[ 9.94252944e-01 1.06423996e-01 1.16196739e-02 1.19055680e+02] [-1.06416793e-01 9.94320840e-01 -1.23815779e-03 -9.59341567e+00] [-1.16854536e-02 -5.48640279e-06 9.99931723e-01 5.75728071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.08, Y:-9.60, Z:0.57 [[ 9.94422839e-01 1.05061247e-01 9.23860034e-03 1.19084463e+02] [-1.05056679e-01 9.94465753e-01 -9.79689801e-04 -9.59659329e+00] [-9.29039908e-03 3.64924338e-06 9.99956843e-01 5.74744267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.11, Y:-9.60, Z:0.57 [[ 9.94523946e-01 1.04208214e-01 7.92266384e-03 1.19112073e+02] [-1.04204866e-01 9.94555503e-01 -8.35333029e-04 -9.60179524e+00] [-7.96657748e-03 5.17857673e-06 9.99968266e-01 5.72936338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.14, Y:-9.61, Z:0.57 [[ 9.94689972e-01 1.02648195e-01 7.43019724e-03 1.19139157e+02] [-1.02645236e-01 9.94717723e-01 -7.79411766e-04 -9.61128700e+00] [-7.47095409e-03 1.25987147e-05 9.99972092e-01 5.74661249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.322320588 meters Centerline goodness [0,1] 0.999950768018905 Centerline is valid? [True, True] Translation: X:119.17, Y:-9.62, Z:0.58 [[ 9.94750123e-01 1.01920081e-01 9.19188191e-03 1.19167510e+02] [-1.01915553e-01 9.94792590e-01 -9.60898597e-04 -9.61669578e+00] [-9.24195087e-03 1.90582665e-05 9.99957292e-01 5.75361916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.20, Y:-9.62, Z:0.58 [[ 9.94893526e-01 1.00460479e-01 9.72438860e-03 1.19195340e+02] [-1.00455393e-01 9.94941049e-01 -1.01127685e-03 -9.62065004e+00] [-9.77678675e-03 2.92455102e-05 9.99952206e-01 5.75484557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.22, Y:-9.63, Z:0.58 [[ 9.95061372e-01 9.88017691e-02 9.54341306e-03 1.19223423e+02] [-9.87968420e-02 9.95107134e-01 -9.87507552e-04 -9.62503058e+00] [-9.59428591e-03 3.97715471e-05 9.99953973e-01 5.75238331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.25, Y:-9.63, Z:0.57 [[ 9.95227731e-01 9.71335355e-02 9.31880237e-03 1.19251265e+02] [-9.71288016e-02 9.95271357e-01 -9.60300038e-04 -9.63470155e+00] [-9.36801441e-03 5.05931206e-05 9.99956118e-01 5.74331775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.28, Y:-9.64, Z:0.58 [[ 9.95357850e-01 9.56257223e-02 1.08845024e-02 1.19279220e+02] [-9.56192234e-02 9.95417358e-01 -1.11711918e-03 -9.64216868e+00] [-1.09414479e-02 7.11656754e-05 9.99940138e-01 5.75027982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.31, Y:-9.65, Z:0.58 [[ 9.95345581e-01 9.57158441e-02 1.12094607e-02 1.19309174e+02] [-9.57089307e-02 9.95408696e-01 -1.15280232e-03 -9.64847115e+00] [-1.12683361e-02 7.45911939e-05 9.99936508e-01 5.76659732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.34, Y:-9.66, Z:0.58 [[ 9.95360845e-01 9.52705068e-02 1.34283137e-02 1.19339560e+02] [-9.52605288e-02 9.95451416e-01 -1.38219194e-03 -9.65643651e+00] [-1.34989160e-02 9.65914700e-05 9.99908881e-01 5.78612891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.37, Y:-9.66, Z:0.58 [[ 9.95211021e-01 9.67297029e-02 1.40850655e-02 1.19370838e+02] [-9.67188406e-02 9.95310684e-01 -1.45194368e-03 -9.66357186e+00] [-1.41594622e-02 8.26991532e-05 9.99899746e-01 5.79128016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.40, Y:-9.67, Z:0.58 [[ 9.95033482e-01 9.84959557e-02 1.43846041e-02 1.19402219e+02] [-9.84847839e-02 9.95137449e-01 -1.48468732e-03 -9.67155728e+00] [-1.44608939e-02 6.06489673e-05 9.99895434e-01 5.78326820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.43, Y:-9.68, Z:0.58 [[ 9.94845822e-01 1.00466337e-01 1.37224803e-02 1.19433595e+02] [-1.00456333e-01 9.94940458e-01 -1.41815690e-03 -9.67923093e+00] [-1.37955279e-02 3.23374177e-05 9.99904837e-01 5.77812921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.47, Y:-9.69, Z:0.58 [[ 9.94667543e-01 1.02422002e-01 1.20918673e-02 1.19465690e+02] [-1.02414358e-01 9.94741038e-01 -1.25132188e-03 -9.68634829e+00] [-1.21564396e-02 6.26842886e-06 9.99926108e-01 5.75669616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.50, Y:-9.70, Z:0.57 [[ 9.94463536e-01 1.04575382e-01 1.03085319e-02 1.19496692e+02] [-1.04569927e-01 9.94516963e-01 -1.06823961e-03 -9.69538699e+00] [-1.03637214e-02 -1.56370854e-05 9.99946295e-01 5.74156896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.53, Y:-9.70, Z:0.58 [[ 9.94403753e-01 1.05046641e-01 1.12418623e-02 1.19527931e+02] [-1.05040179e-01 9.94467296e-01 -1.16531067e-03 -9.70041032e+00] [-1.13020764e-02 -2.20579248e-05 9.99936129e-01 5.76380030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.56, Y:-9.70, Z:0.58 [[ 9.94406515e-01 1.05109291e-01 1.03788318e-02 1.19558781e+02] [-1.05103780e-01 9.94460676e-01 -1.07656547e-03 -9.70465570e+00] [-1.04344971e-02 -2.03107343e-05 9.99945559e-01 5.78967879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.59, Y:-9.71, Z:0.58 [[ 9.94509884e-01 1.04165486e-01 9.98208657e-03 1.19590318e+02] [-1.04160334e-01 9.94559979e-01 -1.03608333e-03 -9.70840129e+00] [-1.00357079e-02 -9.34235878e-06 9.99949641e-01 5.80810209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.62, Y:-9.72, Z:0.58 [[ 9.94505022e-01 1.04128870e-01 1.08138532e-02 1.19620787e+02] [-1.04122813e-01 9.94563813e-01 -1.12310487e-03 -9.71730183e+00] [-1.08720147e-02 -9.03538938e-06 9.99940898e-01 5.78755516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.65, Y:-9.72, Z:0.58 [[ 9.94474226e-01 1.04516594e-01 9.86387671e-03 1.19651857e+02] [-1.04511568e-01 9.94523143e-01 -1.02512447e-03 -9.72414971e+00] [-9.91699619e-03 -1.14293546e-05 9.99950825e-01 5.77762997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.68, Y:-9.73, Z:0.58 [[ 9.94309988e-01 1.05936195e-01 1.11879748e-02 1.19682635e+02] [-1.05929810e-01 9.94372929e-01 -1.16343123e-03 -9.72961083e+00] [-1.12482688e-02 -2.83287596e-05 9.99936736e-01 5.76536439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.71, Y:-9.73, Z:0.58 [[ 9.94207167e-01 1.06909739e-01 1.10641878e-02 1.19714656e+02] [-1.06903529e-01 9.94268729e-01 -1.15289166e-03 -9.73301896e+00] [-1.11240313e-02 -3.65875674e-05 9.99938125e-01 5.77829722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.75, Y:-9.74, Z:0.58 [[ 9.93831465e-01 1.10115709e-01 1.31738354e-02 1.19746451e+02] [-1.10107167e-01 9.93918771e-01 -1.37417257e-03 -9.73584719e+00] [-1.32450403e-02 -8.48377517e-05 9.99912277e-01 5.79159697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.78, Y:-9.74, Z:0.58 [[ 9.93661059e-01 1.11745155e-01 1.22768485e-02 1.19778614e+02] [-1.11737840e-01 9.93736892e-01 -1.28227768e-03 -9.73998550e+00] [-1.23432455e-02 -9.76391382e-05 9.99923814e-01 5.79854199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.81, Y:-9.74, Z:0.58 [[ 9.93522056e-01 1.13197102e-01 1.00169959e-02 1.19810288e+02] [-1.13192292e-01 9.93572548e-01 -1.04769847e-03 -9.74419522e+00] [-1.00712085e-02 -9.29351781e-05 9.99949280e-01 5.80343618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.84, Y:-9.75, Z:0.58 [[ 9.93423978e-01 1.14227928e-01 7.79620284e-03 1.19840979e+02] [-1.14225044e-01 9.93454566e-01 -8.15748209e-04 -9.74782622e+00] [-7.83835453e-03 -8.01377792e-05 9.99969276e-01 5.80327098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.87, Y:-9.75, Z:0.58 [[ 9.93213501e-01 1.16070984e-01 7.38021022e-03 1.19870653e+02] [-1.16068452e-01 9.93240917e-01 -7.71907893e-04 -9.75327699e+00] [-7.41992287e-03 -8.99402362e-05 9.99972468e-01 5.78970019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.90, Y:-9.76, Z:0.58 [[ 9.93021246e-01 1.17633740e-01 8.43256165e-03 1.19900950e+02] [-1.17630491e-01 9.93057042e-01 -8.81974999e-04 -9.75758408e+00] [-8.47776475e-03 -1.16106457e-04 9.99964056e-01 5.79030968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.93, Y:-9.76, Z:0.58 [[ 9.92837762e-01 1.18945183e-01 1.11902239e-02 1.19931681e+02] [-1.18939539e-01 9.92900808e-01 -1.17094901e-03 -9.76012177e+00] [-1.12500611e-02 -1.68397679e-04 9.99936702e-01 5.79784968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.96, Y:-9.76, Z:0.58 [[ 9.92565793e-01 1.20854970e-01 1.43952429e-02 1.19963674e+02] [-1.20845814e-01 9.92670145e-01 -1.50739226e-03 -9.75729980e+00] [-1.44719037e-02 -2.43418842e-04 9.99895247e-01 5.82937685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.00, Y:-9.76, Z:0.58 [[ 9.92537261e-01 1.21075820e-01 1.45062609e-02 1.19996093e+02] [-1.21066513e-01 9.92643232e-01 -1.52127068e-03 -9.75879790e+00] [-1.45837308e-02 -2.46304592e-04 9.99893621e-01 5.82627992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.03, Y:-9.76, Z:0.58 [[ 9.92560559e-01 1.20930097e-01 1.41226000e-02 1.20027998e+02] [-1.20921234e-01 9.92660998e-01 -1.48292144e-03 -9.76186498e+00] [-1.41982840e-02 -2.35832881e-04 9.99899171e-01 5.81602861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.06, Y:-9.77, Z:0.58 [[ 9.92510238e-01 1.21636459e-01 1.13136528e-02 1.20060311e+02] [-1.21630799e-01 9.92574699e-01 -1.18961076e-03 -9.76569605e+00] [-1.13743456e-02 -1.95387771e-04 9.99935291e-01 5.81024398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.09, Y:-9.77, Z:0.58 [[ 9.92472964e-01 1.21943476e-01 1.12784580e-02 1.20091868e+02] [-1.21937866e-01 9.92537027e-01 -1.18632122e-03 -9.76516924e+00] [-1.13389513e-02 -1.97879361e-04 9.99935692e-01 5.81080853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.12, Y:-9.77, Z:0.58 [[ 9.92318766e-01 1.22897474e-01 1.41307131e-02 1.20123030e+02] [-1.22888752e-01 9.92419338e-01 -1.48719108e-03 -9.76503688e+00] [-1.42063650e-02 -2.60738082e-04 9.99899051e-01 5.81770013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.16, Y:-9.76, Z:0.58 [[ 9.92252040e-01 1.23353348e-01 1.48270555e-02 1.20155605e+02] [-1.23343762e-01 9.92362773e-01 -1.56275948e-03 -9.76467611e+00] [-1.49065896e-02 -2.78173526e-04 9.99888852e-01 5.82938947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.19, Y:-9.76, Z:0.58 [[ 9.92215759e-01 1.23618498e-01 1.50450614e-02 1.20188265e+02] [-1.23608628e-01 9.92329777e-01 -1.58774264e-03 -9.76411686e+00] [-1.51259368e-02 -2.84316146e-04 9.99885556e-01 5.83257753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.22, Y:-9.77, Z:0.58 [[ 9.92307422e-01 1.22740360e-01 1.61488293e-02 1.20220597e+02] [-1.22728839e-01 9.92438774e-01 -1.70633624e-03 -9.76683599e+00] [-1.62361607e-02 -2.88716956e-04 9.99868143e-01 5.82077735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.25, Y:-9.77, Z:0.58 [[ 9.92363544e-01 1.22314371e-01 1.59308036e-02 1.20252552e+02] [-1.22303069e-01 9.92491370e-01 -1.68543086e-03 -9.77041458e+00] [-1.60173375e-02 -2.75826036e-04 9.99871676e-01 5.82018656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.29, Y:-9.77, Z:0.58 [[ 9.92453932e-01 1.21605887e-01 1.57226378e-02 1.20285005e+02] [-1.21594757e-01 9.92578431e-01 -1.66549716e-03 -9.77385133e+00] [-1.58084854e-02 -2.58861108e-04 9.99875005e-01 5.82032181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.32, Y:-9.78, Z:0.58 [[ 9.92620329e-01 1.20690521e-01 1.17762836e-02 1.20317408e+02] [-1.20684192e-01 9.92690166e-01 -1.24919471e-03 -9.77646700e+00] [-1.18409669e-02 -1.81235200e-04 9.99929877e-01 5.83114286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.35, Y:-9.78, Z:0.58 [[ 9.92700712e-01 1.20247498e-01 9.26480679e-03 1.20348227e+02] [-1.20243566e-01 9.92743935e-01 -9.82260237e-04 -9.77731981e+00] [-9.31569508e-03 -1.38942970e-04 9.99956598e-01 5.83122301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.38, Y:-9.78, Z:0.58 [[ 9.92627501e-01 1.20944667e-01 7.93927352e-03 1.20377762e+02] [-1.20941809e-01 9.92659243e-01 -8.40870200e-04 -9.77712070e+00] [-7.98269201e-03 -1.25519214e-04 9.99968130e-01 5.82138978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.41, Y:-9.78, Z:0.58 [[ 9.92597757e-01 1.21132915e-01 8.74697812e-03 1.20407140e+02] [-1.21129506e-01 9.92636286e-01 -9.20408722e-04 -9.77693179e+00] [-8.79405966e-03 -1.45921504e-04 9.99961321e-01 5.82632240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.44, Y:-9.78, Z:0.58 [[ 9.92319977e-01 1.23151751e-01 1.16064756e-02 1.20436344e+02] [-1.23145941e-01 9.92387826e-01 -1.21665647e-03 -9.77656688e+00] [-1.16679585e-02 -2.21977837e-04 9.99931902e-01 5.84994679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.47, Y:-9.78, Z:0.59 [[ 9.92195717e-01 1.23974467e-01 1.33413161e-02 1.20466668e+02] [-1.23966828e-01 9.92285373e-01 -1.40119009e-03 -9.78056437e+00] [-1.34121047e-02 -2.63625839e-04 9.99910019e-01 5.85144473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.50, Y:-9.78, Z:0.58 [[ 9.92274881e-01 1.23158508e-01 1.49178544e-02 1.20497239e+02] [-1.23148866e-01 9.92386972e-01 -1.56676819e-03 -9.78423117e+00] [-1.49972452e-02 -2.82452128e-04 9.99887495e-01 5.84619867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.53, Y:-9.79, Z:0.58 [[ 9.92618082e-01 1.20613305e-01 1.27190526e-02 1.20528533e+02] [-1.20606072e-01 9.92699546e-01 -1.33700908e-03 -9.78747875e+00] [-1.27874588e-02 -2.06855585e-04 9.99918216e-01 5.82359498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.56, Y:-9.79, Z:0.58 [[ 9.92877816e-01 1.18588407e-01 1.14206581e-02 1.20558767e+02] [-1.18582444e-01 9.92943484e-01 -1.20022596e-03 -9.78903556e+00] [-1.14824010e-02 -1.62611831e-04 9.99934062e-01 5.83754708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.59, Y:-9.79, Z:0.58 [[ 9.93047733e-01 1.17088678e-01 1.21012784e-02 1.20589013e+02] [-1.17081873e-01 9.93121452e-01 -1.27175406e-03 -9.79059449e+00] [-1.21669471e-02 -1.53927842e-04 9.99925968e-01 5.84713980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.62, Y:-9.79, Z:0.59 [[ 9.93345161e-01 1.14355572e-01 1.37184055e-02 1.20619300e+02] [-1.14346566e-01 9.93439875e-01 -1.44170206e-03 -9.79102887e+00] [-1.37932777e-02 -1.36544790e-04 9.99904859e-01 5.86297254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.65, Y:-9.79, Z:0.59 [[ 9.93478875e-01 1.13118183e-01 1.42829333e-02 1.20650658e+02] [-1.13108274e-01 9.93581532e-01 -1.50230406e-03 -9.79356148e+00] [-1.43611966e-02 -1.23010581e-04 9.99896865e-01 5.86492862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.68, Y:-9.80, Z:0.58 [[ 9.93712574e-01 1.10885155e-01 1.54855801e-02 1.20681474e+02] [-1.10873220e-01 9.93833222e-01 -1.62978316e-03 -9.79692907e+00] [-1.55708027e-02 -9.74001075e-05 9.99878763e-01 5.84373760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.71, Y:-9.80, Z:0.58 [[ 9.93920131e-01 1.09246478e-01 1.37105733e-02 1.20713469e+02] [-1.09236936e-01 9.94014690e-01 -1.44516393e-03 -9.80112833e+00] [-1.37863904e-02 -6.13234961e-05 9.99904961e-01 5.83348070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.74, Y:-9.81, Z:0.58 [[ 9.94209194e-01 1.06872354e-01 1.12418342e-02 1.20744806e+02] [-1.06865775e-01 9.94272749e-01 -1.18600191e-03 -9.80721680e+00] [-1.13042002e-02 -2.22333152e-05 9.99936105e-01 5.82289783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.77, Y:-9.81, Z:0.58 [[ 9.94326875e-01 1.05638443e-01 1.24332059e-02 1.20774772e+02] [-1.05630307e-01 9.94404605e-01 -1.31114469e-03 -9.81112800e+00] [-1.25021445e-02 -9.61694774e-06 9.99921845e-01 5.83341751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.81, Y:-9.81, Z:0.59 [[ 9.94414588e-01 1.04720027e-01 1.31660097e-02 1.20805638e+02] [-1.04710807e-01 9.94501743e-01 -1.38961933e-03 -9.81457126e+00] [-1.32391406e-02 3.23422609e-06 9.99912359e-01 5.85390650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.84, Y:-9.82, Z:0.59 [[ 9.94484323e-01 1.03649444e-01 1.60538126e-02 1.20837304e+02] [-1.03635579e-01 9.94613891e-01 -1.69539645e-03 -9.81603762e+00] [-1.61430719e-02 2.22990265e-05 9.99869692e-01 5.88105435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.87, Y:-9.82, Z:0.59 [[ 9.94672948e-01 1.02127711e-01 1.39877443e-02 1.20869624e+02] [-1.02117004e-01 9.94771295e-01 -1.47939201e-03 -9.81846258e+00] [-1.40656934e-02 4.31246684e-05 9.99901072e-01 5.89580386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.90, Y:-9.82, Z:0.59 [[ 9.94769935e-01 1.01457505e-01 1.17962374e-02 1.20900892e+02] [-1.01449838e-01 9.94839873e-01 -1.24814368e-03 -9.82290404e+00] [-1.18620008e-02 4.48894375e-05 9.99929643e-01 5.89343616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.93, Y:-9.83, Z:0.59 [[ 9.94763386e-01 1.01521706e-01 1.17961564e-02 1.20931569e+02] [-1.01514034e-01 9.94833323e-01 -1.24890892e-03 -9.82613084e+00] [-1.18620008e-02 4.48934555e-05 9.99929643e-01 5.89499036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.96, Y:-9.83, Z:0.59 [[ 9.94902737e-01 1.00258891e-01 1.08027467e-02 1.20962592e+02] [-1.00252374e-01 9.94961382e-01 -1.14446397e-03 -9.83218223e+00] [-1.08630585e-02 5.56293324e-05 9.99940994e-01 5.86689626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.99, Y:-9.84, Z:0.58 [[ 9.95043942e-01 9.86767929e-02 1.22655921e-02 1.20992729e+02] [-9.86682622e-02 9.95119532e-01 -1.30017969e-03 -9.84443882e+00] [-1.23340279e-02 8.35112588e-05 9.99923929e-01 5.82525974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.02, Y:-9.85, Z:0.58 [[ 9.95151809e-01 9.75093103e-02 1.28378801e-02 1.21024362e+02] [-9.74998423e-02 9.95234607e-01 -1.36282155e-03 -9.85113841e+00] [-1.29095904e-02 1.04523047e-04 9.99916662e-01 5.82537007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.06, Y:-9.86, Z:0.58 [[ 9.95223907e-01 9.68169904e-02 1.24837980e-02 1.21056192e+02] [-9.68079626e-02 9.95302194e-01 -1.32686086e-03 -9.85625960e+00] [-1.25536143e-02 1.11992593e-04 9.99921194e-01 5.84634922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.09, Y:-9.86, Z:0.59 [[ 9.95334436e-01 9.56638212e-02 1.25615860e-02 1.21088116e+02] [-9.56545681e-02 9.95413691e-01 -1.33675468e-03 -9.86051035e+00] [-1.26318537e-02 1.28944882e-04 9.99920207e-01 5.86515823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.12, Y:-9.87, Z:0.59 [[ 9.95318632e-01 9.61614415e-02 9.68497905e-03 1.21119682e+02] [-9.61559466e-02 9.95365746e-01 -1.03250396e-03 -9.87216043e+00] [-9.73938346e-03 9.64021010e-05 9.99952566e-01 5.87373821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.15, Y:-9.88, Z:0.59 [[ 9.95197017e-01 9.74874137e-02 8.89390311e-03 1.21150945e+02] [-9.74828232e-02 9.95236755e-01 -9.49239699e-04 -9.88099202e+00] [-8.94407819e-03 7.76777327e-05 9.99959998e-01 5.87231757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.18, Y:-9.89, Z:0.59 [[ 9.94945041e-01 9.99067393e-02 1.01492932e-02 1.21181396e+02] [-9.99008847e-02 9.94996804e-01 -1.08346801e-03 -9.88836852e+00] [-1.02067600e-02 6.40677579e-05 9.99947908e-01 5.88109363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.21, Y:-9.89, Z:0.59 [[ 9.94277729e-01 1.06409048e-01 9.42936965e-03 1.21212835e+02] [-1.06404291e-01 9.94322440e-01 -1.00611222e-03 -9.89381299e+00] [-9.48289328e-03 -2.97041974e-06 9.99955036e-01 5.90863615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.24, Y:-9.90, Z:0.59 [[ 9.93890793e-01 1.09930408e-01 9.81818366e-03 1.21244021e+02] [-1.09925412e-01 9.93939286e-01 -1.04865756e-03 -9.89856312e+00] [-9.87395781e-03 -3.70167966e-05 9.99951251e-01 5.89782742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.28, Y:-9.91, Z:0.59 [[ 9.93555669e-01 1.12951722e-01 9.43613900e-03 1.21275348e+02] [-1.12947228e-01 9.93600475e-01 -1.00945768e-03 -9.90560268e+00] [-9.48977218e-03 -6.28333405e-05 9.99954969e-01 5.87003296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.31, Y:-9.91, Z:0.59 [[ 9.93222425e-01 1.15960507e-01 7.89782051e-03 1.21306340e+02] [-1.15957445e-01 9.93253822e-01 -8.46051902e-04 -9.91450566e+00] [-7.94264902e-03 -7.54933666e-05 9.99968454e-01 5.85260875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.34, Y:-9.93, Z:0.59 [[ 9.92990195e-01 1.17927025e-01 7.98058096e-03 1.21336451e+02] [-1.17923960e-01 9.93022260e-01 -8.55113317e-04 -9.92570142e+00] [-8.02573550e-03 -9.19825726e-05 9.99967789e-01 5.85105445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.37, Y:-9.93, Z:0.59 [[ 9.93060314e-01 1.17281334e-01 8.73505926e-03 1.21367837e+02] [-1.17277633e-01 9.93098726e-01 -9.36502198e-04 -9.92977544e+00] [-8.78461045e-03 -9.44239071e-05 9.99961410e-01 5.86922695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.40, Y:-9.93, Z:0.59 [[ 9.93164475e-01 1.16466375e-01 7.74013489e-03 1.21398831e+02] [-1.16463436e-01 9.93194632e-01 -8.30816276e-04 -9.93279241e+00] [-7.78422259e-03 -7.63054960e-05 9.99969700e-01 5.89927594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.43, Y:-9.94, Z:0.59 [[ 9.93223404e-01 1.15974631e-01 7.56004493e-03 1.21429543e+02] [-1.15971811e-01 9.93252173e-01 -8.11848874e-04 -9.93636030e+00] [-7.60318494e-03 -7.04048017e-05 9.99971093e-01 5.91676253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.46, Y:-9.94, Z:0.59 [[ 9.93248160e-01 1.15588737e-01 9.86589510e-03 1.21460585e+02] [-1.15583910e-01 9.93297154e-01 -1.06002583e-03 -9.93775794e+00] [-9.92229257e-03 -8.74700263e-05 9.99950769e-01 5.93538296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.49, Y:-9.94, Z:0.59 [[ 9.93061664e-01 1.17188118e-01 9.77122687e-03 1.21492528e+02] [-1.17183444e-01 9.93109729e-01 -1.05150875e-03 -9.94108554e+00] [-9.82712481e-03 -1.00812993e-04 9.99951708e-01 5.92454129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.52, Y:-9.95, Z:0.59 [[ 9.92781970e-01 1.19490751e-01 1.02918036e-02 1.21524330e+02] [-1.19485676e-01 9.92835305e-01 -1.10886961e-03 -9.94640389e+00] [-1.03505656e-02 -1.28857355e-04 9.99946423e-01 5.90749401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.56, Y:-9.96, Z:0.59 [[ 9.92419963e-01 1.22515702e-01 9.61870199e-03 1.21555816e+02] [-1.22511398e-01 9.92466564e-01 -1.03769186e-03 -9.95705193e+00] [-9.67337366e-03 -1.48574508e-04 9.99953201e-01 5.89683445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.59, Y:-9.96, Z:0.59 [[ 9.92268853e-01 1.23811185e-01 8.56237979e-03 1.21587741e+02] [-1.23807812e-01 9.92305785e-01 -9.24946274e-04 -9.96127941e+00] [-8.61101769e-03 -1.42294128e-04 9.99962914e-01 5.90808476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.62, Y:-9.96, Z:0.59 [[ 9.92226716e-01 1.24154296e-01 8.47671895e-03 1.21619814e+02] [-1.24150993e-01 9.92262914e-01 -9.16858657e-04 -9.96252043e+00] [-8.52496579e-03 -1.42661418e-04 9.99963652e-01 5.91984340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.65, Y:-9.96, Z:0.59 [[ 9.92292295e-01 1.23573656e-01 9.24946566e-03 1.21652478e+02] [-1.23569687e-01 9.92335392e-01 -1.00161624e-03 -9.96427515e+00] [-9.30234551e-03 -1.49057497e-04 9.99956721e-01 5.92590547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.68, Y:-9.97, Z:0.59 [[ 9.92171453e-01 1.24377443e-01 1.12275930e-02 1.21683690e+02] [-1.24371636e-01 9.92234960e-01 -1.21665446e-03 -9.97026026e+00] [-1.12917347e-02 -1.89264288e-04 9.99936228e-01 5.92812369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.72, Y:-9.98, Z:0.59 [[ 9.92097577e-01 1.24834755e-01 1.25969230e-02 1.21715360e+02] [-1.24827460e-01 9.92177523e-01 -1.36682909e-03 -9.97544687e+00] [-1.26690117e-02 -2.16414077e-04 9.99919721e-01 5.94277486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.75, Y:-9.98, Z:0.59 [[ 9.91836664e-01 1.26741204e-01 1.40249304e-02 1.21747185e+02] [-1.26732326e-01 9.91935782e-01 -1.52358078e-03 -9.97930298e+00] [-1.41049308e-02 -2.66268766e-04 9.99900485e-01 5.94510069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.78, Y:-9.98, Z:0.59 [[ 9.91529794e-01 1.29462137e-01 1.04030186e-02 1.21779113e+02] [-1.29457385e-01 9.91584341e-01 -1.13168806e-03 -9.98104298e+00] [-1.04619811e-02 -2.24645163e-04 9.99945247e-01 5.94209658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.81, Y:-9.98, Z:0.59 [[ 9.91482323e-01 1.29989290e-01 8.09862129e-03 1.21810893e+02] [-1.29986418e-01 9.91515382e-01 -8.82239134e-04 -9.98358640e+00] [-8.14458922e-03 -1.77986267e-04 9.99966816e-01 5.94474549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.84, Y:-9.99, Z:0.59 [[ 9.91357613e-01 1.30948798e-01 7.90536410e-03 1.21842993e+02] [-1.30946083e-01 9.91389116e-01 -8.62276281e-04 -9.98736659e+00] [-7.95020597e-03 -1.80352306e-04 9.99968380e-01 5.93751423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.87, Y:-9.99, Z:0.59 [[ 9.91255515e-01 1.31677147e-01 8.58098845e-03 1.21874618e+02] [-1.31673970e-01 9.91292635e-01 -9.36610619e-04 -9.98941795e+00] [-8.62960087e-03 -2.01472374e-04 9.99962744e-01 5.93310355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.91, Y:-9.99, Z:0.59 [[ 9.90825878e-01 1.34748828e-01 1.03360024e-02 1.21906684e+02] [-1.34744382e-01 9.90879749e-01 -1.12858776e-03 -9.98765395e+00] [-1.03938113e-02 -2.74484295e-04 9.99945945e-01 5.92506244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.94, Y:-9.99, Z:0.59 [[ 9.90621690e-01 1.36080323e-01 1.22805743e-02 1.21938882e+02] [-1.36074124e-01 9.90697749e-01 -1.34280881e-03 -9.98817753e+00] [-1.23490672e-02 -3.40852867e-04 9.99923689e-01 5.92741295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.97, Y:-9.99, Z:0.59 [[ 9.90712037e-01 1.35662420e-01 9.23944983e-03 1.21971365e+02] [-1.35658880e-01 9.90755088e-01 -1.01167691e-03 -9.98816183e+00] [-9.29127846e-03 -2.51132923e-04 9.99956804e-01 5.94705551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.00, Y:-9.99, Z:0.60 [[ 9.90788057e-01 1.35188363e-01 7.94565172e-03 1.22003163e+02] [-1.35185725e-01 9.90819894e-01 -8.70724785e-04 -9.98997591e+00] [-7.99042166e-03 -2.11434969e-04 9.99968054e-01 5.95746637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.03, Y:-9.99, Z:0.60 [[ 9.90877076e-01 1.34498414e-01 8.53215453e-03 1.22033796e+02] [-1.34495350e-01 9.90913784e-01 -9.34462669e-04 -9.99038737e+00] [-8.58031328e-03 -2.21597474e-04 9.99963164e-01 5.96532032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.06, Y:-9.99, Z:0.60 [[ 9.90997298e-01 1.33466148e-01 1.05424594e-02 1.22064604e+02] [-1.33461412e-01 9.91053338e-01 -1.15463623e-03 -9.98999563e+00] [-1.06022444e-02 -2.62770129e-04 9.99943760e-01 5.97411375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.10, Y:-9.99, Z:0.60 [[ 9.91239021e-01 1.31443583e-01 1.29532966e-02 1.22096586e+02] [-1.31436245e-01 9.91323609e-01 -1.41987655e-03 -9.98884598e+00] [-1.30275424e-02 -2.95095624e-04 9.99915094e-01 5.97721211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.172320588 meters Centerline goodness [0,1] 0.9997048986818807 Centerline is valid? [True, True] Translation: X:122.13, Y:-9.99, Z:0.60 [[ 9.91929339e-01 1.26292492e-01 1.12424533e-02 1.22128535e+02] [-1.26286625e-01 9.91993028e-01 -1.23314940e-03 -9.98645200e+00] [-1.13081728e-02 -1.96574407e-04 9.99936041e-01 5.98018026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.16, Y:-9.99, Z:0.60 [[ 9.92135142e-01 1.24848612e-01 8.98244612e-03 1.22160028e+02] [-1.24844801e-01 9.92175793e-01 -9.85921149e-04 -9.98912112e+00] [-9.03525648e-03 -1.43244677e-04 9.99959171e-01 5.96669725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.232320588 meters Centerline goodness [0,1] 0.9998029944838456 Centerline is valid? [True, True] Translation: X:122.19, Y:-9.99, Z:0.60 [[ 9.92484921e-01 1.22147699e-01 7.32259725e-03 1.22190571e+02] [-1.22145095e-01 9.92511930e-01 -8.03461783e-04 -9.99272114e+00] [-7.36590613e-03 -9.69956298e-05 9.99972867e-01 5.95681572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.22, Y:-10.00, Z:0.59 [[ 9.93070964e-01 1.16971695e-01 1.12997238e-02 1.22220390e+02] [-1.16965171e-01 9.93135245e-01 -1.23875561e-03 -9.99748322e+00] [-1.13670533e-02 -9.15019077e-05 9.99935389e-01 5.94835058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.25, Y:-10.00, Z:0.60 [[ 9.93330624e-01 1.14706835e-01 1.16882013e-02 1.22251985e+02] [-1.14699681e-01 9.93399385e-01 -1.28279390e-03 -1.00006146e+01] [-1.17581972e-02 -6.63944923e-05 9.99930868e-01 5.95286769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.28, Y:-10.00, Z:0.60 [[ 9.93410355e-01 1.13854192e-01 1.31563174e-02 1.22283654e+02] [-1.13845026e-01 9.93497468e-01 -1.44596945e-03 -1.00035434e+01] [-1.32353977e-02 -6.13402701e-05 9.99912406e-01 5.95579652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.352320588 meters Centerline goodness [0,1] 0.999852514625633 Centerline is valid? [True, True] Translation: X:122.32, Y:-10.01, Z:0.60 [[ 9.93369838e-01 1.14250290e-01 1.27764017e-02 1.22315399e+02] [-1.14241657e-01 9.93451995e-01 -1.40592202e-03 -1.00079096e+01] [-1.28533688e-02 -6.29967666e-05 9.99917390e-01 5.96692699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.382320588 meters Centerline goodness [0,1] 0.9997043752463539 Centerline is valid? [True, True] Translation: X:122.35, Y:-10.01, Z:0.60 [[ 9.93273018e-01 1.15186642e-01 1.18637654e-02 1.22347578e+02] [-1.15179245e-01 9.93343864e-01 -1.30711810e-03 -1.00118579e+01] [-1.19353611e-02 -6.81344044e-05 9.99928769e-01 5.97648988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.38, Y:-10.02, Z:0.60 [[ 9.93102295e-01 1.16541387e-01 1.28816636e-02 1.22379634e+02] [-1.16532759e-01 9.93185832e-01 -1.42093246e-03 -1.00150419e+01] [-1.29594832e-02 -9.00045123e-05 9.99916018e-01 5.97314400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.442320588 meters Centerline goodness [0,1] 0.9999506172839506 Centerline is valid? [True, True] Translation: X:122.41, Y:-10.02, Z:0.60 [[ 9.92967402e-01 1.17805372e-01 1.17317430e-02 1.22411749e+02] [-1.17798285e-01 9.93036699e-01 -1.29571479e-03 -1.00181673e+01] [-1.18026935e-02 -9.53766638e-05 9.99930341e-01 5.97675852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.44, Y:-10.02, Z:0.60 [[ 9.92859991e-01 1.18877302e-01 9.86025857e-03 1.22443702e+02] [-1.18872334e-01 9.92908948e-01 -1.09043672e-03 -1.00219417e+01] [-9.91996714e-03 -8.94609597e-05 9.99950792e-01 5.97644354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.47, Y:-10.03, Z:0.59 [[ 9.92914384e-01 1.18524895e-01 8.53669088e-03 1.22474182e+02] [-1.18521155e-01 9.92951078e-01 -9.44390386e-04 -1.00309026e+01] [-8.58845018e-03 -7.40796687e-05 9.99963116e-01 5.94307095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.51, Y:-10.04, Z:0.59 [[ 9.92961100e-01 1.18117383e-01 8.74853583e-03 1.22505142e+02] [-1.18113435e-01 9.92999637e-01 -9.68408155e-04 -1.00374420e+01] [-8.80167874e-03 -7.17279920e-05 9.99961262e-01 5.93951108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.54, Y:-10.04, Z:0.60 [[ 9.92812536e-01 1.19370471e-01 8.59998755e-03 1.22536631e+02] [-1.19366698e-01 9.92849779e-01 -9.52540861e-04 -1.00412740e+01] [-8.65220099e-03 -8.08576070e-05 9.99962566e-01 5.96047067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59232058799999 meters Centerline goodness [0,1] 0.9997048841670355 Centerline is valid? [True, True] Translation: X:122.57, Y:-10.04, Z:0.60 [[ 9.92247975e-01 1.23833051e-01 1.04561370e-02 1.22567778e+02] [-1.23827725e-01 9.92303056e-01 -1.15772352e-03 -1.00395072e+01] [-1.05190211e-02 -1.46010834e-04 9.99944663e-01 6.00867160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.622320588 meters Centerline goodness [0,1] 0.9999016619136591 Centerline is valid? [True, True] Translation: X:122.60, Y:-10.04, Z:0.60 [[ 9.91893045e-01 1.26444850e-01 1.26446558e-02 1.22599563e+02] [-1.26437258e-01 9.91973617e-01 -1.40121372e-03 -1.00406217e+01] [-1.27203412e-02 -2.08901463e-04 9.99919071e-01 6.00530210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.652320588 meters Centerline goodness [0,1] 0.999656121045392 Centerline is valid? [True, True] Translation: X:122.63, Y:-10.04, Z:0.60 [[ 9.91697048e-01 1.28004271e-01 1.23236017e-02 1.22631760e+02] [-1.27997156e-01 9.91773592e-01 -1.36763388e-03 -1.00436153e+01] [-1.23972857e-02 -2.21107493e-04 9.99923126e-01 6.01116661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.66, Y:-10.05, Z:0.60 [[ 9.91464684e-01 1.29641233e-01 1.38177534e-02 1.22662642e+02] [-1.29632440e-01 9.91560930e-01 -1.53394580e-03 -1.00481643e+01] [-1.39000070e-02 -2.70375999e-04 9.99903354e-01 5.98865466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.69, Y:-10.05, Z:0.60 [[ 9.91158740e-01 1.32020412e-01 1.32273293e-02 1.22694743e+02] [-1.32012537e-01 9.91246956e-01 -1.47052663e-03 -1.00538005e+01] [-1.33056895e-02 -2.88647979e-04 9.99911434e-01 5.98553350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.742320588 meters Centerline goodness [0,1] 0.9999508478741705 Centerline is valid? [True, True] Translation: X:122.73, Y:-10.06, Z:0.60 [[ 9.91197608e-01 1.31796396e-01 1.25304431e-02 1.22727051e+02] [-1.31789290e-01 9.91276772e-01 -1.39477533e-03 -1.00551168e+01] [-1.26049635e-02 -2.68880216e-04 9.99920518e-01 5.99414832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.76, Y:-10.05, Z:0.60 [[ 9.91161555e-01 1.32050109e-01 1.27098612e-02 1.22759811e+02] [-1.32042797e-01 9.91243004e-01 -1.41643949e-03 -1.00548817e+01] [-1.27856020e-02 -2.74325257e-04 9.99918223e-01 5.99838256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.79, Y:-10.05, Z:0.60 [[ 9.91259394e-01 1.31420245e-01 1.15556115e-02 1.22791967e+02] [-1.31414150e-01 9.91326718e-01 -1.28851957e-03 -1.00539726e+01] [-1.16247240e-02 -2.41313741e-04 9.99932401e-01 5.99540568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.82, Y:-10.05, Z:0.60 [[ 9.91279090e-01 1.31322141e-01 1.09663791e-02 1.22823186e+02] [-1.31316650e-01 9.91339721e-01 -1.22243643e-03 -1.00514331e+01] [-1.10319401e-02 -2.28292491e-04 9.99939120e-01 5.98777763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.85, Y:-10.05, Z:0.60 [[ 9.91316626e-01 1.31009004e-01 1.13131629e-02 1.22853486e+02] [-1.31003139e-01 9.91381151e-01 -1.26109287e-03 -1.00520287e+01] [-1.13808710e-02 -2.31917529e-04 9.99935209e-01 5.98441117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.88, Y:-10.05, Z:0.60 [[ 9.91485455e-01 1.29482943e-01 1.38115668e-02 1.22884254e+02] [-1.29474054e-01 9.91581615e-01 -1.53959317e-03 -1.00517121e+01] [-1.38946467e-02 -2.61755298e-04 9.99903430e-01 5.98725958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.92, Y:-10.05, Z:0.60 [[ 9.91807999e-01 1.26938001e-01 1.42701318e-02 1.22916042e+02] [-1.26928221e-01 9.91910626e-01 -1.59263118e-03 -1.00537042e+01] [-1.43568607e-02 -2.31698086e-04 9.99896908e-01 5.99550943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.95, Y:-10.06, Z:0.60 [[ 9.91799670e-01 1.27003074e-01 1.42700456e-02 1.22946704e+02] [-1.26993290e-01 9.91902296e-01 -1.59340296e-03 -1.00571094e+01] [-1.43568581e-02 -2.31863510e-04 9.99896908e-01 5.99706373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.98, Y:-10.06, Z:0.60 [[ 9.92063758e-01 1.24996785e-01 1.36126597e-02 1.22977585e+02] [-1.24987680e-01 9.92157128e-01 -1.52092022e-03 -1.00593118e+01] [-1.36960075e-02 -1.92564924e-04 9.99906187e-01 5.99138305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.012320588 meters Centerline goodness [0,1] 0.999950888910716 Centerline is valid? [True, True] Translation: X:123.01, Y:-10.06, Z:0.60 [[ 9.92494808e-01 1.21685625e-01 1.21105536e-02 1.23008652e+02] [-1.21678162e-01 9.92568684e-01 -1.35392824e-03 -1.00606431e+01] [-1.21853098e-02 -1.29823152e-04 9.99925748e-01 5.98569992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.04, Y:-10.06, Z:0.60 [[ 9.92992976e-01 1.17719103e-01 1.03519703e-02 1.23039826e+02] [-1.17713437e-01 9.93046931e-01 -1.15704010e-03 -1.00585113e+01] [-1.04161981e-02 -6.96333128e-05 9.99945748e-01 5.98237406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.07, Y:-10.06, Z:0.60 [[ 9.93184213e-01 1.16085783e-01 1.04503614e-02 1.23069999e+02] [-1.16079929e-01 9.93239190e-01 -1.16700305e-03 -1.00593256e+01] [-1.05151810e-02 -5.40282108e-05 9.99944712e-01 5.99337740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.10, Y:-10.06, Z:0.60 [[ 9.93191637e-01 1.15971965e-01 1.09943196e-02 1.23099699e+02] [-1.15965487e-01 9.93252486e-01 -1.22703634e-03 -1.00606121e+01] [-1.10624371e-02 -5.62793927e-05 9.99938808e-01 6.00887197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.13, Y:-10.06, Z:0.60 [[ 9.93092381e-01 1.16693607e-01 1.22525374e-02 1.23129492e+02] [-1.16685626e-01 9.93167960e-01 -1.36669750e-03 -1.00623839e+01] [-1.23283124e-02 -7.24381235e-05 9.99924001e-01 6.01208930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.16, Y:-10.06, Z:0.60 [[ 9.93099652e-01 1.16670671e-01 1.18758229e-02 1.23160547e+02] [-1.16663167e-01 9.93170655e-01 -1.32499639e-03 -1.00635229e+01] [-1.19493071e-02 -6.96176597e-05 9.99928602e-01 5.98795067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.19, Y:-10.07, Z:0.60 [[ 9.93249837e-01 1.15446261e-01 1.12660111e-02 1.23191070e+02] [-1.15439429e-01 9.93313726e-01 -1.25695913e-03 -1.00660259e+01] [-1.13357947e-02 -5.20674394e-05 9.99935746e-01 5.98206888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.22, Y:-10.07, Z:0.60 [[ 9.93365585e-01 1.14465852e-01 1.10627321e-02 1.23220853e+02] [-1.14459216e-01 9.93427183e-01 -1.23322523e-03 -1.00688474e+01] [-1.11311809e-02 -4.11881361e-05 9.99938046e-01 5.98323725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.25, Y:-10.07, Z:0.60 [[ 9.93593422e-01 1.12305528e-01 1.26325212e-02 1.23250835e+02] [-1.12296710e-01 9.93673723e-01 -1.40743162e-03 -1.00701184e+01] [-1.27106667e-02 -2.01757797e-05 9.99919216e-01 6.00712544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.28, Y:-10.07, Z:0.60 [[ 9.93658370e-01 1.11741019e-01 1.25294902e-02 1.23280840e+02] [-1.11732296e-01 9.93737362e-01 -1.39627972e-03 -1.00719725e+01] [-1.26070442e-02 -1.25236627e-05 9.99920528e-01 6.01792394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.31, Y:-10.07, Z:0.60 [[ 9.93847798e-01 1.10086538e-01 1.21452811e-02 1.23311650e+02] [-1.10078217e-01 9.93922006e-01 -1.35346367e-03 -1.00736233e+01] [-1.22204603e-02 8.20599664e-06 9.99925327e-01 6.02041555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.34, Y:-10.07, Z:0.60 [[ 9.94045338e-01 1.08250068e-01 1.24815121e-02 1.23340979e+02] [-1.08241150e-01 9.94123695e-01 -1.38977540e-03 -1.00748455e+01] [-1.25586102e-02 3.04865330e-05 9.99921137e-01 5.99988712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.37, Y:-10.08, Z:0.60 [[ 9.94124896e-01 1.07361695e-01 1.37534420e-02 1.23371488e+02] [-1.07350777e-01 9.94220028e-01 -1.53176589e-03 -1.00780605e+01] [-1.38384005e-02 4.63239151e-05 9.99904244e-01 5.99234479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.40, Y:-10.08, Z:0.60 [[ 9.94139984e-01 1.07261455e-01 1.34414361e-02 1.23401340e+02] [-1.07251018e-01 9.94230847e-01 -1.49701676e-03 -1.00814268e+01] [-1.35244626e-02 4.66365168e-05 9.99908539e-01 5.98940682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.43, Y:-10.08, Z:0.60 [[ 9.94208033e-01 1.06797994e-01 1.20239174e-02 1.23431948e+02] [-1.06789609e-01 9.94280738e-01 -1.33914306e-03 -1.00849299e+01] [-1.20981672e-02 4.73573584e-05 9.99926813e-01 5.99849896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.46, Y:-10.09, Z:0.60 [[ 9.94230477e-01 1.06705232e-01 1.09431495e-02 1.23461757e+02] [-1.06698281e-01 9.94290698e-01 -1.21877440e-03 -1.00888416e+01] [-1.10107213e-02 4.41274170e-05 9.99939379e-01 6.00463654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.49, Y:-10.09, Z:0.60 [[ 9.94259258e-01 1.06565507e-01 9.60834305e-03 1.23491491e+02] [-1.06560150e-01 9.94305683e-01 -1.06916266e-03 -1.00921420e+01] [-9.66756596e-03 3.91583956e-05 9.99953267e-01 6.01108060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.52, Y:-10.09, Z:0.60 [[ 9.94247162e-01 1.06661392e-01 9.79426477e-03 1.23519215e+02] [-1.06655904e-01 9.94295402e-01 -1.08239452e-03 -1.00940115e+01] [-9.85384213e-03 3.15515194e-05 9.99951449e-01 6.00770110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.55, Y:-10.09, Z:0.60 [[ 9.94231429e-01 1.06756938e-01 1.03354483e-02 1.23547155e+02] [-1.06750888e-01 9.94285148e-01 -1.13694169e-03 -1.00944468e+01] [-1.03977592e-02 2.70648725e-05 9.99945941e-01 6.01965234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.58, Y:-10.10, Z:0.60 [[ 9.94215659e-01 1.06779365e-01 1.15494996e-02 1.23576387e+02] [-1.06771864e-01 9.94282740e-01 -1.26587146e-03 -1.00956627e+01] [-1.16186371e-02 2.53876313e-05 9.99932501e-01 6.02835661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.61, Y:-10.10, Z:0.60 [[ 9.94269610e-01 1.06060199e-01 1.33857246e-02 1.23605642e+02] [-1.06050039e-01 9.94359710e-01 -1.46857628e-03 -1.01024077e+01] [-1.34659827e-02 4.06041566e-05 9.99909329e-01 6.01905309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.64, Y:-10.11, Z:0.60 [[ 9.94428249e-01 1.04603868e-01 1.30571354e-02 1.23635884e+02] [-1.04594071e-01 9.94513965e-01 -1.43284505e-03 -1.01095397e+01] [-1.31353846e-02 5.91626472e-05 9.99913725e-01 6.01452259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.67, Y:-10.11, Z:0.60 [[ 9.94716411e-01 1.02207128e-01 9.64180802e-03 1.23666526e+02] [-1.02201673e-01 9.94763137e-01 -1.05805879e-03 -1.01139533e+01] [-9.69945634e-03 6.70595336e-05 9.99952957e-01 6.02528217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.70, Y:-10.11, Z:0.60 [[ 9.95299210e-01 9.65327872e-02 7.80401187e-03 1.23695815e+02] [-9.65290847e-02 9.95329801e-01 -8.50595220e-04 -1.01126105e+01] [-7.84967590e-03 9.32826285e-05 9.99969186e-01 6.03558015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.72, Y:-10.12, Z:0.60 [[ 9.95536818e-01 9.40856169e-02 7.37157558e-03 1.23724374e+02] [-9.40822716e-02 9.95564104e-01 -8.00046415e-04 -1.01160466e+01] [-7.41414890e-03 1.02941087e-04 9.99972510e-01 6.03558999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.75, Y:-10.12, Z:0.60 [[ 9.95746545e-01 9.16968015e-02 8.97298436e-03 1.23752822e+02] [-9.16917798e-02 9.95786963e-01 -9.70297800e-04 -1.01223126e+01] [-9.02415405e-03 1.43421776e-04 9.99959271e-01 6.01220150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.78, Y:-10.13, Z:0.60 [[ 9.95956329e-01 8.94007989e-02 8.85938218e-03 1.23781266e+02] [-8.93958477e-02 9.95995719e-01 -9.54098727e-04 -1.01302638e+01] [-8.90920392e-03 1.58248684e-04 9.99960300e-01 6.00684793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.822320588 meters Centerline goodness [0,1] 0.9999508527055586 Centerline is valid? [True, True] Translation: X:123.81, Y:-10.14, Z:0.60 [[ 9.95835446e-01 9.07390249e-02 8.84271268e-03 1.23810478e+02] [-9.07341293e-02 9.95874695e-01 -9.54081640e-04 -1.01406392e+01] [-8.89280623e-03 1.47772480e-04 9.99960447e-01 6.00992910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.84, Y:-10.15, Z:0.60 [[ 9.95725214e-01 9.20438596e-02 7.69587395e-03 1.23840267e+02] [-9.20402031e-02 9.95754947e-01 -8.28706130e-04 -1.01455830e+01] [-7.73948186e-03 1.16833788e-04 9.99970043e-01 6.03099561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.87, Y:-10.15, Z:0.60 [[ 9.95649829e-01 9.27789964e-02 8.57180927e-03 1.23869194e+02] [-9.27745297e-02 9.95686720e-01 -9.18121216e-04 -1.01503420e+01] [-8.62001902e-03 1.18881658e-04 9.99962840e-01 6.04362907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.90, Y:-10.16, Z:0.61 [[ 9.95565157e-01 9.35329059e-02 1.00803993e-02 1.23898404e+02] [-9.35267520e-02 9.95616180e-01 -1.08120345e-03 -1.01552624e+01] [-1.01373368e-02 1.33621472e-04 9.99948607e-01 6.05498136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.93, Y:-10.16, Z:0.61 [[ 9.95499241e-01 9.41834422e-02 1.05233412e-02 1.23929402e+02] [-9.41767579e-02 9.95554851e-01 -1.13003787e-03 -1.01605465e+01] [-1.05829942e-02 1.33897689e-04 9.99943990e-01 6.06913086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.96, Y:-10.17, Z:0.60 [[ 9.95242152e-01 9.70269209e-02 8.87891029e-03 1.23960068e+02] [-9.70222700e-02 9.95281754e-01 -9.54077205e-04 -1.01694030e+01] [-8.92958857e-03 8.80858199e-05 9.99960127e-01 6.04718623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.99, Y:-10.18, Z:0.60 [[ 9.95195762e-01 9.76213402e-02 7.44777866e-03 1.23989712e+02] [-9.76180865e-02 9.95223628e-01 -8.00025392e-04 -1.01751644e+01] [-7.49030484e-03 6.91439784e-05 9.99971945e-01 6.03758913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.02, Y:-10.18, Z:0.60 [[ 9.95093608e-01 9.86340687e-02 7.74797395e-03 1.24018995e+02] [-9.86305846e-02 9.95123769e-01 -8.31435851e-04 -1.01807499e+01] [-7.79220094e-03 6.31693017e-05 9.99969638e-01 6.02153156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.05, Y:-10.19, Z:0.60 [[ 9.95100451e-01 9.85263890e-02 8.22455114e-03 1.24049320e+02] [-9.85224565e-02 9.95134436e-01 -8.82925861e-04 -1.01873967e+01] [-8.27152555e-03 6.82969404e-05 9.99965788e-01 6.02300943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.08, Y:-10.19, Z:0.60 [[ 9.95138541e-01 9.81193690e-02 8.47780426e-03 1.24079151e+02] [-9.81151758e-02 9.95174650e-01 -9.10113209e-04 -1.01921978e+01] [-8.52619562e-03 7.38874751e-05 9.99963649e-01 6.03941336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.11, Y:-10.20, Z:0.61 [[ 9.94945270e-01 9.98662924e-02 1.05182641e-02 1.24110022e+02] [-9.98599246e-02 9.95000863e-01 -1.13018342e-03 -1.01979260e+01] [-1.05785491e-02 7.41175835e-05 9.99944043e-01 6.05416421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.14, Y:-10.20, Z:0.61 [[ 9.94839541e-01 1.00713053e-01 1.22950292e-02 1.24140691e+02] [-1.00704407e-01 9.94915512e-01 -1.32183764e-03 -1.02027665e+01] [-1.23656416e-02 7.68527249e-05 9.99923540e-01 6.07239729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.17, Y:-10.21, Z:0.61 [[ 9.94310975e-01 1.05799068e-01 1.23386124e-02 1.24172335e+02] [-1.05790729e-01 9.94387529e-01 -1.32847813e-03 -1.02074412e+01] [-1.24099140e-02 1.56095926e-05 9.99922994e-01 6.08097149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.20, Y:-10.21, Z:0.61 [[ 9.93987715e-01 1.09106629e-01 9.17417653e-03 1.24203140e+02] [-1.09102155e-01 9.94030051e-01 -9.88214388e-04 -1.02102233e+01] [-9.22722791e-03 -1.86494704e-05 9.99957428e-01 6.05850544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.23, Y:-10.21, Z:0.60 [[ 9.93538201e-01 1.13350097e-01 5.79643664e-03 1.24233957e+02] [-1.13348382e-01 9.93555109e-01 -6.24521853e-04 -1.02135184e+01] [-5.82986885e-03 -3.65303975e-05 9.99983006e-01 6.04354792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.26, Y:-10.22, Z:0.60 [[ 9.93203513e-01 1.16276582e-01 5.15145595e-03 1.24262578e+02] [-1.16275292e-01 9.93216871e-01 -5.50172720e-04 -1.02160795e+01] [-5.18048517e-03 -5.25535686e-05 9.99986580e-01 6.03894019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.29, Y:-10.22, Z:0.61 [[ 9.92464309e-01 1.22127190e-01 9.97721313e-03 1.24291003e+02] [-1.22122672e-01 9.92514445e-01 -1.06308919e-03 -1.02167751e+01] [-1.00323602e-02 -1.63365855e-04 9.99949661e-01 6.05292238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.32, Y:-10.22, Z:0.61 [[ 9.92253439e-01 1.23835088e-01 9.89871063e-03 1.24321985e+02] [-1.23830703e-01 9.92302796e-01 -1.05703636e-03 -1.02178988e+01] [-9.95341643e-03 -1.76916325e-04 9.99950448e-01 6.07514428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.35, Y:-10.22, Z:0.61 [[ 9.92106658e-01 1.24877429e-01 1.14021019e-02 1.24352742e+02] [-1.24871679e-01 9.92172153e-01 -1.21757638e-03 -1.02188356e+01] [-1.14648958e-02 -2.15833970e-04 9.99934253e-01 6.08535921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.38, Y:-10.22, Z:0.61 [[ 9.92354956e-01 1.22832773e-01 1.19896645e-02 1.24383831e+02] [-1.22826267e-01 9.92427362e-01 -1.28031941e-03 -1.02169199e+01] [-1.20561363e-02 -2.02114419e-04 9.99927302e-01 6.09586499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.41, Y:-10.22, Z:0.61 [[ 9.92749046e-01 1.19784083e-01 1.00551043e-02 1.24414230e+02] [-1.19779350e-01 9.92799957e-01 -1.07373691e-03 -1.02172292e+01] [-1.01113237e-02 -1.38442577e-04 9.99948870e-01 6.09182647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.44, Y:-10.22, Z:0.61 [[ 9.93210311e-01 1.16061157e-01 7.94272834e-03 1.24443678e+02] [-1.16058112e-01 9.93242066e-01 -8.44752661e-04 -1.02178014e+01] [-7.98709488e-03 -8.28010046e-05 9.99968099e-01 6.08377168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.47, Y:-10.22, Z:0.61 [[ 9.93557457e-01 1.12973328e-01 8.97815387e-03 1.24471824e+02] [-1.12969365e-01 9.93598018e-01 -9.48919958e-04 -1.02185156e+01] [-9.02787854e-03 -7.14498442e-05 9.99959245e-01 6.07510819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.50, Y:-10.21, Z:0.61 [[ 9.94312714e-01 1.05952556e-01 1.07834491e-02 1.24501482e+02] [-1.05946473e-01 9.94371186e-01 -1.13543920e-03 -1.02141217e+01] [-1.08430538e-02 -1.34867676e-05 9.99941212e-01 6.08514046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.53, Y:-10.21, Z:0.61 [[ 9.94553945e-01 1.03486385e-01 1.23700349e-02 1.24531079e+02] [-1.03478169e-01 9.94630870e-01 -1.30407809e-03 -1.02120960e+01] [-1.24385729e-02 1.69474435e-05 9.99922638e-01 6.09270603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.56, Y:-10.21, Z:0.61 [[ 9.94878310e-01 1.00386521e-01 1.18192769e-02 1.24561571e+02] [-1.00378799e-01 9.94948513e-01 -1.24633162e-03 -1.02112261e+01] [-1.18846869e-02 5.35434819e-05 9.99929373e-01 6.09247726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.59, Y:-10.21, Z:0.61 [[ 9.95429178e-01 9.51737525e-02 7.91880534e-03 1.24591430e+02] [-9.51701209e-02 9.95460673e-01 -8.35030567e-04 -1.02148421e+01] [-7.96233228e-03 7.75801299e-05 9.99968297e-01 6.07909432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.62, Y:-10.22, Z:0.61 [[ 9.95702077e-01 9.21717375e-02 9.04123048e-03 1.24619652e+02] [-9.21669371e-02 9.95743119e-01 -9.47065284e-04 -1.02217239e+01] [-9.09003569e-03 1.09692350e-04 9.99958679e-01 6.06471733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.65, Y:-10.23, Z:0.61 [[ 9.95988104e-01 8.90094171e-02 9.22062200e-03 1.24648582e+02] [-8.90042758e-02 9.96030774e-01 -9.67253953e-04 -1.02278308e+01] [-9.27011798e-03 1.42698647e-04 9.99957021e-01 6.06783267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.68, Y:-10.23, Z:0.61 [[ 9.96543278e-01 8.23609813e-02 1.08703500e-02 1.24677976e+02] [-8.23534593e-02 9.96602534e-01 -1.13855236e-03 -1.02270935e+01] [-1.09271906e-02 2.39405779e-04 9.99940268e-01 6.10246799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.71, Y:-10.23, Z:0.61 [[ 9.96865685e-01 7.85313185e-02 9.57278409e-03 1.24708955e+02] [-7.85252985e-02 9.96911616e-01 -1.00369265e-03 -1.02267184e+01] [-9.62204096e-03 2.48841028e-04 9.99953676e-01 6.11634787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.74, Y:-10.23, Z:0.61 [[ 9.97159889e-01 7.47568697e-02 9.14146797e-03 1.24739826e+02] [-7.47512229e-02 9.97201753e-01 -9.58321053e-04 -1.02286387e+01] [-9.18752896e-03 2.72263406e-04 9.99957757e-01 6.11851177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.77, Y:-10.23, Z:0.61 [[ 9.97405108e-01 7.15291516e-02 8.16279585e-03 1.24769913e+02] [-7.15245411e-02 9.97438473e-01 -8.55724610e-04 -1.02343004e+01] [-8.20309588e-03 2.69663870e-04 9.99966318e-01 6.11670087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.80, Y:-10.25, Z:0.61 [[ 9.97873236e-01 6.46392517e-02 8.41256004e-03 1.24799430e+02] [-6.46341101e-02 9.97908640e-01 -8.81907964e-04 -1.02472419e+01] [-8.45197222e-03 3.36294022e-04 9.99964225e-01 6.09165653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.83, Y:-10.25, Z:0.61 [[ 9.97869358e-01 6.46991089e-02 8.41247560e-03 1.24830132e+02] [-6.46939627e-02 9.97904761e-01 -8.82713201e-04 -1.02504438e+01] [-8.45196021e-03 3.36596073e-04 9.99964225e-01 6.09321218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.86, Y:-10.26, Z:0.61 [[ 9.98073499e-01 6.14966851e-02 8.21267907e-03 1.24861195e+02] [-6.14916681e-02 9.98107224e-01 -8.62251617e-04 -1.02576190e+01] [-8.25015993e-03 3.55579153e-04 9.99965904e-01 6.08040303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.89, Y:-10.26, Z:0.61 [[ 9.98210287e-01 5.93367530e-02 7.44123252e-03 1.24891854e+02] [-5.93325708e-02 9.98237965e-01 -7.81724398e-04 -1.02640247e+01] [-7.47450579e-03 3.38817881e-04 9.99972008e-01 6.08176114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.92, Y:-10.27, Z:0.61 [[ 9.98337737e-01 5.73024388e-02 6.18008530e-03 1.24922446e+02] [-5.72995127e-02 9.98356822e-01 -6.49651239e-04 -1.02709960e+01] [-6.20715692e-03 2.94455472e-04 9.99980692e-01 6.09439973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.962320588 meters Centerline goodness [0,1] 0.9999508551208964 Centerline is valid? [True, True] Translation: X:124.95, Y:-10.28, Z:0.61 [[ 9.98465210e-01 5.52016290e-02 4.47267236e-03 1.24952466e+02] [-5.52000751e-02 9.98475203e-01 -4.70235803e-04 -1.02811849e+01] [-4.49181022e-03 2.22622240e-04 9.99989887e-01 6.10826540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.98, Y:-10.29, Z:0.61 [[ 9.98443974e-01 5.55790787e-02 4.53828462e-03 1.24982002e+02] [-5.55774834e-02 9.98454263e-01 -4.76982450e-04 -1.02880397e+01] [-4.55777987e-03 2.24013815e-04 9.99989588e-01 6.12394123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.01, Y:-10.29, Z:0.61 [[ 9.98399690e-01 5.62127312e-02 6.17968960e-03 1.25011958e+02] [-5.62097853e-02 9.98418769e-01 -6.49497274e-04 -1.02935799e+01] [-6.20642810e-03 3.01098851e-04 9.99980695e-01 6.12607169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.052320588 meters Centerline goodness [0,1] 0.9999508647798742 Centerline is valid? [True, True] Translation: X:125.04, Y:-10.30, Z:0.61 [[ 9.98291813e-01 5.78672474e-02 8.05217201e-03 1.25042326e+02] [-5.78622963e-02 9.98324215e-01 -8.46686319e-04 -1.03016713e+01] [-8.08767370e-03 3.79322858e-04 9.99967222e-01 6.12431895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.082320588 meters Centerline goodness [0,1] 0.9999016957483411 Centerline is valid? [True, True] Translation: X:125.07, Y:-10.32, Z:0.61 [[ 9.97995711e-01 6.26435252e-02 8.96381744e-03 1.25072663e+02] [-6.26375718e-02 9.98035893e-01 -9.43648617e-04 -1.03159052e+01] [-9.00532502e-03 3.80285514e-04 9.99959379e-01 6.11240655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.10, Y:-10.33, Z:0.61 [[ 9.97886604e-01 6.43934292e-02 8.70698950e-03 1.25104161e+02] [-6.43878678e-02 9.97924526e-01 -9.17830849e-04 -1.03255029e+01] [-8.74802065e-03 3.55266620e-04 9.99961672e-01 6.09988189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.14, Y:-10.33, Z:0.61 [[ 9.97778064e-01 6.60637996e-02 8.63184760e-03 1.25135533e+02] [-6.60583870e-02 9.97815343e-01 -9.10975272e-04 -1.03346563e+01] [-8.67317246e-03 3.38745214e-04 9.99962330e-01 6.09636535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.17, Y:-10.34, Z:0.61 [[ 9.97521648e-01 6.97808209e-02 9.01101323e-03 1.25167305e+02] [-6.97750600e-02 9.97562296e-01 -9.52509925e-04 -1.03436563e+01] [-9.05551396e-03 3.21405282e-04 9.99958946e-01 6.12026477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.20, Y:-10.35, Z:0.61 [[ 9.97375591e-01 7.18104941e-02 9.22947205e-03 1.25199182e+02] [-7.18045281e-02 9.97418245e-01 -9.76578264e-04 -1.03473901e+01] [-9.27577238e-03 3.11297438e-04 9.99956931e-01 6.14940283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.23, Y:-10.35, Z:0.62 [[ 9.97232969e-01 7.35400742e-02 1.08748428e-02 1.25231221e+02] [-7.35318805e-02 9.97292202e-01 -1.15191743e-03 -1.03521882e+01] [-1.09301080e-02 3.49082398e-04 9.99940204e-01 6.15157209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.26, Y:-10.36, Z:0.62 [[ 9.97119290e-01 7.52009613e-02 9.89626000e-03 1.25262937e+02] [-7.51942448e-02 9.97168353e-01 -1.04955348e-03 -1.03595503e+01] [-9.94716471e-03 3.02388224e-04 9.99950480e-01 6.15151009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.29, Y:-10.37, Z:0.61 [[ 9.96832145e-01 7.89112544e-02 9.93425912e-03 1.25293568e+02] [-7.89046577e-02 9.96881609e-01 -1.05484210e-03 -1.03748532e+01] [-9.98651913e-03 2.67641195e-04 9.99950098e-01 6.11456599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.33, Y:-10.38, Z:0.61 [[ 9.96613025e-01 8.14924661e-02 1.10206880e-02 1.25325521e+02] [-8.14844904e-02 9.96673921e-01 -1.17154407e-03 -1.03824343e+01] [-1.10795044e-02 2.69560931e-04 9.99938584e-01 6.10706078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.36, Y:-10.39, Z:0.61 [[ 9.96367184e-01 8.43629094e-02 1.16333021e-02 1.25357371e+02] [-8.43542009e-02 9.96435064e-01 -1.23811205e-03 -1.03887988e+01] [-1.16962809e-02 2.52296315e-04 9.99931564e-01 6.10750577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.39, Y:-10.39, Z:0.61 [[ 9.96247278e-01 8.59966107e-02 9.79510693e-03 1.25389174e+02] [-8.59905025e-02 9.96295410e-01 -1.04384234e-03 -1.03944007e+01] [-9.84858697e-03 1.97638923e-04 9.99951482e-01 6.13081145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.42, Y:-10.40, Z:0.62 [[ 9.95924480e-01 8.97821516e-02 8.57880594e-03 1.25420608e+02] [-8.97775962e-02 9.95961418e-01 -9.15419571e-04 -1.04006618e+01] [-8.62634806e-03 1.41504184e-04 9.99962782e-01 6.15415476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.45, Y:-10.41, Z:0.62 [[ 9.95846087e-01 9.07030892e-02 7.96993781e-03 1.25452789e+02] [-9.06991782e-02 9.95877971e-01 -8.51538352e-04 -1.04059771e+01] [-8.01432266e-03 1.25134326e-04 9.99967877e-01 6.15485659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.48, Y:-10.41, Z:0.62 [[ 9.95721229e-01 9.21262690e-02 7.21004308e-03 1.25484388e+02] [-9.21230982e-02 9.95747327e-01 -7.71352946e-04 -1.04139986e+01] [-7.25044299e-03 1.03840996e-04 9.99973710e-01 6.16007342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.52, Y:-10.42, Z:0.62 [[ 9.95616110e-01 9.31370611e-02 8.60524642e-03 1.25515862e+02] [-9.31325736e-02 9.95653290e-01 -9.21624991e-04 -1.04231395e+01] [-8.65367936e-03 1.16155943e-04 9.99962549e-01 6.15532828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.55, Y:-10.43, Z:0.62 [[ 9.95540244e-01 9.37724271e-02 1.03128051e-02 1.25546921e+02] [-9.37660031e-02 9.95593649e-01 -1.10574002e-03 -1.04321926e+01] [-1.03710512e-02 1.33818180e-04 9.99946210e-01 6.16158713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.58, Y:-10.44, Z:0.62 [[ 9.95331309e-01 9.58077975e-02 1.16812381e-02 1.25579403e+02] [-9.57996652e-02 9.95399844e-01 -1.25504972e-03 -1.04397303e+01] [-1.17477462e-02 1.30131576e-04 9.99930984e-01 6.16296956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.61, Y:-10.44, Z:0.62 [[ 9.95261166e-01 9.66760922e-02 1.04376095e-02 1.25611171e+02] [-9.66696351e-02 9.95315890e-01 -1.12258156e-03 -1.04419842e+01] [-1.04972454e-02 1.08261927e-04 9.99944897e-01 6.15350405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.64, Y:-10.45, Z:0.61 [[ 9.95185021e-01 9.76398293e-02 8.55791540e-03 1.25643026e+02] [-9.76355131e-02 9.95221813e-01 -9.21685894e-04 -1.04452532e+01] [-8.60701734e-03 8.16915343e-05 9.99962956e-01 6.14202248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.68, Y:-10.46, Z:0.61 [[ 9.94852593e-01 1.00823614e-01 1.01448436e-02 1.25675231e+02] [-1.00817691e-01 9.94904314e-01 -1.09487461e-03 -1.04559091e+01] [-1.02035379e-02 6.64591350e-05 9.99947940e-01 6.13534326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:-10.46, Z:0.62 [[ 9.94721097e-01 1.02097403e-01 1.02985552e-02 1.25707354e+02] [-1.02091346e-01 9.94774405e-01 -1.11354827e-03 -1.04640997e+01] [-1.03584295e-02 5.62765916e-05 9.99946348e-01 6.15838649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.74, Y:-10.47, Z:0.62 [[ 9.94564066e-01 1.03539609e-01 1.10393465e-02 1.25739668e+02] [-1.03532713e-01 9.94625330e-01 -1.19583980e-03 -1.04705569e+01] [-1.11038304e-02 4.64058039e-05 9.99938349e-01 6.17745914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.77, Y:-10.47, Z:0.62 [[ 9.94669478e-01 1.02874040e-01 7.04002279e-03 1.25771602e+02] [-1.02871212e-01 9.94694391e-01 -7.63589483e-04 -1.04746915e+01] [-7.08122471e-03 3.53034719e-05 9.99974927e-01 6.16118814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.80, Y:-10.48, Z:0.61 [[ 9.94754438e-01 1.02124849e-01 5.84158769e-03 1.25803603e+02] [-1.02122884e-01 9.94771589e-01 -6.34509795e-04 -1.04790843e+01] [-5.87584468e-03 3.46216555e-05 9.99982736e-01 6.14674907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.84, Y:-10.48, Z:0.61 [[ 9.94851973e-01 1.01100541e-01 6.94502811e-03 1.25835840e+02] [-1.01097732e-01 9.94876213e-01 -7.55184656e-04 -1.04840247e+01] [-6.98579284e-03 4.91703518e-05 9.99975598e-01 6.13593049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.87, Y:-10.49, Z:0.62 [[ 9.94932412e-01 1.00258693e-01 7.59537418e-03 1.25867433e+02] [-1.00255302e-01 9.94961402e-01 -8.26842401e-04 -1.04895031e+01] [-7.64000228e-03 6.11757737e-05 9.99970813e-01 6.15583479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.90, Y:-10.49, Z:0.62 [[ 9.94972017e-01 9.97113951e-02 9.39805736e-03 1.25899211e+02] [-9.97061687e-02 9.95016397e-01 -1.02418692e-03 -1.04936694e+01] [-9.45334428e-03 8.19930279e-05 9.99955313e-01 6.17727681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.93, Y:-10.50, Z:0.62 [[ 9.94912869e-01 1.00341416e-01 8.94331850e-03 1.25930880e+02] [-1.00336698e-01 9.94953062e-01 -9.75880640e-04 -1.04989327e+01] [-8.99610337e-03 7.35731635e-05 9.99959532e-01 6.21359609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.96, Y:-10.50, Z:0.62 [[ 9.94878439e-01 1.00750125e-01 8.14268850e-03 1.25962688e+02] [-1.00746217e-01 9.94911759e-01 -8.89671238e-04 -1.05042028e+01] [-8.19089103e-03 6.47696669e-05 9.99966452e-01 6.21844482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.00, Y:-10.51, Z:0.62 [[ 9.94846627e-01 1.01047870e-01 8.33770072e-03 1.25995306e+02] [-1.01043766e-01 9.94881563e-01 -9.13001000e-04 -1.05098335e+01] [-8.38728153e-03 6.58232815e-05 9.99964824e-01 6.19761258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.03, Y:-10.51, Z:0.62 [[ 9.94867792e-01 1.00858845e-01 8.09754693e-03 1.26028335e+02] [-1.00854955e-01 9.94900743e-01 -8.88399919e-04 -1.05139925e+01] [-8.14585845e-03 6.71627349e-05 9.99966820e-01 6.17718499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.06, Y:-10.52, Z:0.62 [[ 9.94939069e-01 1.00187097e-01 7.66772298e-03 1.26060776e+02] [-1.00183576e-01 9.94968613e-01 -8.42844751e-04 -1.05170836e+01] [-7.71358586e-03 7.03992633e-05 9.99970247e-01 6.16563584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.09, Y:-10.52, Z:0.62 [[ 9.95269998e-01 9.68345281e-02 7.79137492e-03 1.26092908e+02] [-9.68307849e-02 9.95300490e-01 -8.57116243e-04 -1.05228805e+01] [-7.83775771e-03 9.86171327e-05 9.99969279e-01 6.17761012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.12, Y:-10.53, Z:0.62 [[ 9.95373449e-01 9.57871271e-02 7.51818575e-03 1.26124527e+02] [-9.57836042e-02 9.95401836e-01 -8.28091462e-04 -1.05296062e+01] [-7.56293640e-03 1.04141326e-04 9.99971395e-01 6.20037374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.16, Y:-10.54, Z:0.62 [[ 9.95454777e-01 9.50692078e-02 5.62427298e-03 1.26156436e+02] [-9.50672197e-02 9.95470662e-01 -6.20383717e-04 -1.05368173e+01] [-5.65777813e-03 8.28799396e-05 9.99983991e-01 6.22937001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.19, Y:-10.54, Z:0.62 [[ 9.95414671e-01 9.55061623e-02 5.31089521e-03 1.26187755e+02] [-9.55043918e-02 9.95428836e-01 -5.86559754e-04 -1.05423350e+01] [-5.34263831e-03 7.66563672e-05 9.99985725e-01 6.24148984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.22, Y:-10.55, Z:0.62 [[ 9.95200506e-01 9.76368413e-02 6.55748365e-03 1.26219899e+02] [-9.76341836e-02 9.95222106e-01 -7.24952181e-04 -1.05456502e+01] [-6.59693473e-03 8.12382145e-05 9.99978237e-01 6.22724607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.25, Y:-10.55, Z:0.62 [[ 9.94987042e-01 9.96704957e-02 8.15953534e-03 1.26252507e+02] [-9.96664343e-02 9.95020495e-01 -9.03883397e-04 -1.05510189e+01] [-8.20899539e-03 8.61204758e-05 9.99966302e-01 6.21943718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.28, Y:-10.56, Z:0.62 [[ 9.94777295e-01 1.01714305e-01 8.50489140e-03 1.26284105e+02] [-1.01709960e-01 9.94813648e-01 -9.42900990e-04 -1.05584879e+01] [-8.55668857e-03 7.29443301e-05 9.99963388e-01 6.20641167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.31, Y:-10.57, Z:0.62 [[ 9.94369347e-01 1.05768475e-01 6.52933130e-03 1.26314932e+02] [-1.05765995e-01 9.94390783e-01 -7.24918109e-04 -1.05719885e+01] [-6.56938034e-03 3.02551236e-05 9.99978421e-01 6.22530336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.282320588 meters Centerline goodness [0,1] 0.99995085995086 Centerline is valid? [True, True] Translation: X:126.35, Y:-10.58, Z:0.62 [[ 9.94149532e-01 1.07852879e-01 5.87059400e-03 1.26346784e+02] [-1.07850906e-01 9.94166865e-01 -6.52660831e-04 -1.05781577e+01] [-5.90674138e-03 1.56935806e-05 9.99982555e-01 6.23075112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.38, Y:-10.58, Z:0.62 [[ 9.94020771e-01 1.09029021e-01 5.94803077e-03 1.26379188e+02] [-1.09027006e-01 9.94038567e-01 -6.62864048e-04 -1.05830650e+01] [-5.98484340e-03 1.04046450e-05 9.99982091e-01 6.23229963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.41, Y:-10.59, Z:0.62 [[ 9.93893741e-01 1.10143522e-01 6.60583624e-03 1.26411467e+02] [-1.10141053e-01 9.93915693e-01 -7.37420404e-04 -1.05887210e+01] [-6.64686639e-03 5.34376235e-06 9.99977909e-01 6.24631946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.44, Y:-10.60, Z:0.63 [[ 9.93310826e-01 1.15108198e-01 9.14911963e-03 1.26443210e+02] [-1.15103669e-01 9.93352959e-01 -1.02183978e-03 -1.05958809e+01] [-9.20592719e-03 -3.80927194e-05 9.99957624e-01 6.26583963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.48, Y:-10.60, Z:0.63 [[ 9.92815431e-01 1.19243264e-01 9.92791994e-03 1.26475152e+02] [-1.19238125e-01 9.92865065e-01 -1.11011163e-03 -1.05981368e+01] [-9.98945821e-03 -8.16505964e-05 9.99950101e-01 6.26286814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.51, Y:-10.60, Z:0.62 [[ 9.92412290e-01 1.22625377e-01 8.99241425e-03 1.26507814e+02] [-1.22621288e-01 9.92453025e-01 -1.00677293e-03 -1.05991515e+01] [-9.04800463e-03 -1.03527592e-04 9.99959061e-01 6.24558207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.54, Y:-10.60, Z:0.62 [[ 9.92002850e-01 1.25941830e-01 8.30672305e-03 1.26539572e+02] [-1.25938447e-01 9.92037621e-01 -9.31168269e-04 -1.06020028e+01] [-8.35785481e-03 -1.22414225e-04 9.99965065e-01 6.22479716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.57, Y:-10.61, Z:0.62 [[ 9.91682432e-01 1.28454646e-01 8.08447874e-03 1.26570595e+02] [-1.28451517e-01 9.91715375e-01 -9.07340572e-04 -1.06106436e+01] [-8.13405398e-03 -1.38669849e-04 9.99966908e-01 6.22514379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.60, Y:-10.62, Z:0.63 [[ 9.91575479e-01 1.29225057e-01 8.88561176e-03 1.26602241e+02] [-1.29221297e-01 9.91615278e-01 -9.98376312e-04 -1.06165113e+01] [-8.94012361e-03 -1.58244807e-04 9.99960024e-01 6.25166529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.63, Y:-10.62, Z:0.63 [[ 9.91508582e-01 1.29602884e-01 1.06688157e-02 1.26634191e+02] [-1.29597472e-01 9.91565961e-01 -1.20001768e-03 -1.06183101e+01] [-1.07343603e-02 -1.92823719e-04 9.99942367e-01 6.26658440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.67, Y:-10.62, Z:0.63 [[ 9.91433021e-01 1.30204102e-01 1.03661388e-02 1.26667339e+02] [-1.30199000e-01 9.91487194e-01 -1.16843295e-03 -1.06177823e+01] [-1.04300286e-02 -1.91237885e-04 9.99945587e-01 6.26997197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.70, Y:-10.62, Z:0.63 [[ 9.91432390e-01 1.30143686e-01 1.11551301e-02 1.26701170e+02] [-1.30137750e-01 9.91495123e-01 -1.25950752e-03 -1.06164550e+01] [-1.12241740e-02 -2.02986972e-04 9.99936986e-01 6.25321281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.73, Y:-10.62, Z:0.62 [[ 9.91763942e-01 1.27479162e-01 1.23833290e-02 1.26733752e+02] [-1.27471616e-01 9.91841231e-01 -1.39993798e-03 -1.06190348e+01] [-1.24607592e-02 -1.90114951e-04 9.99922344e-01 6.21422710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.77, Y:-10.63, Z:0.62 [[ 9.91862361e-01 1.26776526e-01 1.16948532e-02 1.26765682e+02] [-1.26769731e-01 9.91931290e-01 -1.32356065e-03 -1.06259753e+01] [-1.17682872e-02 -1.69763397e-04 9.99930737e-01 6.21378541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.80, Y:-10.63, Z:0.62 [[ 9.91926677e-01 1.26453144e-01 9.54310489e-03 1.26797363e+02] [-1.26448591e-01 9.91972572e-01 -1.08142973e-03 -1.06314298e+01] [-9.60324850e-03 -1.34013163e-04 9.99953879e-01 6.22658517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.83, Y:-10.64, Z:0.62 [[ 9.91901316e-01 1.26651937e-01 9.54284898e-03 1.26829664e+02] [-1.26647371e-01 9.91947211e-01 -1.08368680e-03 -1.06350375e+01] [-9.60325346e-03 -1.33666371e-04 9.99953879e-01 6.22822350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.86, Y:-10.64, Z:0.63 [[ 9.91808255e-01 1.27558591e-01 6.72243849e-03 1.26862457e+02] [-1.27556341e-01 9.91831032e-01 -7.64261176e-04 -1.06350203e+01] [-6.76501118e-03 -9.94891095e-05 9.99977112e-01 6.25301115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.90, Y:-10.64, Z:0.63 [[ 9.91711769e-01 1.28309019e-01 6.67553149e-03 1.26895904e+02] [-1.28306805e-01 9.91734231e-01 -7.60645692e-04 -1.06368900e+01] [-6.71795079e-03 -1.02174833e-04 9.99977429e-01 6.26562562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.93, Y:-10.64, Z:0.63 [[ 9.91625086e-01 1.28913581e-01 7.80875565e-03 1.26928070e+02] [-1.28910567e-01 9.91655824e-01 -8.90282206e-04 -1.06400369e+01] [-7.85836749e-03 -1.23804947e-04 9.99969115e-01 6.26834195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.96, Y:-10.64, Z:0.63 [[ 9.91509508e-01 1.29667215e-01 9.76261192e-03 1.26959937e+02] [-1.29662528e-01 9.91557556e-01 -1.11417738e-03 -1.06436515e+01] [-9.82466389e-03 -1.61127476e-04 9.99951724e-01 6.26781471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.99, Y:-10.65, Z:0.63 [[ 9.91282119e-01 1.31351256e-01 1.03251213e-02 1.26991434e+02] [-1.31346072e-01 9.91335873e-01 -1.18157997e-03 -1.06470032e+01] [-1.03908652e-02 -1.84885026e-04 9.99945996e-01 6.25402133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.02, Y:-10.65, Z:0.62 [[ 9.90984963e-01 1.33793170e-01 6.94198759e-03 1.27024657e+02] [-1.33790876e-01 9.91009267e-01 -7.95931695e-04 -1.06510665e+01] [-6.98606427e-03 -1.40018258e-04 9.99975587e-01 6.22364030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.06, Y:-10.66, Z:0.62 [[ 9.90779643e-01 1.35252402e-01 7.90484194e-03 1.27056419e+02] [-1.35249469e-01 9.90811162e-01 -9.06901703e-04 -1.06553047e+01] [-7.95486626e-03 -1.70585931e-04 9.99968345e-01 6.21530634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.09, Y:-10.66, Z:0.62 [[ 9.90474138e-01 1.37450180e-01 8.27220108e-03 1.27088108e+02] [-1.37447036e-01 9.90508662e-01 -9.50110460e-04 -1.06597020e+01] [-8.32427967e-03 -1.95929682e-04 9.99965333e-01 6.23044798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.12, Y:-10.66, Z:0.62 [[ 9.90175459e-01 1.39495057e-01 9.67933815e-03 1.27119780e+02] [-1.39490823e-01 9.90222737e-01 -1.11455262e-03 -1.06617273e+01] [-9.74017530e-03 -2.46576188e-04 9.99952533e-01 6.24500312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.15, Y:-10.66, Z:0.63 [[ 9.89919259e-01 1.41363998e-01 8.72239759e-03 1.27152169e+02] [-1.41360626e-01 9.89957657e-01 -1.00504343e-03 -1.06601560e+01] [-8.77688125e-03 -2.38091740e-04 9.99961454e-01 6.27569911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.18, Y:-10.66, Z:0.63 [[ 9.89698518e-01 1.42944261e-01 7.98633579e-03 1.27183996e+02] [-1.42941476e-01 9.89730714e-01 -9.21326481e-04 -1.06618224e+01] [-8.03602015e-03 -2.29743176e-04 9.99967684e-01 6.27550516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.22, Y:-10.66, Z:0.63 [[ 9.89454753e-01 1.44601614e-01 8.34658820e-03 1.27216040e+02] [-1.44598623e-01 9.89489924e-01 -9.63931686e-04 -1.06636282e+01] [-8.39825100e-03 -2.53138368e-04 9.99964702e-01 6.25910465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.25, Y:-10.67, Z:0.62 [[ 9.89183357e-01 1.46430226e-01 8.62995178e-03 1.27248185e+02] [-1.46427088e-01 9.89220962e-01 -9.97745071e-04 -1.06659400e+01] [-8.68302924e-03 -2.76705889e-04 9.99962264e-01 6.24790220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.28, Y:-10.67, Z:0.62 [[ 9.88938282e-01 1.47918446e-01 1.10094340e-02 1.27280191e+02] [-1.47913418e-01 9.88999493e-01 -1.27409331e-03 -1.06658313e+01] [-1.10767865e-02 -3.68443363e-04 9.99938583e-01 6.23086179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.31, Y:-10.67, Z:0.62 [[ 9.88989297e-01 1.47552583e-01 1.13315884e-02 1.27312289e+02] [-1.47547216e-01 9.89054142e-01 -1.31281254e-03 -1.06658581e+01] [-1.14012633e-02 -3.73586767e-04 9.99934934e-01 6.23878406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.34, Y:-10.67, Z:0.63 [[ 9.89043423e-01 1.47211363e-01 1.10418217e-02 1.27344553e+02] [-1.47206229e-01 9.89104992e-01 -1.28068077e-03 -1.06650987e+01] [-1.11100517e-02 -3.58776045e-04 9.99938217e-01 6.25353047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.38, Y:-10.66, Z:0.63 [[ 9.89245881e-01 1.45848877e-01 1.09860173e-02 1.27376597e+02] [-1.45843696e-01 9.89306823e-01 -1.27563155e-03 -1.06640161e+01] [-1.10545913e-02 -3.40328108e-04 9.99938838e-01 6.27132195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.41, Y:-10.66, Z:0.63 [[ 9.89790825e-01 1.42116278e-01 1.08206587e-02 1.27409260e+02] [-1.42111007e-01 9.89849927e-01 -1.25838900e-03 -1.06628327e+01] [-1.08896658e-02 -2.92192816e-04 9.99940663e-01 6.27922082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.44, Y:-10.67, Z:0.63 [[ 9.90168780e-01 1.39389369e-01 1.16786259e-02 1.27441143e+02] [-1.39383024e-01 9.90237610e-01 -1.35951477e-03 -1.06674280e+01] [-1.17541165e-02 -2.81653109e-04 9.99930878e-01 6.26129289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.47, Y:-10.67, Z:0.63 [[ 9.90444561e-01 1.37326489e-01 1.26888433e-02 1.27472790e+02] [-1.37318809e-01 9.90525799e-01 -1.47871474e-03 -1.06714231e+01] [-1.27716933e-02 -2.77831870e-04 9.99918400e-01 6.25160897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.51, Y:-10.67, Z:0.63 [[ 9.90821688e-01 1.34547010e-01 1.30186222e-02 1.27505422e+02] [-1.34538663e-01 9.90907181e-01 -1.51885619e-03 -1.06726628e+01] [-1.31046038e-02 -2.46592372e-04 9.99914101e-01 6.25708204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.54, Y:-10.67, Z:0.63 [[ 9.91084706e-01 1.32602534e-01 1.29488678e-02 1.27538241e+02] [-1.32594088e-01 9.91169269e-01 -1.51245136e-03 -1.06723577e+01] [-1.30350748e-02 -2.17975908e-04 9.99915016e-01 6.26702771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.57, Y:-10.67, Z:0.63 [[ 9.91248540e-01 1.31376006e-01 1.29103336e-02 1.27570950e+02] [-1.31367483e-01 9.91332591e-01 -1.50967694e-03 -1.06719543e+01] [-1.29967698e-02 -1.99532960e-04 9.99915519e-01 6.26718558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.60, Y:-10.67, Z:0.63 [[ 9.91591951e-01 1.29079156e-01 9.16376573e-03 1.27602821e+02] [-1.29074751e-01 9.91634286e-01 -1.07301121e-03 -1.06732030e+01] [-9.22560767e-03 -1.18821497e-04 9.99957436e-01 6.28014721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.63, Y:-10.68, Z:0.63 [[ 9.91693609e-01 1.28358675e-01 8.23634771e-03 1.27634877e+02] [-1.28355081e-01 9.91727806e-01 -9.65628795e-04 -1.06769279e+01] [-8.29216187e-03 -9.95691747e-05 9.99965614e-01 6.28142150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.67, Y:-10.68, Z:0.63 [[ 9.91814294e-01 1.27369825e-01 9.01857833e-03 1.27667851e+02] [-1.27365457e-01 9.91855291e-01 -1.05947762e-03 -1.06807551e+01] [-9.08007011e-03 -9.78503020e-05 9.99958771e-01 6.28701751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.70, Y:-10.68, Z:0.63 [[ 9.91841256e-01 1.27064834e-01 1.02688796e-02 1.27699935e+02] [-1.27059144e-01 9.91894408e-01 -1.20727214e-03 -1.06844497e+01] [-1.03390461e-02 -1.07332739e-04 9.99946545e-01 6.28595890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.73, Y:-10.69, Z:0.63 [[ 9.92133478e-01 1.24541750e-01 1.26694130e-02 1.27732492e+02] [-1.24532862e-01 9.92214363e-01 -1.49108661e-03 -1.06858953e+01] [-1.27564761e-02 -9.84013247e-05 9.99918628e-01 6.28980285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.76, Y:-10.69, Z:0.63 [[ 9.92328575e-01 1.23012284e-01 1.23278989e-02 1.27764198e+02] [-1.23003730e-01 9.92405145e-01 -1.45259773e-03 -1.06877065e+01] [-1.24129576e-02 -7.49233121e-05 9.99922953e-01 6.29080187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.80, Y:-10.69, Z:0.63 [[ 9.92631519e-01 1.20661102e-01 1.11160609e-02 1.27796159e+02] [-1.20653982e-01 9.92693758e-01 -1.31140338e-03 -1.06905124e+01] [-1.11930796e-02 -3.94566729e-05 9.99937355e-01 6.28519716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.83, Y:-10.70, Z:0.63 [[ 9.93086251e-01 1.17055968e-01 8.80895057e-03 1.27828262e+02] [-1.17051343e-01 9.93125320e-01 -1.04056364e-03 -1.06965728e+01] [-8.87019603e-03 2.26994948e-06 9.99960659e-01 6.29329055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.86, Y:-10.70, Z:0.63 [[ 9.93146034e-01 1.16474118e-01 9.73323988e-03 1.27859936e+02] [-1.16468431e-01 9.93193727e-01 -1.15099342e-03 -1.07014803e+01] [-9.80105373e-03 9.48937367e-06 9.99951968e-01 6.31158256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.89, Y:-10.71, Z:0.63 [[ 9.93141471e-01 1.16418308e-01 1.08072287e-02 1.27892263e+02] [-1.16411279e-01 9.93200271e-01 -1.27938239e-03 -1.07052245e+01] [-1.08826860e-02 1.25244006e-05 9.99940782e-01 6.32940328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.92, Y:-10.71, Z:0.63 [[ 9.93114007e-01 1.16403988e-01 1.32166487e-02 1.27923796e+02] [-1.16393460e-01 9.93201949e-01 -1.56564718e-03 -1.07083079e+01] [-1.33090489e-02 1.65346684e-05 9.99911431e-01 6.33248364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.96, Y:-10.71, Z:0.63 [[ 9.92960778e-01 1.17747806e-01 1.28198155e-02 1.27955642e+02] [-1.17737988e-01 9.93043531e-01 -1.52055098e-03 -1.07122951e+01] [-1.29096764e-02 4.68201686e-07 9.99916667e-01 6.34667927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.99, Y:-10.72, Z:0.63 [[ 9.92809410e-01 1.19133331e-01 1.16929344e-02 1.27986579e+02] [-1.19125240e-01 9.92878265e-01 -1.38855503e-03 -1.07218696e+01] [-1.17750836e-02 -1.43531159e-05 9.99930671e-01 6.32789256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.02, Y:-10.73, Z:0.63 [[ 9.92730420e-01 1.19932731e-01 1.01219503e-02 1.28018349e+02] [-1.19926694e-01 9.92782020e-01 -1.20348954e-03 -1.07288867e+01] [-1.01932281e-02 -1.91513608e-05 9.99948048e-01 6.32306215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.05, Y:-10.73, Z:0.63 [[ 9.92597782e-01 1.20997862e-01 1.04479521e-02 1.28051341e+02] [-1.20991463e-01 9.92652767e-01 -1.24472137e-03 -1.07345684e+01] [-1.05217972e-02 -2.86053417e-05 9.99944644e-01 6.32707576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.08, Y:-10.74, Z:0.63 [[ 9.92394390e-01 1.22603354e-01 1.10359494e-02 1.28082922e+02] [-1.22596301e-01 9.92455750e-01 -1.31586315e-03 -1.07383887e+01] [-1.11140206e-02 -4.71113640e-05 9.99938236e-01 6.32938630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.12, Y:-10.74, Z:0.64 [[ 9.92357635e-01 1.22892875e-01 1.11205369e-02 1.28115572e+02] [-1.22885703e-01 9.92419941e-01 -1.32860433e-03 -1.07424714e+01] [-1.11995186e-02 -4.81043427e-05 9.99937282e-01 6.36020923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.15, Y:-10.75, Z:0.64 [[ 9.92497346e-01 1.21695491e-01 1.17993937e-02 1.28147741e+02] [-1.21687303e-01 9.92567482e-01 -1.41211444e-03 -1.07483915e+01] [-1.18835425e-02 -3.43165693e-05 9.99929388e-01 6.36332325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.18, Y:-10.76, Z:0.64 [[ 9.92630614e-01 1.20497924e-01 1.28340873e-02 1.28179468e+02] [-1.20488119e-01 9.92713579e-01 -1.53725461e-03 -1.07555650e+01] [-1.29258087e-02 -2.04290555e-05 9.99916458e-01 6.36602709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.21, Y:-10.76, Z:0.64 [[ 9.92680487e-01 1.20208616e-01 1.16335367e-02 1.28211012e+02] [-1.20200521e-01 9.92748653e-01 -1.39511316e-03 -1.07634390e+01] [-1.17168825e-02 -1.34555466e-05 9.99931355e-01 6.36841989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.24, Y:-10.77, Z:0.64 [[ 9.92643598e-01 1.20608292e-01 1.05984954e-02 1.28242243e+02] [-1.20601574e-01 9.92700176e-01 -1.27300916e-03 -1.07716603e+01] [-1.06746638e-02 -1.45508451e-05 9.99943024e-01 6.37320870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.082320588 meters Centerline goodness [0,1] 0.9999509081983309 Centerline is valid? [True, True] Translation: X:128.27, Y:-10.78, Z:0.64 [[ 9.92572428e-01 1.21255068e-01 9.85814160e-03 1.28274216e+02] [-1.21249276e-01 9.92621382e-01 -1.18534168e-03 -1.07757739e+01] [-9.92913083e-03 -1.87550611e-05 9.99950705e-01 6.37517121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.31, Y:-10.78, Z:0.64 [[ 9.92553783e-01 1.21466446e-01 9.10446570e-03 1.28306435e+02] [-1.21461502e-01 9.92595538e-01 -1.09601851e-03 -1.07806256e+01] [-9.17018151e-03 -1.79847668e-05 9.99957953e-01 6.37701334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.34, Y:-10.79, Z:0.64 [[ 9.92455285e-01 1.22281788e-01 8.92587130e-03 1.28338599e+02] [-1.22277050e-01 9.92495423e-01 -1.07672491e-03 -1.07874329e+01] [-8.99055025e-03 -2.28278807e-05 9.99959584e-01 6.37724836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.37, Y:-10.80, Z:0.64 [[ 9.92259867e-01 1.23909421e-01 8.17378010e-03 1.28370971e+02] [-1.23905488e-01 9.92293532e-01 -9.87784113e-04 -1.07978896e+01] [-8.23318488e-03 -3.26376824e-05 9.99966106e-01 6.40008927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.40, Y:-10.80, Z:0.64 [[ 9.92086281e-01 1.25200058e-01 9.47401560e-03 1.28403190e+02] [-1.25194826e-01 9.92131515e-01 -1.14571068e-03 -1.08029568e+01] [-9.54291249e-03 -4.94538854e-05 9.99954464e-01 6.40319228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.44, Y:-10.81, Z:0.64 [[ 9.91902587e-01 1.26699250e-01 8.74970678e-03 1.28436115e+02] [-1.26694826e-01 9.91941176e-01 -1.06035597e-03 -1.08072227e+01] [-8.81354074e-03 -5.67727398e-05 9.99961158e-01 6.40260132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.47, Y:-10.81, Z:0.64 [[ 9.91657838e-01 1.28521418e-01 9.84776596e-03 1.28467867e+02] [-1.28515894e-01 9.91706730e-01 -1.19428921e-03 -1.08118661e+01] [-9.91958752e-03 -8.12681952e-05 9.99950796e-01 6.39629649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.50, Y:-10.82, Z:0.64 [[ 9.91455767e-01 1.30110169e-01 9.31700075e-03 1.28500462e+02] [-1.30105274e-01 9.91499539e-01 -1.13220580e-03 -1.08180513e+01] [-9.38511344e-03 -8.96589640e-05 9.99955955e-01 6.39796195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.53, Y:-10.82, Z:0.64 [[ 9.91322361e-01 1.31168704e-01 8.64565949e-03 1.28533395e+02] [-1.31164513e-01 9.91360057e-01 -1.05245743e-03 -1.08235251e+01] [-8.70901097e-03 -9.06791303e-05 9.99962072e-01 6.40555826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.57, Y:-10.83, Z:0.64 [[ 9.91166785e-01 1.32432779e-01 7.06849085e-03 1.28565396e+02] [-1.32430004e-01 9.91191986e-01 -8.61261394e-04 -1.08296454e+01] [-7.12029072e-03 -8.24265859e-05 9.99974647e-01 6.42114733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.60, Y:-10.84, Z:0.64 [[ 9.90960738e-01 1.33914620e-01 7.98066221e-03 1.28596598e+02] [-1.33911122e-01 9.90992868e-01 -9.73405233e-04 -1.08358105e+01] [-8.03913252e-03 -1.04093064e-04 9.99967680e-01 6.42391769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.63, Y:-10.84, Z:0.64 [[ 9.90764797e-01 1.35210001e-01 1.01672728e-02 1.28628354e+02] [-1.35204380e-01 9.90816953e-01 -1.24129791e-03 -1.08417973e+01] [-1.02417421e-02 -1.44825545e-04 9.99947541e-01 6.42440626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.66, Y:-10.85, Z:0.64 [[ 9.90577042e-01 1.36264965e-01 1.37470999e-02 1.28659998e+02] [-1.36254769e-01 9.90672406e-01 -1.67993496e-03 -1.08456587e+01] [-1.38477888e-02 -2.09002917e-04 9.99904093e-01 6.41576442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.69, Y:-10.85, Z:0.64 [[ 9.90560270e-01 1.36286229e-01 1.47110635e-02 1.28693309e+02] [-1.36274410e-01 9.90669480e-01 -1.80756738e-03 -1.08488987e+01] [-1.48201481e-02 -2.14237065e-04 9.99890153e-01 6.40901215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.73, Y:-10.85, Z:0.64 [[ 9.90628276e-01 1.35849198e-01 1.41638006e-02 1.28725497e+02] [-1.35838108e-01 9.90729508e-01 -1.74664330e-03 -1.08528571e+01] [-1.42697752e-02 -1.93709621e-04 9.99898163e-01 6.40609500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.76, Y:-10.86, Z:0.64 [[ 9.90734035e-01 1.35245115e-01 1.24430639e-02 1.28757018e+02] [-1.35236433e-01 9.90812159e-01 -1.54044789e-03 -1.08570334e+01] [-1.25370770e-02 -1.56581420e-04 9.99921396e-01 6.40469948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.79, Y:-10.86, Z:0.64 [[ 9.91004382e-01 1.33297979e-01 1.19148637e-02 1.28788475e+02] [-1.33289876e-01 9.91075998e-01 -1.47512036e-03 -1.08623469e+01] [-1.20051660e-02 -1.26279968e-04 9.99927927e-01 6.40256577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.82, Y:-10.87, Z:0.64 [[ 9.91026516e-01 1.33264493e-01 1.03450560e-02 1.28820369e+02] [-1.33258368e-01 9.91080503e-01 -1.28225841e-03 -1.08668717e+01] [-1.04236629e-02 -1.07813205e-04 9.99945666e-01 6.40996641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.85, Y:-10.87, Z:0.64 [[ 9.90999743e-01 1.33463461e-01 1.03447564e-02 1.28852629e+02] [-1.33457322e-01 9.91053729e-01 -1.28467455e-03 -1.08708162e+01] [-1.04236665e-02 -1.07471330e-04 9.99945666e-01 6.41160470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.88, Y:-10.87, Z:0.64 [[ 9.91006419e-01 1.33288107e-01 1.18557026e-02 1.28884571e+02] [-1.33279992e-01 9.91077326e-01 -1.47548416e-03 -1.08744356e+01] [-1.19465826e-02 -1.17913679e-04 9.99928630e-01 6.40494120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.92, Y:-10.88, Z:0.64 [[ 9.90975199e-01 1.33458758e-01 1.25265729e-02 1.28916378e+02] [-1.33449699e-01 9.91054360e-01 -1.56002229e-03 -1.08779217e+01] [-1.26227133e-02 -1.25723993e-04 9.99920322e-01 6.40091786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.95, Y:-10.88, Z:0.64 [[ 9.90719656e-01 1.35199283e-01 1.39898814e-02 1.28948381e+02] [-1.35188132e-01 9.90818413e-01 -1.74404802e-03 -1.08834952e+01] [-1.40972262e-02 -1.63403285e-04 9.99900616e-01 6.39940055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.98, Y:-10.89, Z:0.64 [[ 9.90642784e-01 1.35634316e-01 1.51725885e-02 1.28980950e+02] [-1.35621097e-01 9.90758953e-01 -1.90155328e-03 -1.08891420e+01] [-1.52902938e-02 -1.73963074e-04 9.99883081e-01 6.39669969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.01, Y:-10.89, Z:0.64 [[ 9.90473686e-01 1.36846801e-01 1.53241610e-02 1.29013958e+02] [-1.36833336e-01 9.90592206e-01 -1.92870278e-03 -1.08942809e+01] [-1.54439312e-02 -1.86526708e-04 9.99880718e-01 6.38912866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.05, Y:-10.90, Z:0.64 [[ 9.90587156e-01 1.36329911e-01 1.22980633e-02 1.29046647e+02] [-1.36321190e-01 9.90663482e-01 -1.54859108e-03 -1.08962191e+01] [-1.23943615e-02 -1.42472186e-04 9.99923177e-01 6.37223910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.08, Y:-10.90, Z:0.64 [[ 9.90641451e-01 1.36098901e-01 1.03250068e-02 1.29079165e+02] [-1.36092721e-01 9.90695249e-01 -1.30203293e-03 -1.08992868e+01] [-1.04061404e-02 -1.15310477e-04 9.99945848e-01 6.37370529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.11, Y:-10.90, Z:0.64 [[ 9.90606238e-01 1.36419832e-01 9.42923862e-03 1.29111017e+02] [-1.36414681e-01 9.90651108e-01 -1.19026087e-03 -1.09030672e+01] [-9.50346088e-03 -1.07206740e-04 9.99954835e-01 6.38916241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.14, Y:-10.91, Z:0.64 [[ 9.90456038e-01 1.37362022e-01 1.13363141e-02 1.29142608e+02] [-1.37354623e-01 9.90520901e-01 -1.43239825e-03 -1.09078181e+01] [-1.14256131e-02 -1.38367646e-04 9.99934716e-01 6.39403512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.17, Y:-10.91, Z:0.64 [[ 9.90349490e-01 1.38079957e-01 1.19085106e-02 1.29174531e+02] [-1.38071825e-01 9.90421073e-01 -1.50626268e-03 -1.09127824e+01] [-1.20024245e-02 -1.52503319e-04 9.99927957e-01 6.40962975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.21, Y:-10.92, Z:0.64 [[ 9.90227089e-01 1.38989425e-01 1.15000888e-02 1.29207141e+02] [-1.38981872e-01 9.90293853e-01 -1.45730644e-03 -1.09180006e+01] [-1.15910174e-02 -1.55239551e-04 9.99932810e-01 6.40661829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.24, Y:-10.92, Z:0.64 [[ 9.90108608e-01 1.39760734e-01 1.23240454e-02 1.29238944e+02] [-1.39752104e-01 9.90185289e-01 -1.56296920e-03 -1.09221729e+01] [-1.24215302e-02 -1.74802007e-04 9.99922835e-01 6.38830355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.27, Y:-10.93, Z:0.64 [[ 9.89917827e-01 1.41191402e-01 1.12997187e-02 1.29271744e+02] [-1.41184146e-01 9.89982303e-01 -1.44124959e-03 -1.09262414e+01] [-1.13900136e-02 -1.68622479e-04 9.99935117e-01 6.39122967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.30, Y:-10.93, Z:0.64 [[ 9.89526074e-01 1.43900080e-01 1.14418789e-02 1.29303461e+02] [-1.43892828e-01 9.89592202e-01 -1.45884280e-03 -1.09300131e+01] [-1.15327217e-02 -2.02841328e-04 9.99933475e-01 6.40025453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.34, Y:-10.93, Z:0.64 [[ 9.88714634e-01 1.49182294e-01 1.37118974e-02 1.29335915e+02] [-1.49172363e-01 9.88809660e-01 -1.74995572e-03 -1.09308244e+01] [-1.38195190e-02 -3.15229301e-04 9.99904456e-01 6.43522635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.37, Y:-10.93, Z:0.65 [[ 9.88352010e-01 1.51576597e-01 1.35955416e-02 1.29368422e+02] [-1.51566952e-01 9.88445457e-01 -1.74294350e-03 -1.09326378e+01] [-1.37026408e-02 -3.37993093e-04 9.99906057e-01 6.45136337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.40, Y:-10.93, Z:0.65 [[ 9.88145287e-01 1.52952866e-01 1.32027717e-02 1.29401297e+02] [-1.52943797e-01 9.88233427e-01 -1.69983946e-03 -1.09342977e+01] [-1.33074156e-02 -3.39593686e-04 9.99911395e-01 6.46105882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.43, Y:-10.93, Z:0.64 [[ 9.87946873e-01 1.54168977e-01 1.38889530e-02 1.29433588e+02] [-1.54158978e-01 9.88044427e-01 -1.79410613e-03 -1.09349400e+01] [-1.39994981e-02 -3.68625270e-04 9.99901934e-01 6.44812477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.47, Y:-10.94, Z:0.64 [[ 9.87860879e-01 1.54599056e-01 1.51662695e-02 1.29465372e+02] [-1.54587082e-01 9.87977211e-01 -1.96577361e-03 -1.09372817e+01] [-1.52878354e-02 -4.02598497e-04 9.99883053e-01 6.42696123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.50, Y:-10.94, Z:0.64 [[ 9.87974306e-01 1.53922524e-01 1.46501519e-02 1.29497889e+02] [-1.53911178e-01 9.88082850e-01 -1.90558644e-03 -1.09397829e+01] [-1.47688766e-02 -3.72151700e-04 9.99890865e-01 6.42781535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.53, Y:-10.94, Z:0.64 [[ 9.88119440e-01 1.52988917e-01 1.46411617e-02 1.29529989e+02] [-1.52977443e-01 9.88227841e-01 -1.90706561e-03 -1.09423147e+01] [-1.47605635e-02 -3.55358873e-04 9.99890994e-01 6.44222714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.56, Y:-10.94, Z:0.65 [[ 9.88710296e-01 1.49051705e-01 1.53473331e-02 1.29562003e+02] [-1.49038496e-01 9.88829357e-01 -2.00724055e-03 -1.09425982e+01] [-1.54750762e-02 -3.02764044e-04 9.99880208e-01 6.47501590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.59, Y:-10.94, Z:0.65 [[ 9.89115541e-01 1.46342839e-01 1.53042489e-02 1.29594198e+02] [-1.46329272e-01 9.89233900e-01 -2.00861048e-03 -1.09422490e+01] [-1.54334276e-02 -2.52711762e-04 9.99880866e-01 6.49636402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.63, Y:-10.94, Z:0.65 [[ 9.89361438e-01 1.44538043e-01 1.65135732e-02 1.29627339e+02] [-1.44521966e-01 9.89499215e-01 -2.16917331e-03 -1.09423135e+01] [-1.66536958e-02 -2.40477628e-04 9.99861289e-01 6.50199654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.66, Y:-10.94, Z:0.65 [[ 9.89539677e-01 1.43478913e-01 1.50009774e-02 1.29659708e+02] [-1.43465397e-01 9.89653355e-01 -1.97889199e-03 -1.09427948e+01] [-1.51296968e-02 -1.93929023e-04 9.99885521e-01 6.51336837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.69, Y:-10.94, Z:0.65 [[ 9.89917781e-01 1.40576285e-01 1.73520878e-02 1.29691642e+02] [-1.40557748e-01 9.90069835e-01 -2.28938795e-03 -1.09445097e+01] [-1.75016123e-02 -1.72664538e-04 9.99846820e-01 6.49512031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.72, Y:-10.95, Z:0.65 [[ 9.90060069e-01 1.39568977e-01 1.73654656e-02 1.29724266e+02] [-1.39550057e-01 9.90212341e-01 -2.30254723e-03 -1.09486263e+01] [-1.75168625e-02 -1.43691640e-04 9.99846558e-01 6.49267565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.76, Y:-10.95, Z:0.65 [[ 9.90286169e-01 1.38201137e-01 1.52888329e-02 1.29756189e+02] [-1.38186196e-01 9.90404178e-01 -2.03447524e-03 -1.09532545e+01] [-1.54232908e-02 -9.79929676e-05 9.99881049e-01 6.49099165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.79, Y:-10.96, Z:0.65 [[ 9.90477447e-01 1.36732435e-01 1.60831928e-02 1.29788444e+02] [-1.36715678e-01 9.90608013e-01 -2.14203913e-03 -1.09584315e+01] [-1.62250259e-02 -7.71831566e-05 9.99868363e-01 6.48663669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.522320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.82, Y:-10.97, Z:0.65 [[ 9.90817583e-01 1.34116417e-01 1.71261216e-02 1.29819406e+02] [-1.34096991e-01 9.90965582e-01 -2.28288279e-03 -1.09661723e+01] [-1.72775691e-02 -3.46409763e-05 9.99850731e-01 6.48765051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.85, Y:-10.97, Z:0.65 [[ 9.90832004e-01 1.34190159e-01 1.56505662e-02 1.29851089e+02] [-1.34173800e-01 9.90955600e-01 -2.09542002e-03 -1.09711957e+01] [-1.57902010e-02 -2.36867249e-05 9.99875327e-01 6.50531613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.88, Y:-10.98, Z:0.65 [[ 9.90825726e-01 1.34467532e-01 1.35227214e-02 1.29883167e+02] [-1.34455338e-01 9.90918000e-01 -1.81102258e-03 -1.09756349e+01] [-1.36434318e-02 -2.37943227e-05 9.99906924e-01 6.51604981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.91, Y:-10.98, Z:0.65 [[ 9.90780167e-01 1.34967594e-01 1.17647578e-02 1.29914723e+02] [-1.34958379e-01 9.90850013e-01 -1.57729515e-03 -1.09800735e+01] [-1.18699942e-02 -2.49998995e-05 9.99929549e-01 6.51847589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.95, Y:-10.99, Z:0.65 [[ 9.90673515e-01 1.35702242e-01 1.22836612e-02 1.29946403e+02] [-1.35692233e-01 9.90749666e-01 -1.64852629e-03 -1.09857553e+01] [-1.23937419e-02 -3.36460805e-05 9.99923194e-01 6.50907510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.98, Y:-11.00, Z:0.65 [[ 9.90509200e-01 1.36648648e-01 1.47875371e-02 1.29977147e+02] [-1.36634219e-01 9.90619576e-01 -1.98646260e-03 -1.09958844e+01] [-1.49202711e-02 -5.28740965e-05 9.99888685e-01 6.48793270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.01, Y:-11.00, Z:0.65 [[ 9.90282270e-01 1.38307180e-01 1.45653600e-02 1.30009913e+02] [-1.38293213e-01 9.90389378e-01 -1.96665061e-03 -1.10030943e+01] [-1.46973798e-02 -6.67512176e-05 9.99891985e-01 6.48161665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.04, Y:-11.01, Z:0.65 [[ 9.90190100e-01 1.38984940e-01 1.43788741e-02 1.30042636e+02] [-1.38971285e-01 9.90294492e-01 -1.94939038e-03 -1.10091454e+01] [-1.45102557e-02 -6.79835646e-05 9.99894718e-01 6.48519858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.07, Y:-11.02, Z:0.65 [[ 9.89791444e-01 1.41882627e-01 1.34988118e-02 1.30074793e+02] [-1.41870760e-01 9.89883483e-01 -1.83760390e-03 -1.10158022e+01] [-1.36229749e-02 -9.62420640e-05 9.99907198e-01 6.48953036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.11, Y:-11.02, Z:0.65 [[ 9.89449286e-01 1.44290140e-01 1.30562439e-02 1.30106117e+02] [-1.44279250e-01 9.89535416e-01 -1.77717786e-03 -1.10207678e+01] [-1.31760450e-02 -1.25317713e-04 9.99913184e-01 6.48879173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.14, Y:-11.02, Z:0.65 [[ 9.89037280e-01 1.46983268e-01 1.41836981e-02 1.30137601e+02] [-1.46970583e-01 9.89138964e-01 -1.93824432e-03 -1.10244591e+01] [-1.43145379e-02 -1.67590486e-04 9.99897528e-01 6.48929650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.17, Y:-11.03, Z:0.65 [[ 9.88459788e-01 1.50726756e-01 1.51225471e-02 1.30169956e+02] [-1.50712769e-01 9.88575434e-01 -2.06691065e-03 -1.10275897e+01] [-1.52613173e-02 -2.36102873e-04 9.99883511e-01 6.47836095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.20, Y:-11.03, Z:0.65 [[ 9.87630920e-01 1.56231649e-01 1.32980280e-02 1.30202327e+02] [-1.56221225e-01 9.87720404e-01 -1.82545967e-03 -1.10311812e+01] [-1.34199282e-02 -2.74553818e-04 9.99909911e-01 6.47257923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.23, Y:-11.04, Z:0.65 [[ 9.87235491e-01 1.58728107e-01 1.30948172e-02 1.30234201e+02] [-1.58718217e-01 9.87322286e-01 -1.79765924e-03 -1.10376305e+01] [-1.32141439e-02 -3.03673037e-04 9.99912643e-01 6.47681771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.27, Y:-11.05, Z:0.65 [[ 9.86975715e-01 1.60293693e-01 1.35966660e-02 1.30265645e+02] [-1.60283071e-01 9.87069310e-01 -1.87445222e-03 -1.10451597e+01] [-1.37213146e-02 -3.29276569e-04 9.99905804e-01 6.47268411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.30, Y:-11.05, Z:0.65 [[ 9.86683740e-01 1.61977187e-01 1.47847602e-02 1.30297008e+02] [-1.61964719e-01 9.86794431e-01 -2.04472850e-03 -1.10518228e+01] [-1.49207184e-02 -3.77109174e-04 9.99888609e-01 6.47456265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.33, Y:-11.05, Z:0.65 [[ 9.86306175e-01 1.64130596e-01 1.61640739e-02 1.30329318e+02] [-1.64115867e-01 9.86438520e-01 -2.24258182e-03 -1.10519853e+01] [-1.63129414e-02 -4.40908704e-04 9.99866838e-01 6.47489551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.36, Y:-11.05, Z:0.65 [[ 9.86038086e-01 1.65798988e-01 1.54786499e-02 1.30362843e+02] [-1.65785556e-01 9.86159471e-01 -2.15588268e-03 -1.10522409e+01] [-1.56218603e-02 -4.40354138e-04 9.99877874e-01 6.47781426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.40, Y:-11.05, Z:0.65 [[ 9.85707365e-01 1.67823211e-01 1.47091714e-02 1.30395027e+02] [-1.67811211e-01 9.85817008e-01 -2.05511702e-03 -1.10537529e+01] [-1.48454477e-02 -4.42619881e-04 9.99889702e-01 6.47535016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.43, Y:-11.06, Z:0.65 [[ 9.85148943e-01 1.71236527e-01 1.26337188e-02 1.30426470e+02] [-1.71227886e-01 9.85229860e-01 -1.77053747e-03 -1.10573697e+01] [-1.27502977e-02 -4.19001862e-04 9.99918624e-01 6.48183997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.46, Y:-11.06, Z:0.65 [[ 9.84670466e-01 1.73961068e-01 1.27129952e-02 1.30457875e+02] [-1.73952476e-01 9.84752427e-01 -1.78698842e-03 -1.10616847e+01] [-1.28300193e-02 -4.51862280e-04 9.99917590e-01 6.48960608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.49, Y:-11.06, Z:0.65 [[ 9.84366302e-01 1.75618348e-01 1.34602727e-02 1.30489539e+02] [-1.75608798e-01 9.84458201e-01 -1.89743031e-03 -1.10641336e+01] [-1.35842994e-02 -4.95975853e-04 9.99907606e-01 6.49458222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.52, Y:-11.06, Z:0.65 [[ 9.83752645e-01 1.78909253e-01 1.49067784e-02 1.30522296e+02] [-1.78897913e-01 9.83865397e-01 -2.10157778e-03 -1.10624474e+01] [-1.50422551e-02 -5.99358836e-04 9.99886679e-01 6.50599808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.55, Y:-11.06, Z:0.65 [[ 9.83329347e-01 1.81332353e-01 1.34897747e-02 1.30554692e+02] [-1.81323191e-01 9.83421708e-01 -1.90939719e-03 -1.10634843e+01] [-1.36123727e-02 -5.68442695e-04 9.99907186e-01 6.51173865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.59, Y:-11.06, Z:0.65 [[ 9.82976581e-01 1.83274721e-01 1.29390219e-02 1.30587565e+02] [-1.83266458e-01 9.83061570e-01 -1.83157387e-03 -1.10623219e+01] [-1.30555364e-02 -5.70894484e-04 9.99914610e-01 6.51720125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.272320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.62, Y:-11.06, Z:0.65 [[ 9.82837135e-01 1.84037354e-01 1.27050750e-02 1.30620898e+02] [-1.84029430e-01 9.82919086e-01 -1.80007149e-03 -1.10596301e+01] [-1.28193411e-02 -5.68930597e-04 9.99917667e-01 6.51780880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.65, Y:-11.05, Z:0.65 [[ 9.82798467e-01 1.84074641e-01 1.49566025e-02 1.30654497e+02] [-1.84063637e-01 9.82912041e-01 -2.12083798e-03 -1.10517690e+01] [-1.50914172e-02 -6.68610345e-04 9.99885895e-01 6.51989944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.69, Y:-11.05, Z:0.65 [[ 9.82981443e-01 1.83091936e-01 1.49941743e-02 1.30686984e+02] [-1.83080734e-01 9.83095578e-01 -2.12806086e-03 -1.10533894e+01] [-1.51303373e-02 -6.53300101e-04 9.99885316e-01 6.53504881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.72, Y:-11.06, Z:0.65 [[ 9.83536553e-01 1.80053056e-01 1.53865765e-02 1.30719249e+02] [-1.80040858e-01 9.83656704e-01 -2.18572058e-03 -1.10560238e+01] [-1.55286548e-02 -6.20476352e-04 9.99879231e-01 6.53829236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.75, Y:-11.06, Z:0.65 [[ 9.84143421e-01 1.76860326e-01 1.34963657e-02 1.30751150e+02] [-1.76850624e-01 9.84235834e-01 -1.91844152e-03 -1.10578612e+01] [-1.36229029e-02 -4.98819088e-04 9.99907080e-01 6.54737947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.78, Y:-11.05, Z:0.65 [[ 9.85154736e-01 1.71224448e-01 1.23423808e-02 1.30783450e+02] [-1.71215867e-01 9.85231974e-01 -1.75639667e-03 -1.10512196e+01] [-1.24608462e-02 -3.82888930e-04 9.99922287e-01 6.54775216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.82, Y:-11.05, Z:0.65 [[ 9.85418439e-01 1.69605498e-01 1.35821447e-02 1.30815646e+02] [-1.69594930e-01 9.85511957e-01 -1.93451663e-03 -1.10509153e+01] [-1.37134706e-02 -3.97154522e-04 9.99905887e-01 6.54720619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.85, Y:-11.05, Z:0.66 [[ 9.85686149e-01 1.68029818e-01 1.37403314e-02 1.30848489e+02] [-1.68018825e-01 9.85781841e-01 -1.95884627e-03 -1.10510381e+01] [-1.38741138e-02 -3.77826710e-04 9.99903678e-01 6.56587269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.88, Y:-11.05, Z:0.66 [[ 9.85981599e-01 1.66395964e-01 1.23559340e-02 1.30880428e+02] [-1.66386924e-01 9.86058965e-01 -1.76319828e-03 -1.10520605e+01] [-1.24770685e-02 -3.17384785e-04 9.99922108e-01 6.57514026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.91, Y:-11.06, Z:0.66 [[ 9.85948714e-01 1.66590739e-01 1.23555376e-02 1.30912634e+02] [-1.66581680e-01 9.86026077e-01 -1.76597448e-03 -1.10566077e+01] [-1.24770773e-02 -3.17045943e-04 9.99922108e-01 6.57677929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.94, Y:-11.06, Z:0.66 [[ 9.86867367e-01 1.61412671e-01 6.22492213e-03 1.30944155e+02] [-1.61410267e-01 9.86886991e-01 -8.89977646e-04 -1.10563599e+01] [-6.28694835e-03 -1.26476449e-04 9.99980229e-01 6.58301310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.98, Y:-11.06, Z:0.66 [[ 9.87228885e-01 1.59196116e-01 5.97707385e-03 1.30976137e+02] [-1.59193852e-01 9.87246973e-01 -8.55710381e-04 -1.10609310e+01] [-6.03707383e-03 -1.06731406e-04 9.99981771e-01 6.56380168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.01, Y:-11.07, Z:0.65 [[ 9.87708294e-01 1.56112476e-01 7.82435396e-03 1.31007535e+02] [-1.56108492e-01 9.87739278e-01 -1.12105525e-03 -1.10666846e+01] [-7.90343244e-03 -1.14172530e-04 9.99968761e-01 6.54421716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.04, Y:-11.07, Z:0.66 [[ 9.88098187e-01 1.53554979e-01 9.10174152e-03 1.31039831e+02] [-1.53549470e-01 9.88140100e-01 -1.30520583e-03 -1.10712877e+01] [-9.19421662e-03 -1.07896070e-04 9.99957726e-01 6.55787115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.07, Y:-11.07, Z:0.66 [[ 9.88505054e-01 1.50804937e-01 1.07530842e-02 1.31072192e+02] [-1.50797070e-01 9.88563535e-01 -1.54336494e-03 -1.10730070e+01] [-1.08628540e-02 -9.59095517e-05 9.99940993e-01 6.57363666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.11, Y:-11.07, Z:0.66 [[ 9.88971099e-01 1.47800160e-01 9.55398421e-03 1.31105245e+02] [-1.47793796e-01 9.89017244e-01 -1.37263895e-03 -1.10720118e+01] [-9.65193139e-03 -5.45193477e-05 9.99953418e-01 6.59715387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.14, Y:-11.08, Z:0.66 [[ 9.88927178e-01 1.48163132e-01 8.40971694e-03 1.31136477e+02] [-1.48158204e-01 9.88962934e-01 -1.20946058e-03 -1.10782683e+01] [-8.49609580e-03 -4.99001134e-05 9.99963906e-01 6.58740800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.17, Y:-11.09, Z:0.66 [[ 9.88848923e-01 1.48765399e-01 6.83102993e-03 1.31168290e+02] [-1.48762154e-01 9.88872517e-01 -9.83479633e-04 -1.10861056e+01] [-6.90132550e-03 -4.36859541e-05 9.99976185e-01 6.59053624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.20, Y:-11.09, Z:0.66 [[ 9.88591818e-01 1.50463806e-01 6.84541339e-03 1.31200252e+02] [-1.50460582e-01 9.88615517e-01 -9.86487910e-04 -1.10925141e+01] [-6.91591263e-03 -5.47310064e-05 9.99976083e-01 6.58639400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.23, Y:-11.09, Z:0.66 [[ 9.88009653e-01 1.54112455e-01 9.28847554e-03 1.31232311e+02] [-1.54106671e-01 9.88053308e-01 -1.33959997e-03 -1.10943259e+01] [-9.38395803e-03 -1.07878341e-04 9.99955964e-01 6.57305458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.26, Y:-11.10, Z:0.66 [[ 9.87906610e-01 1.54726344e-01 1.00143766e-02 1.31264556e+02] [-1.54719638e-01 9.87957359e-01 -1.44559612e-03 -1.10975873e+01] [-1.01174489e-02 -1.21306764e-04 9.99948810e-01 6.55934652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.30, Y:-11.10, Z:0.66 [[ 9.87901473e-01 1.54748280e-01 1.01808060e-02 1.31296549e+02] [-1.54741336e-01 9.87953924e-01 -1.47099514e-03 -1.11028131e+01] [-1.02858012e-02 -1.22193259e-04 9.99947092e-01 6.55515193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.33, Y:-11.11, Z:0.66 [[ 9.87937953e-01 1.54576859e-01 9.19757415e-03 1.31328059e+02] [-1.54571172e-01 9.87980761e-01 -1.33025611e-03 -1.11070500e+01] [-9.29265311e-03 -1.07469324e-04 9.99956817e-01 6.57978704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.36, Y:-11.11, Z:0.66 [[ 9.87887213e-01 1.54778053e-01 1.10728630e-02 1.31360416e+02] [-1.54769809e-01 9.87949258e-01 -1.60285490e-03 -1.11089207e+01] [-1.11875136e-02 -1.30305027e-04 9.99937409e-01 6.58336116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.39, Y:-11.11, Z:0.66 [[ 9.87992800e-01 1.54221815e-01 9.26594927e-03 1.31392524e+02] [-1.54216005e-01 9.88036245e-01 -1.34266319e-03 -1.11119350e+01] [-9.36216167e-03 -1.02416115e-04 9.99956169e-01 6.59717844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.022320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.42, Y:-11.12, Z:0.66 [[ 9.88108936e-01 1.53414093e-01 1.02394369e-02 1.31423238e+02] [-1.53406940e-01 9.88161983e-01 -1.48505539e-03 -1.11236947e+01] [-1.03460507e-02 -1.03404188e-04 9.99946473e-01 6.55969806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.45, Y:-11.13, Z:0.66 [[ 9.88064896e-01 1.53703329e-01 1.01512344e-02 1.31453878e+02] [-1.53696300e-01 9.88117035e-01 -1.47366799e-03 -1.11331867e+01] [-1.02571154e-02 -1.04127560e-04 9.99947389e-01 6.56647820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.49, Y:-11.14, Z:0.66 [[ 9.87987545e-01 1.54294346e-01 8.59448095e-03 1.31485176e+02] [-1.54289319e-01 9.88024922e-01 -1.24894265e-03 -1.11397684e+01] [-8.68426616e-03 -9.20968331e-05 9.99962287e-01 6.58558439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.112320588 meters Centerline goodness [0,1] 0.9999508623654857 Centerline is valid? [True, True] Translation: X:131.52, Y:-11.14, Z:0.66 [[ 9.87931324e-01 1.54671749e-01 8.26729883e-03 1.31517388e+02] [-1.54667101e-01 9.87965911e-01 -1.20256332e-03 -1.11428322e+01] [-8.35381199e-03 -9.06291628e-05 9.99965102e-01 6.59108982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.55, Y:-11.14, Z:0.66 [[ 9.87768633e-01 1.55672344e-01 8.90224868e-03 1.31549159e+02] [-1.55666988e-01 9.87808742e-01 -1.29562141e-03 -1.11445676e+01] [-8.99541149e-03 -1.06012050e-04 9.99959535e-01 6.58622190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.58, Y:-11.15, Z:0.66 [[ 9.87315377e-01 1.58570684e-01 7.98024319e-03 1.31580850e+02] [-1.58566464e-01 9.87347621e-01 -1.16275004e-03 -1.11476378e+01] [-8.06365219e-03 -1.17397953e-04 9.99967481e-01 6.59836099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.61, Y:-11.15, Z:0.66 [[ 9.87014852e-01 1.60320339e-01 9.95342409e-03 1.31612670e+02] [-1.60313851e-01 9.87065024e-01 -1.45145555e-03 -1.11543027e+01] [-1.00573746e-02 -1.63063562e-04 9.99949410e-01 6.61194590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.64, Y:-11.16, Z:0.66 [[ 9.86429242e-01 1.63970010e-01 8.43725589e-03 1.31644348e+02] [-1.63965471e-01 9.86465310e-01 -1.23160647e-03 -1.11611799e+01] [-8.52500677e-03 -1.68526000e-04 9.99963647e-01 6.61794308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.68, Y:-11.16, Z:0.66 [[ 9.86217195e-01 1.65330904e-01 6.42935733e-03 1.31676972e+02] [-1.65328290e-01 9.86238142e-01 -9.39543306e-04 -1.11638995e+01] [-6.49621298e-03 -1.36360892e-04 9.99978890e-01 6.60706401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.71, Y:-11.17, Z:0.66 [[ 9.85983714e-01 1.66702882e-01 6.80178071e-03 1.31709656e+02] [-1.66699984e-01 9.86007163e-01 -9.94853574e-04 -1.11654750e+01] [-6.87244946e-03 -1.52947311e-04 9.99976373e-01 6.59376330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.322320588 meters Centerline goodness [0,1] 0.99995085995086 Centerline is valid? [True, True] Translation: X:131.74, Y:-11.17, Z:0.66 [[ 9.85874201e-01 1.67290082e-01 8.12951814e-03 1.31742099e+02] [-1.67285954e-01 9.85907700e-01 -1.19000782e-03 -1.11663143e+01] [-8.21403104e-03 -1.86756181e-04 9.99966247e-01 6.59209414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.77, Y:-11.17, Z:0.66 [[ 9.85609377e-01 1.68594488e-01 1.22496475e-02 1.31774272e+02] [-1.68585199e-01 9.85685452e-01 -1.79442792e-03 -1.11688073e+01] [-1.23768300e-02 -2.96504278e-04 9.99923360e-01 6.61107745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.81, Y:-11.17, Z:0.66 [[ 9.85502508e-01 1.69159764e-01 1.30300064e-02 1.31806375e+02] [-1.69149280e-01 9.85588591e-01 -1.91045605e-03 -1.11738015e+01] [-1.31653979e-02 -3.21256974e-04 9.99913281e-01 6.61496982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.84, Y:-11.18, Z:0.66 [[ 9.85536948e-01 1.69125732e-01 1.06494459e-02 1.31837855e+02] [-1.69118711e-01 9.85594449e-01 -1.56297423e-03 -1.11783928e+01] [-1.07603739e-02 -2.60651716e-04 9.99942072e-01 6.61424378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.87, Y:-11.18, Z:0.66 [[ 9.85566250e-01 1.69071605e-01 8.59998984e-03 1.31869552e+02] [-1.69067013e-01 9.85603748e-01 -1.26347618e-03 -1.11823015e+01] [-8.68980017e-03 -2.08735114e-04 9.99962221e-01 6.61284958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.90, Y:-11.18, Z:0.66 [[ 9.85809105e-01 1.67682459e-01 7.93730391e-03 1.31901557e+02] [-1.67678493e-01 9.85841042e-01 -1.16724618e-03 -1.11840557e+01] [-8.02064666e-03 -1.80233246e-04 9.99967818e-01 6.59948452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.93, Y:-11.19, Z:0.66 [[ 9.85819735e-01 1.67634879e-01 7.61560153e-03 1.31932483e+02] [-1.67631225e-01 9.85849135e-01 -1.12013464e-03 -1.11859983e+01] [-7.69560782e-03 -1.72361783e-04 9.99970374e-01 6.60646962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.532320588 meters Centerline goodness [0,1] 0.9999016474059503 Centerline is valid? [True, True] Translation: X:131.96, Y:-11.19, Z:0.66 [[ 9.85638495e-01 1.68539723e-01 1.05413242e-02 1.31963767e+02] [-1.68532768e-01 9.85694831e-01 -1.55105043e-03 -1.11875532e+01] [-1.06519424e-02 -2.47783530e-04 9.99943236e-01 6.61701242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.562320588 meters Centerline goodness [0,1] 0.999901768172888 Centerline is valid? [True, True] Translation: X:132.00, Y:-11.19, Z:0.66 [[ 9.85467889e-01 1.69391908e-01 1.26261752e-02 1.31995761e+02] [-1.69381974e-01 9.85548724e-01 -1.85980222e-03 -1.11891651e+01] [-1.27587463e-02 -3.05871117e-04 9.99918557e-01 6.63230002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.03, Y:-11.19, Z:0.66 [[ 9.85745464e-01 1.67889910e-01 1.09022466e-02 1.32027792e+02] [-1.67882394e-01 9.85805720e-01 -1.60743601e-03 -1.11911319e+01] [-1.10173693e-02 -2.45772502e-04 9.99939277e-01 6.62251120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.06, Y:-11.20, Z:0.66 [[ 9.86085616e-01 1.66013974e-01 8.63244669e-03 1.32059403e+02] [-1.66009179e-01 9.86123384e-01 -1.27409485e-03 -1.11962273e+01] [-8.72417509e-03 -1.76698785e-04 9.99961928e-01 6.60602331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.09, Y:-11.20, Z:0.66 [[ 9.86522851e-01 1.63480767e-01 6.83404111e-03 1.32090376e+02] [-1.63477699e-01 9.86546514e-01 -1.00892862e-03 -1.12000549e+01] [-6.90703985e-03 -1.21882179e-04 9.99976139e-01 6.59728090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.682320588 meters Centerline goodness [0,1] 0.9999507534718802 Centerline is valid? [True, True] Translation: X:132.12, Y:-11.20, Z:0.66 [[ 9.87558550e-01 1.56830537e-01 1.15019030e-02 1.32121029e+02] [-1.56821402e-01 9.87625519e-01 -1.69748713e-03 -1.12002544e+01] [-1.16257907e-02 -1.27376625e-04 9.99932410e-01 6.62150869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.15, Y:-11.20, Z:0.66 [[ 9.88078240e-01 1.53418894e-01 1.28076029e-02 1.32153578e+02] [-1.53407249e-01 9.88161239e-01 -1.89262097e-03 -1.12033593e+01] [-1.29463405e-02 -9.47215307e-05 9.99916188e-01 6.63826321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.19, Y:-11.21, Z:0.66 [[ 9.88443458e-01 1.51137217e-01 1.17077808e-02 1.32185267e+02] [-1.51127306e-01 9.88512791e-01 -1.73172156e-03 -1.12061650e+01] [-1.18350186e-02 -5.76565240e-05 9.99929962e-01 6.64324509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.772320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.22, Y:-11.21, Z:0.66 [[ 9.88581486e-01 1.50395396e-01 9.37390016e-03 1.32217430e+02] [-1.50388997e-01 9.88625927e-01 -1.38790381e-03 -1.12089335e+01] [-9.47601508e-03 -3.76754272e-05 9.99955101e-01 6.64297536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.25, Y:-11.21, Z:0.66 [[ 9.88630829e-01 1.50169043e-01 7.63824956e-03 1.32248935e+02] [-1.50164785e-01 9.88660335e-01 -1.13122391e-03 -1.12121384e+01] [-7.72150917e-03 -2.86332715e-05 9.99970188e-01 6.62434784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.28, Y:-11.22, Z:0.66 [[ 9.88457763e-01 1.51302439e-01 7.66961291e-03 1.32278698e+02] [-1.51298182e-01 9.88487517e-01 -1.13553299e-03 -1.12192067e+01] [-7.75312553e-03 -3.79720889e-05 9.99969943e-01 6.61577423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.31, Y:-11.23, Z:0.66 [[ 9.88335296e-01 1.52035096e-01 8.86978104e-03 1.32309034e+02] [-1.52029424e-01 9.88375094e-01 -1.31416419e-03 -1.12256425e+01] [-8.96646975e-03 -4.96328561e-05 9.99959799e-01 6.62179219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.34, Y:-11.23, Z:0.66 [[ 9.88241354e-01 1.52534577e-01 1.05938409e-02 1.32340256e+02] [-1.52526508e-01 9.88298133e-01 -1.57025211e-03 -1.12307804e+01] [-1.07093909e-02 -6.40534851e-05 9.99942651e-01 6.63159174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.37, Y:-11.23, Z:0.66 [[ 9.88293440e-01 1.51957231e-01 1.36042845e-02 1.32371781e+02] [-1.51943858e-01 9.88387067e-01 -2.01728566e-03 -1.12347936e+01] [-1.37528400e-02 -7.34172813e-05 9.99905423e-01 6.63530112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.40, Y:-11.24, Z:0.66 [[ 9.88624826e-01 1.49835710e-01 1.30466100e-02 1.32403353e+02] [-1.49823198e-01 9.88710907e-01 -1.93671416e-03 -1.12388119e+01] [-1.31895145e-02 -4.00011282e-05 9.99913014e-01 6.62867969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.43, Y:-11.24, Z:0.66 [[ 9.88847205e-01 1.48564302e-01 1.04811356e-02 1.32434919e+02] [-1.48556140e-01 9.88902749e-01 -1.55742125e-03 -1.12448642e+01] [-1.05962010e-02 -1.69853886e-05 9.99943859e-01 6.62389920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.47, Y:-11.25, Z:0.66 [[ 9.88932055e-01 1.48037133e-01 9.91951843e-03 1.32466309e+02] [-1.48029782e-01 9.88981803e-01 -1.47535781e-03 -1.12515457e+01] [-1.00286310e-02 -9.35552162e-06 9.99949712e-01 6.61201760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.50, Y:-11.26, Z:0.66 [[ 9.88900138e-01 1.48158838e-01 1.12016428e-02 1.32497001e+02] [-1.48149467e-01 9.88963578e-01 -1.66637427e-03 -1.12577179e+01] [-1.13249048e-02 -1.16396673e-05 9.99935871e-01 6.60776691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.53, Y:-11.26, Z:0.66 [[ 9.88646999e-01 1.49559882e-01 1.44552225e-02 1.32528448e+02] [-1.49544404e-01 9.88752669e-01 -2.15191907e-03 -1.12611545e+01] [-1.46144806e-02 -3.42093042e-05 9.99893202e-01 6.64253187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.56, Y:-11.26, Z:0.66 [[ 9.88549438e-01 1.50225045e-01 1.42283274e-02 1.32560221e+02] [-1.50210088e-01 9.88651826e-01 -2.12025302e-03 -1.12640032e+01] [-1.43853770e-02 -4.12633733e-05 9.99896524e-01 6.64395457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.59, Y:-11.27, Z:0.66 [[ 9.88331883e-01 1.51669290e-01 1.40183967e-02 1.32592366e+02] [-1.51654889e-01 9.88431294e-01 -2.09088262e-03 -1.12690725e+01] [-1.41733447e-02 -5.94724470e-05 9.99899551e-01 6.62958453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.62, Y:-11.28, Z:0.66 [[ 9.88314385e-01 1.51954041e-01 1.20269124e-02 1.32623875e+02] [-1.51943441e-01 9.88387559e-01 -1.79555274e-03 -1.12759426e+01] [-1.21600921e-02 -5.28398517e-05 9.99926062e-01 6.60996457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.66, Y:-11.28, Z:0.66 [[ 9.88449446e-01 1.50889562e-01 1.41432935e-02 1.32655293e+02] [-1.50874778e-01 9.88550625e-01 -2.11268382e-03 -1.12802409e+01] [-1.43001436e-02 -4.55851162e-05 9.99897747e-01 6.60602976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.69, Y:-11.28, Z:0.66 [[ 9.88695156e-01 1.49214656e-01 1.47266512e-02 1.32686904e+02] [-1.49198409e-01 9.88804827e-01 -2.20198585e-03 -1.12844053e+01] [-1.48903523e-02 -2.01001796e-05 9.99889132e-01 6.61098839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.72, Y:-11.29, Z:0.66 [[ 9.88965496e-01 1.47420157e-01 1.46473578e-02 1.32718711e+02] [-1.47403859e-01 9.89073959e-01 -2.19209347e-03 -1.12886200e+01] [-1.48104790e-02 8.82774764e-06 9.99890319e-01 6.62281105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.75, Y:-11.29, Z:0.66 [[ 9.89791764e-01 1.41932282e-01 1.29418037e-02 1.32751106e+02] [-1.41919065e-01 9.89876366e-01 -1.93866662e-03 -1.12917650e+01] [-1.30859449e-02 8.21875777e-05 9.99914372e-01 6.62838510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.78, Y:-11.30, Z:0.66 [[ 9.89975168e-01 1.40516872e-01 1.42890094e-02 1.32783456e+02] [-1.40500586e-01 9.90078278e-01 -2.14231690e-03 -1.12954101e+01] [-1.44482695e-02 1.13226335e-04 9.99895612e-01 6.62962792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.82, Y:-11.30, Z:0.66 [[ 9.89913441e-01 1.40623865e-01 1.72135841e-02 1.32815398e+02] [-1.40600209e-01 9.90063084e-01 -2.58293137e-03 -1.12993184e+01] [-1.74057559e-02 1.36644965e-04 9.99848499e-01 6.63103305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.85, Y:-11.30, Z:0.66 [[ 9.89923173e-01 1.40354169e-01 1.87834865e-02 1.32847496e+02] [-1.40325904e-01 9.90101350e-01 -2.82095869e-03 -1.13042370e+01] [-1.89934886e-02 1.56722649e-04 9.99819595e-01 6.63878587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.88, Y:-11.31, Z:0.66 [[ 9.90170865e-01 1.38672830e-01 1.82072507e-02 1.32879903e+02] [-1.38645917e-01 9.90338231e-01 -2.73837105e-03 -1.13110233e+01] [-1.84110741e-02 1.87094269e-04 9.99830484e-01 6.63152738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.91, Y:-11.31, Z:0.66 [[ 9.90372241e-01 1.37557530e-01 1.55161571e-02 1.32911511e+02] [-1.37537819e-01 9.90493763e-01 -2.33547443e-03 -1.13146307e+01] [-1.56899189e-02 1.78930640e-04 9.99876890e-01 6.62930718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.94, Y:-11.32, Z:0.66 [[ 9.90354582e-01 1.37684640e-01 1.55158572e-02 1.32942849e+02] [-1.37664913e-01 9.90476102e-01 -2.33746658e-03 -1.13193102e+01] [-1.56899190e-02 1.78931606e-04 9.99876890e-01 6.63090367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.97, Y:-11.32, Z:0.66 [[ 9.90475396e-01 1.37070774e-01 1.30419855e-02 1.32974910e+02] [-1.37056759e-01 9.90561244e-01 -1.96659209e-03 -1.13218616e+01] [-1.31884477e-02 1.60368814e-04 9.99913016e-01 6.63293239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.01, Y:-11.32, Z:0.66 [[ 9.90580343e-01 1.36373935e-01 1.23585774e-02 1.33006604e+02] [-1.36361276e-01 9.90657420e-01 -1.86518750e-03 -1.13249974e+01] [-1.24974794e-02 1.62386687e-04 9.99921890e-01 6.62940364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.04, Y:-11.33, Z:0.66 [[ 9.90711585e-01 1.35370858e-01 1.28563304e-02 1.33038494e+02] [-1.35357052e-01 9.90794982e-01 -1.94198547e-03 -1.13297160e+01] [-1.30008759e-02 1.83752520e-04 9.99915468e-01 6.63416789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.07, Y:-11.33, Z:0.66 [[ 9.90856055e-01 1.34271625e-01 1.32441775e-02 1.33070725e+02] [-1.34256853e-01 9.90944544e-01 -2.00228043e-03 -1.13341492e+01] [-1.33930949e-02 2.05850098e-04 9.99910287e-01 6.64179297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.10, Y:-11.34, Z:0.66 [[ 9.91120342e-01 1.32140408e-01 1.48115123e-02 1.33102842e+02] [-1.32121667e-01 9.91230974e-01 -2.24106842e-03 -1.13374348e+01] [-1.49777655e-02 2.64246811e-04 9.99887792e-01 6.64957829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.14, Y:-11.34, Z:0.67 [[ 9.91244234e-01 1.31131675e-01 1.54709894e-02 1.33135059e+02] [-1.31111074e-01 9.91364916e-01 -2.34281500e-03 -1.13417561e+01] [-1.56446134e-02 2.93883824e-04 9.99877572e-01 6.65560864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.17, Y:-11.35, Z:0.66 [[ 9.91644528e-01 1.28355862e-01 1.28803202e-02 1.33166538e+02] [-1.28341326e-01 9.91728134e-01 -1.95228816e-03 -1.13487918e+01] [-1.30243636e-02 2.82898494e-04 9.99915139e-01 6.64636660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.20, Y:-11.35, Z:0.66 [[ 9.91754242e-01 1.27718625e-01 1.05582653e-02 1.33198212e+02] [-1.27708805e-01 9.91810413e-01 -1.60180626e-03 -1.13545062e+01] [-1.06763779e-02 2.40214712e-04 9.99942977e-01 6.64205699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.732320588 meters Centerline goodness [0,1] 0.99995085995086 Centerline is valid? [True, True] Translation: X:133.23, Y:-11.36, Z:0.66 [[ 9.91876251e-01 1.26856860e-01 9.42543596e-03 1.33230395e+02] [-1.26848984e-01 9.91921008e-01 -1.43122493e-03 -1.13571532e+01] [-9.53084865e-03 2.23991038e-04 9.99954555e-01 6.62460636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.26, Y:-11.36, Z:0.66 [[ 9.91958682e-01 1.26311471e-01 7.96145117e-03 1.33261775e+02] [-1.26305832e-01 9.91990612e-01 -1.20920327e-03 -1.13587942e+01] [-8.05042106e-03 1.93901966e-04 9.99967576e-01 6.62890208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.29, Y:-11.37, Z:0.66 [[ 9.91853553e-01 1.26942258e-01 1.05920928e-02 1.33291156e+02] [-1.26932317e-01 9.91910077e-01 -1.60833009e-03 -1.13661525e+01] [-1.07105687e-02 2.50749037e-04 9.99942609e-01 6.64958792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.32, Y:-11.38, Z:0.67 [[ 9.91822016e-01 1.27059867e-01 1.20365466e-02 1.33322290e+02] [-1.27047012e-01 9.91895009e-01 -1.82985834e-03 -1.13761415e+01] [-1.21714920e-02 2.85686516e-04 9.99925884e-01 6.66620970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.35, Y:-11.39, Z:0.67 [[ 9.91830698e-01 1.26918240e-01 1.27916400e-02 1.33353415e+02] [-1.26903688e-01 9.91913134e-01 -1.94623492e-03 -1.13852872e+01] [-1.29352084e-02 3.07029240e-04 9.99916290e-01 6.68946205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.39, Y:-11.39, Z:0.67 [[ 9.91871561e-01 1.26726286e-01 1.14566272e-02 1.33385209e+02] [-1.26714582e-01 9.91937685e-01 -1.74465670e-03 -1.13909893e+01] [-1.15853541e-02 2.78753637e-04 9.99932849e-01 6.69478000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.42, Y:-11.40, Z:0.66 [[ 9.92248379e-01 1.24025482e-01 7.79958972e-03 1.33416463e+02] [-1.24019965e-01 9.92279011e-01 -1.18894865e-03 -1.13970236e+01] [-7.88682910e-03 2.12427524e-04 9.99968876e-01 6.64092062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.45, Y:-11.41, Z:0.66 [[ 9.92278448e-01 1.23772732e-01 7.98701128e-03 1.33447744e+02] [-1.23766930e-01 9.92310567e-01 -1.21853248e-03 -1.14060886e+01] [-8.07641679e-03 2.20595651e-04 9.99967361e-01 6.61681395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.48, Y:-11.42, Z:0.66 [[ 9.92133761e-01 1.24890681e-01 8.53919627e-03 1.33478614e+02] [-1.24884081e-01 9.92170482e-01 -1.30382401e-03 -1.14151466e+01] [-8.63517396e-03 2.27158134e-04 9.99962690e-01 6.63510753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.51, Y:-11.42, Z:0.67 [[ 9.91211864e-01 1.31722857e-01 1.21708419e-02 1.33511043e+02] [-1.31709941e-01 9.91286553e-01 -1.86020081e-03 -1.14195460e+01] [-1.23098229e-02 2.40832235e-04 9.99924202e-01 6.69661267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.54, Y:-11.42, Z:0.67 [[ 9.90744422e-01 1.35231852e-01 1.17403971e-02 1.33543252e+02] [-1.35220064e-01 9.90813963e-01 -1.79581048e-03 -1.14218782e+01] [-1.18754002e-02 1.91651970e-04 9.99929467e-01 6.71121473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.58, Y:-11.43, Z:0.67 [[ 9.90254059e-01 1.38822269e-01 1.11927195e-02 1.33575205e+02] [-1.38811767e-01 9.90317301e-01 -1.71354011e-03 -1.14272223e+01] [-1.13222213e-02 1.43158867e-04 9.99935891e-01 6.70321897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.61, Y:-11.44, Z:0.67 [[ 9.89874528e-01 1.41494546e-01 1.13009403e-02 1.33606274e+02] [-1.41483997e-01 9.89939028e-01 -1.73161190e-03 -1.14357832e+01] [-1.14322555e-02 1.15176312e-04 9.99934643e-01 6.68325969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.64, Y:-11.45, Z:0.67 [[ 9.89215323e-01 1.45998076e-01 1.17306160e-02 1.33636755e+02] [-1.45987007e-01 9.89284872e-01 -1.79900742e-03 -1.14474672e+01] [-1.18675725e-02 6.70881869e-05 9.99929576e-01 6.67870927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.67, Y:-11.45, Z:0.67 [[ 9.89092566e-01 1.46816666e-01 1.18643287e-02 1.33668865e+02] [-1.46805383e-01 9.89163719e-01 -1.82110395e-03 -1.14520934e+01] [-1.20031320e-02 5.94930522e-05 9.99927958e-01 6.69373668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.70, Y:-11.45, Z:0.67 [[ 9.88846279e-01 1.48587869e-01 1.02313768e-02 1.33701001e+02] [-1.48579557e-01 9.88899208e-01 -1.57192949e-03 -1.14541766e+01] [-1.03513701e-02 3.42231883e-05 9.99946423e-01 6.70816731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.73, Y:-11.45, Z:0.67 [[ 9.88416175e-01 1.51536482e-01 8.37617977e-03 1.33734157e+02] [-1.51531006e-01 9.88451665e-01 -1.28817241e-03 -1.14519643e+01] [-8.47465395e-03 3.99949259e-06 9.99964089e-01 6.69465515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.77, Y:-11.46, Z:0.67 [[ 9.88080501e-01 1.53770855e-01 7.17271181e-03 1.33765767e+02] [-1.53766897e-01 9.88106535e-01 -1.10332960e-03 -1.14553170e+01] [-7.25706335e-03 -1.27471716e-05 9.99973667e-01 6.69362828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.80, Y:-11.46, Z:0.67 [[ 9.87709302e-01 1.56095930e-01 8.02460430e-03 1.33796362e+02] [-1.56091049e-01 9.87741899e-01 -1.23487350e-03 -1.14601386e+01] [-8.11899662e-03 -3.28728614e-05 9.99967040e-01 6.69251614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.83, Y:-11.47, Z:0.67 [[ 9.87448368e-01 1.57637605e-01 9.80342014e-03 1.33827036e+02] [-1.57630390e-01 9.87497029e-01 -1.50919646e-03 -1.14660694e+01] [-9.91875438e-03 -5.50633603e-05 9.99950806e-01 6.69241785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.86, Y:-11.47, Z:0.67 [[ 9.87047349e-01 1.60121983e-01 9.92376921e-03 1.33858878e+02] [-1.60114698e-01 9.87097231e-01 -1.52940884e-03 -1.14707988e+01] [-1.00406171e-02 -7.93423681e-05 9.99949589e-01 6.70662264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.89, Y:-11.47, Z:0.67 [[ 9.86919693e-01 1.60741629e-01 1.23145244e-02 1.33891065e+02] [-1.60730442e-01 9.86996513e-01 -1.89936319e-03 -1.14747917e+01] [-1.24596994e-02 -1.04800004e-04 9.99922369e-01 6.69342573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.92, Y:-11.48, Z:0.67 [[ 9.86992661e-01 1.60345241e-01 1.16142383e-02 1.33922613e+02] [-1.60335242e-01 9.87060989e-01 -1.79297850e-03 -1.14785802e+01] [-1.17514571e-02 -9.25150884e-05 9.99930945e-01 6.70032122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.95, Y:-11.48, Z:0.67 [[ 9.87174127e-01 1.59341070e-01 9.88265379e-03 1.33954407e+02] [-1.59333766e-01 9.87223591e-01 -1.52710412e-03 -1.14829337e+01] [-9.99971937e-03 -6.71227689e-05 9.99949999e-01 6.71045339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.99, Y:-11.49, Z:0.67 [[ 9.87348784e-01 1.58326678e-01 8.66262003e-03 1.33986310e+02] [-1.58321016e-01 9.87386784e-01 -1.33984926e-03 -1.14860738e+01] [-8.76549041e-03 -4.85762708e-05 9.99961581e-01 6.70959557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.02, Y:-11.49, Z:0.67 [[ 9.87384689e-01 1.58152410e-01 7.70013904e-03 1.34017727e+02] [-1.58147929e-01 9.87414712e-01 -1.19123655e-03 -1.14899122e+01] [-7.79162750e-03 -4.15523159e-05 9.99969644e-01 6.70998043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.05, Y:-11.49, Z:0.67 [[ 9.87156493e-01 1.59554617e-01 8.02384426e-03 1.34048294e+02] [-1.59549793e-01 9.87189101e-01 -1.24184480e-03 -1.14949068e+01] [-8.11919368e-03 -5.43075328e-05 9.99967037e-01 6.71243820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.08, Y:-11.50, Z:0.67 [[ 9.86934950e-01 1.60839049e-01 9.49761122e-03 1.34079119e+02] [-1.60832345e-01 9.86980645e-01 -1.47052052e-03 -1.15012293e+01] [-9.61047557e-03 -7.62149844e-05 9.99953815e-01 6.71054428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.11, Y:-11.51, Z:0.67 [[ 9.86592506e-01 1.62827054e-01 1.10715148e-02 1.34110841e+02] [-1.62818048e-01 9.86654620e-01 -1.71600903e-03 -1.15094901e+01] [-1.12031739e-02 -1.09640777e-04 9.99937236e-01 6.71838136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.14, Y:-11.51, Z:0.67 [[ 9.86560405e-01 1.63047389e-01 1.06825558e-02 1.34143257e+02] [-1.63039002e-01 9.86618233e-01 -1.65719447e-03 -1.15134643e+01] [-1.08098055e-02 -1.06750788e-04 9.99941567e-01 6.72103622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.18, Y:-11.52, Z:0.67 [[ 9.86458575e-01 1.63637343e-01 1.10589534e-02 1.34175285e+02] [-1.63628375e-01 9.86520556e-01 -1.71707363e-03 -1.15165311e+01] [-1.11908622e-02 -1.15736573e-04 9.99937374e-01 6.72412081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.21, Y:-11.52, Z:0.67 [[ 9.86141000e-01 1.65579223e-01 1.04618201e-02 1.34206564e+02] [-1.65571291e-01 9.86196484e-01 -1.62580953e-03 -1.15226288e+01] [-1.05866104e-02 -1.28899621e-04 9.99943952e-01 6.72537038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.24, Y:-11.53, Z:0.67 [[ 9.85888949e-01 1.67185739e-01 8.47991543e-03 1.34238449e+02] [-1.67180576e-01 9.85925411e-01 -1.31910758e-03 -1.15287705e+01] [-8.58110007e-03 -1.17183560e-04 9.99963175e-01 6.72746951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.27, Y:-11.53, Z:0.67 [[ 9.85537602e-01 1.69288724e-01 7.54734193e-03 1.34269472e+02] [-1.69284694e-01 9.85566494e-01 -1.17428133e-03 -1.15335487e+01] [-7.63719991e-03 -1.20351062e-04 9.99970829e-01 6.72685999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.30, Y:-11.54, Z:0.67 [[ 9.85235567e-01 1.71005506e-01 8.24588301e-03 1.34300898e+02] [-1.71000751e-01 9.85270062e-01 -1.28349125e-03 -1.15359068e+01] [-8.34390573e-03 -1.45510958e-04 9.99965178e-01 6.73487253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.33, Y:-11.54, Z:0.67 [[ 9.84388406e-01 1.75632894e-01 1.15131085e-02 1.34332520e+02] [-1.75623934e-01 9.84455697e-01 -1.79268885e-03 -1.15376250e+01] [-1.16490004e-02 -2.57275285e-04 9.99932115e-01 6.74128779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.36, Y:-11.54, Z:0.67 [[ 9.84021999e-01 1.77579201e-01 1.28970032e-02 1.34363804e+02] [-1.77568104e-01 9.84106463e-01 -2.00961154e-03 -1.15430991e+01] [-1.30488894e-02 -3.12594441e-04 9.99914811e-01 6.73219966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.40, Y:-11.55, Z:0.67 [[ 9.83981594e-01 1.77875153e-01 1.18597370e-02 1.34395385e+02] [-1.77865769e-01 9.84053020e-01 -1.84978294e-03 -1.15483797e+01] [-1.19996405e-02 -2.89288890e-04 9.99927960e-01 6.74021506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.43, Y:-11.55, Z:0.67 [[ 9.83925369e-01 1.78202566e-01 1.16066028e-02 1.34426914e+02] [-1.78193583e-01 9.83993782e-01 -1.81189297e-03 -1.15530054e+01] [-1.17437089e-02 -2.85454670e-04 9.99931000e-01 6.72732465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.46, Y:-11.56, Z:0.67 [[ 9.83697159e-01 1.79359471e-01 1.30414484e-02 1.34458427e+02] [-1.79348217e-01 9.83783547e-01 -2.03694910e-03 -1.15568375e+01] [-1.31953085e-02 -3.35219488e-04 9.99912882e-01 6.72050483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.49, Y:-11.56, Z:0.67 [[ 9.83044408e-01 1.82933261e-01 1.26140409e-02 1.34490413e+02] [-1.82923003e-01 9.83125265e-01 -1.97207667e-03 -1.15589394e+01] [-1.27619407e-02 -3.68759295e-04 9.99918495e-01 6.73394994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.52, Y:-11.56, Z:0.67 [[ 9.82946825e-01 1.83515436e-01 1.17312895e-02 1.34523124e+02] [-1.83506585e-01 9.83016767e-01 -1.83567514e-03 -1.15592863e+01] [-1.18689290e-02 -3.48397828e-04 9.99929501e-01 6.74867367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.56, Y:-11.56, Z:0.68 [[ 9.82948340e-01 1.83570727e-01 1.06934379e-02 1.34555283e+02] [-1.83563372e-01 9.83006453e-01 -1.67371896e-03 -1.15584529e+01] [-1.08189643e-02 -3.17744237e-04 9.99941423e-01 6.75405536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.59, Y:-11.56, Z:0.68 [[ 9.83043229e-01 1.83031768e-01 1.11974350e-02 1.34587093e+02] [-1.83023660e-01 9.83106945e-01 -1.75333366e-03 -1.15583258e+01] [-1.13291919e-02 -3.25792750e-04 9.99935770e-01 6.75497133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.62, Y:-11.56, Z:0.67 [[ 9.83173037e-01 1.82195796e-01 1.32465342e-02 1.34618574e+02] [-1.82184362e-01 9.83262199e-01 -2.07501968e-03 -1.15624969e+01] [-1.34028762e-02 -3.73207984e-04 9.99910108e-01 6.74289266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.65, Y:-11.57, Z:0.67 [[ 9.83345087e-01 1.81287866e-01 1.29286232e-02 1.34649728e+02] [-1.81276884e-01 9.83430011e-01 -2.02609653e-03 -1.15669587e+01] [-1.30817028e-02 -3.51308472e-04 9.99914369e-01 6.74441167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.68, Y:-11.57, Z:0.67 [[ 9.83557854e-01 1.80250579e-01 1.11209575e-02 1.34681698e+02] [-1.80242372e-01 9.83620682e-01 -1.74414474e-03 -1.15682967e+01] [-1.12531869e-02 -2.89000503e-04 9.99936639e-01 6.74267418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.71, Y:-11.56, Z:0.67 [[ 9.84281832e-01 1.76406873e-01 8.36006112e-03 1.34712762e+02] [-1.76402107e-01 9.84317317e-01 -1.30985973e-03 -1.15593490e+01] [-8.46002119e-03 -1.85461260e-04 9.99964196e-01 6.73632597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.74, Y:-11.56, Z:0.67 [[ 9.84737007e-01 1.73726904e-01 1.05825226e-02 1.34741521e+02] [-1.73719199e-01 9.84793845e-01 -1.65008385e-03 -1.15584068e+01] [-1.07082670e-02 -2.13488707e-04 9.99942642e-01 6.73143422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.77, Y:-11.56, Z:0.67 [[ 9.85113643e-01 1.71514912e-01 1.15648220e-02 1.34769327e+02] [-1.71505627e-01 9.85181501e-01 -1.79728340e-03 -1.15592626e+01] [-1.17017096e-02 -2.12903654e-04 9.99931510e-01 6.74189301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.80, Y:-11.56, Z:0.67 [[ 9.85484411e-01 1.69236405e-01 1.33982872e-02 1.34798564e+02] [-1.69223808e-01 9.85575462e-01 -2.07660825e-03 -1.15616474e+01] [-1.35564608e-02 -2.20844127e-04 9.99908083e-01 6.74726107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.83, Y:-11.56, Z:0.67 [[ 9.86425656e-01 1.63481973e-01 1.54294754e-02 1.34828213e+02] [-1.63464671e-01 9.86546307e-01 -2.38449027e-03 -1.15607427e+01] [-1.56117132e-02 -1.70051751e-04 9.99878115e-01 6.74720125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.86, Y:-11.56, Z:0.67 [[ 9.87093821e-01 1.59500234e-01 1.43340005e-02 1.34858408e+02] [-1.59484868e-01 9.87197886e-01 -2.21609258e-03 -1.15622792e+01] [-1.45039623e-02 -9.85648814e-05 9.99894807e-01 6.74207761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.89, Y:-11.56, Z:0.67 [[ 9.87722396e-01 1.55724935e-01 1.24182603e-02 1.34887829e+02] [-1.55713115e-01 9.87800457e-01 -1.91904078e-03 -1.15634096e+01] [-1.25656057e-02 -3.82064354e-05 9.99921049e-01 6.72907524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.92, Y:-11.57, Z:0.67 [[ 9.87793734e-01 1.55271688e-01 1.24194422e-02 1.34915727e+02] [-1.55259928e-01 9.87871804e-01 -1.91138168e-03 -1.15680185e+01] [-1.25656003e-02 -4.01908684e-05 9.99921049e-01 6.73050048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.94, Y:-11.57, Z:0.67 [[ 9.88741955e-01 1.49184769e-01 1.15434293e-02 1.34944259e+02] [-1.49174273e-01 9.88809336e-01 -1.76984203e-03 -1.15655555e+01] [-1.16782841e-02 2.79343996e-05 9.99931806e-01 6.72990680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.97, Y:-11.57, Z:0.67 [[ 9.89155623e-01 1.46326904e-01 1.26329355e-02 1.34973114e+02] [-1.46314167e-01 9.89236288e-01 -1.93162925e-03 -1.15665311e+01] [-1.27796076e-02 6.23044930e-05 9.99918336e-01 6.72816890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.00, Y:-11.57, Z:0.67 [[ 9.89491407e-01 1.43927325e-01 1.38449056e-02 1.35002035e+02] [-1.43911878e-01 9.89588256e-01 -2.11084459e-03 -1.15692759e+01] [-1.40045642e-02 9.62162197e-05 9.99901927e-01 6.74216023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.03, Y:-11.57, Z:0.68 [[ 9.89894734e-01 1.41160317e-01 1.34974380e-02 1.35030906e+02] [-1.41145462e-01 9.89986742e-01 -2.05168067e-03 -1.15729613e+01] [-1.36519006e-02 1.25845759e-04 9.99906801e-01 6.75470333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.06, Y:-11.58, Z:0.68 [[ 9.90686720e-01 1.35596040e-01 1.23910147e-02 1.35059158e+02] [-1.35583158e-01 9.90764191e-01 -1.87774633e-03 -1.15773280e+01] [-1.25311887e-02 1.80245447e-04 9.99921465e-01 6.75436245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.09, Y:-11.58, Z:0.67 [[ 9.91026694e-01 1.33202759e-01 1.10958080e-02 1.35087110e+02] [-1.33192286e-01 9.91088790e-01 -1.68091216e-03 -1.15818625e+01] [-1.12208330e-02 1.87952791e-04 9.99937027e-01 6.74334984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.12, Y:-11.59, Z:0.67 [[ 9.91531199e-01 1.29427382e-01 1.06974223e-02 1.35115927e+02] [-1.29417496e-01 9.91588880e-01 -1.61423801e-03 -1.15857794e+01] [-1.08163716e-02 2.16133749e-04 9.99941478e-01 6.72558043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.14, Y:-11.59, Z:0.67 [[ 9.92009653e-01 1.25863072e-01 8.67962584e-03 1.35144475e+02] [-1.25856464e-01 9.92047603e-01 -1.30552100e-03 -1.15904037e+01] [-8.77491889e-03 2.02702418e-04 9.99961479e-01 6.72360314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.17, Y:-11.60, Z:0.67 [[ 9.92978484e-01 1.17850291e-01 1.02488410e-02 1.35173869e+02] [-1.17840634e-01 9.93031320e-01 -1.54320715e-03 -1.15956409e+01] [-1.03592876e-02 3.24641564e-04 9.99946288e-01 6.74394211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.20, Y:-11.60, Z:0.68 [[ 9.93530050e-01 1.13139384e-01 9.87520877e-03 1.35203120e+02] [-1.13130192e-01 9.93579061e-01 -1.48633660e-03 -1.16004110e+01] [-9.97996387e-03 3.59535814e-04 9.99950134e-01 6.77511163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.23, Y:-11.61, Z:0.68 [[ 9.94024378e-01 1.08779257e-01 9.08896345e-03 1.35231436e+02] [-1.08771341e-01 9.94065863e-01 -1.36225880e-03 -1.16050649e+01] [-9.18321380e-03 3.65499717e-04 9.99957767e-01 6.79666598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.26, Y:-11.61, Z:0.68 [[ 9.94578456e-01 1.03712638e-01 7.57519395e-03 1.35260275e+02] [-1.03706988e-01 9.94607244e-01 -1.13601262e-03 -1.16087918e+01] [-7.65216164e-03 3.44253135e-04 9.99970663e-01 6.78895434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.29, Y:-11.62, Z:0.67 [[ 9.95334429e-01 9.62493600e-02 6.74051591e-03 1.35289981e+02] [-9.62447126e-02 9.95357189e-01 -1.01124216e-03 -1.16167179e+01] [-6.80655237e-03 3.57785117e-04 9.99976771e-01 6.73025206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77232058799999 meters Centerline goodness [0,1] 0.9999507631708517 Centerline is valid? [True, True] Translation: X:135.32, Y:-11.63, Z:0.67 [[ 9.95627583e-01 9.30891914e-02 7.75360018e-03 1.35317798e+02] [-9.30829522e-02 9.95657678e-01 -1.16248267e-03 -1.16270413e+01] [-7.82814613e-03 4.35671811e-04 9.99969265e-01 6.72111066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.802320588 meters Centerline goodness [0,1] 0.9999016812506145 Centerline is valid? [True, True] Translation: X:135.35, Y:-11.64, Z:0.67 [[ 9.95744050e-01 9.15537108e-02 1.05690253e-02 1.35345720e+02] [-9.15420421e-02 9.95799953e-01 -1.58360791e-03 -1.16375208e+01] [-1.06696201e-02 6.09358003e-04 9.99942892e-01 6.72227756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.38, Y:-11.65, Z:0.68 [[ 9.95757689e-01 9.14239481e-02 1.04060413e-02 1.35375786e+02] [-9.14126154e-02 9.95811879e-01 -1.56052001e-03 -1.16482775e+01] [-1.05051284e-02 6.02656346e-04 9.99944638e-01 6.75883290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.862320588 meters Centerline goodness [0,1] 0.9999508478741705 Centerline is valid? [True, True] Translation: X:135.41, Y:-11.66, Z:0.68 [[ 9.95653768e-01 9.28560125e-02 7.16486991e-03 1.35405970e+02] [-9.28506733e-02 9.95679465e-01 -1.07497963e-03 -1.16592662e+01] [-7.23373216e-03 4.05044528e-04 9.99973754e-01 6.81819921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.44, Y:-11.67, Z:0.68 [[ 9.95595751e-01 9.35344353e-02 6.35690491e-03 1.35435167e+02] [-9.35302521e-02 9.95615982e-01 -9.52828597e-04 -1.16657698e+01] [-6.41815841e-03 3.54069184e-04 9.99979341e-01 6.80088502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.46, Y:-11.67, Z:0.68 [[ 9.95503498e-01 9.45875403e-02 5.09733322e-03 1.35463868e+02] [-9.45848662e-02 9.95516509e-01 -7.63673312e-04 -1.16749365e+01] [-5.14671335e-03 2.78108873e-04 9.99986717e-01 6.77822745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.49, Y:-11.69, Z:0.67 [[ 9.95341828e-01 9.61158515e-02 7.50919484e-03 1.35491810e+02] [-9.61101106e-02 9.95370075e-01 -1.12250280e-03 -1.16861486e+01] [-7.58231815e-03 3.95564440e-04 9.99971176e-01 6.74355879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.52, Y:-11.70, Z:0.68 [[ 9.95137079e-01 9.79231481e-02 1.06419162e-02 1.35520448e+02] [-9.79117057e-02 9.95193832e-01 -1.59220825e-03 -1.17037620e+01] [-1.07466834e-02 5.42497302e-04 9.99942106e-01 6.76065338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.012320588 meters Centerline goodness [0,1] 0.9999508671940255 Centerline is valid? [True, True] Translation: X:135.55, Y:-11.71, Z:0.68 [[ 9.94990725e-01 9.93434311e-02 1.11507692e-02 1.35551594e+02] [-9.93309342e-02 9.95053052e-01 -1.67038058e-03 -1.17126416e+01] [-1.12615483e-02 5.54396861e-04 9.99936433e-01 6.77682725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.58, Y:-11.72, Z:0.68 [[ 9.94850571e-01 1.00921643e-01 9.33617029e-03 1.35582356e+02] [-1.00912940e-01 9.94894275e-01 -1.39977045e-03 -1.17217063e+01] [-9.42976951e-03 4.50422035e-04 9.99955437e-01 6.80594430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.61, Y:-11.73, Z:0.68 [[ 9.94652313e-01 1.02948778e-01 8.26591049e-03 1.35612562e+02] [-1.02942024e-01 9.94686585e-01 -1.23957416e-03 -1.17308192e+01] [-8.34960292e-03 3.82035754e-04 9.99965068e-01 6.81189943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.64, Y:-11.74, Z:0.68 [[ 9.94192802e-01 1.07268872e-01 8.60586595e-03 1.35641958e+02] [-1.07261708e-01 9.94229983e-01 -1.29107981e-03 -1.17444363e+01] [-8.69470263e-03 3.60502368e-04 9.99962135e-01 6.79077058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.132320588 meters Centerline goodness [0,1] 0.9999508406253073 Centerline is valid? [True, True] Translation: X:135.67, Y:-11.75, Z:0.68 [[ 9.93890397e-01 1.10098704e-01 7.75595376e-03 1.35672020e+02] [-1.10092967e-01 9.93920612e-01 -1.16407786e-03 -1.17541917e+01] [-7.83696577e-03 3.03089846e-04 9.99969245e-01 6.77754445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.70, Y:-11.76, Z:0.68 [[ 9.93634181e-01 1.12408889e-01 7.44021393e-03 1.35702667e+02] [-1.12403664e-01 9.93661998e-01 -1.11794400e-03 -1.17643651e+01] [-7.51872468e-03 2.74520065e-04 9.99971696e-01 6.77962068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.73, Y:-11.77, Z:0.68 [[ 9.93298180e-01 1.15323777e-01 7.69109089e-03 1.35734170e+02] [-1.15318271e-01 9.93327921e-01 -1.15698025e-03 -1.17746451e+01] [-7.77320265e-03 2.62303078e-04 9.99969754e-01 6.78410402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.76, Y:-11.79, Z:0.68 [[ 9.92460699e-01 1.22351735e-01 7.19820399e-03 1.35764154e+02] [-1.22347092e-01 9.92486783e-01 -1.08351963e-03 -1.17879083e+01] [-7.27669283e-03 1.94671321e-04 9.99973506e-01 6.81643011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.80, Y:-11.80, Z:0.68 [[ 9.91981316e-01 1.26217301e-01 6.50096542e-03 1.35795854e+02] [-1.26213588e-01 9.92002606e-01 -9.79877385e-04 -1.17963374e+01] [-6.57265212e-03 1.51509887e-04 9.99978388e-01 6.83078974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.83, Y:-11.80, Z:0.68 [[ 9.91434513e-01 1.30371079e-01 7.80951565e-03 1.35827583e+02] [-1.30365844e-01 9.91465259e-01 -1.17782279e-03 -1.18042858e+01] [-7.89641748e-03 1.49640063e-04 9.99968812e-01 6.82072033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.86, Y:-11.81, Z:0.68 [[ 9.90336165e-01 1.38244714e-01 1.10760470e-02 1.35858242e+02] [-1.38234663e-01 9.90398093e-01 -1.67168425e-03 -1.18142745e+01] [-1.12007974e-02 1.24435744e-04 9.99937261e-01 6.80075756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.89, Y:-11.82, Z:0.68 [[ 9.89703290e-01 1.42665881e-01 1.15691283e-02 1.35889699e+02] [-1.42655199e-01 9.89770903e-01 -1.74764046e-03 -1.18214920e+01] [-1.17001152e-02 7.92492180e-05 9.99931548e-01 6.80280448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.92, Y:-11.83, Z:0.68 [[ 9.89003691e-01 1.47278289e-01 1.34463845e-02 1.35921243e+02] [-1.47264261e-01 9.89095094e-01 -2.03291914e-03 -1.18288135e+01] [-1.35991578e-02 3.03926498e-05 9.99907527e-01 6.80027222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.95, Y:-11.84, Z:0.68 [[ 9.87871312e-01 1.54651400e-01 1.39001981e-02 1.35952639e+02] [-1.54637112e-01 9.87969098e-01 -2.10337878e-03 -1.18364077e+01] [-1.40582566e-02 -7.16189336e-05 9.99901175e-01 6.80868677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.98, Y:-11.84, Z:0.68 [[ 9.87496544e-01 1.57165297e-01 1.22329193e-02 1.35983970e+02] [-1.57154403e-01 9.87572307e-01 -1.85284070e-03 -1.18413038e+01] [-1.23720946e-02 -9.27833310e-05 9.99923458e-01 6.81528769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.02, Y:-11.85, Z:0.68 [[ 9.87044087e-01 1.60091972e-01 1.07018809e-02 1.36016990e+02] [-1.60083777e-01 9.87102096e-01 -1.62358572e-03 -1.18464715e+01] [-1.08237721e-02 -1.10646835e-04 9.99941415e-01 6.81690609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.05, Y:-11.85, Z:0.68 [[ 9.86711740e-01 1.62089953e-01 1.12600838e-02 1.36049124e+02] [-1.62080998e-01 9.86775977e-01 -1.70942831e-03 -1.18512108e+01] [-1.13882613e-02 -1.38332635e-04 9.99935142e-01 6.81006819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.08, Y:-11.86, Z:0.68 [[ 9.86465239e-01 1.63538187e-01 1.18993426e-02 1.36081051e+02] [-1.63528272e-01 9.86536991e-01 -1.80806188e-03 -1.18552280e+01] [-1.20348288e-02 -1.62288746e-04 9.99927566e-01 6.82013717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.11, Y:-11.86, Z:0.68 [[ 9.86093036e-01 1.65604467e-01 1.39887373e-02 1.36112771e+02] [-1.65590946e-01 9.86192229e-01 -2.12736235e-03 -1.18580174e+01] [-1.41478847e-02 -2.18631046e-04 9.99899890e-01 6.82417674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.14, Y:-11.86, Z:0.68 [[ 9.85857725e-01 1.66950672e-01 1.45608446e-02 1.36144362e+02] [-1.66936142e-01 9.85965219e-01 -2.21630839e-03 -1.18630464e+01] [-1.47265005e-02 -2.45766458e-04 9.99891529e-01 6.80974309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.18, Y:-11.87, Z:0.68 [[ 9.85866777e-01 1.67095414e-01 1.20756413e-02 1.36175686e+02] [-1.67085409e-01 9.85940709e-01 -1.83978459e-03 -1.18694434e+01] [-1.22132859e-02 -2.03880968e-04 9.99925394e-01 6.80281887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.21, Y:-11.87, Z:0.68 [[ 9.86003638e-01 1.66217815e-01 1.29793867e-02 1.36208766e+02] [-1.66206142e-01 9.86089041e-01 -1.98045478e-03 -1.18739175e+01] [-1.31280178e-02 -2.04518175e-04 9.99913803e-01 6.80951551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.24, Y:-11.88, Z:0.68 [[ 9.86179432e-01 1.65233313e-01 1.21688019e-02 1.36241057e+02] [-1.65222961e-01 9.86254491e-01 -1.85814885e-03 -1.18764721e+01] [-1.23085636e-02 -1.78097302e-04 9.99924231e-01 6.82365791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.27, Y:-11.88, Z:0.68 [[ 9.86546410e-01 1.63046499e-01 1.19172521e-02 1.36273497e+02] [-1.63036391e-01 9.86618375e-01 -1.82139000e-03 -1.18781751e+01] [-1.20547512e-02 -1.46060006e-04 9.99927328e-01 6.82907636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.31, Y:-11.88, Z:0.68 [[ 9.87093313e-01 1.59859510e-01 9.57746518e-03 1.36305692e+02] [-1.59852817e-01 9.87139772e-01 -1.46523692e-03 -1.18805351e+01] [-9.68852886e-03 -8.46592246e-05 9.99953062e-01 6.82168668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.34, Y:-11.89, Z:0.68 [[ 9.87296214e-01 1.58518671e-01 1.08635387e-02 1.36338452e+02] [-1.58509951e-01 9.87355977e-01 -1.66451526e-03 -1.18860140e+01] [-1.09900367e-02 -7.86093828e-05 9.99939605e-01 6.81484785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.37, Y:-11.89, Z:0.68 [[ 9.87388395e-01 1.57816934e-01 1.25687030e-02 1.36370233e+02] [-1.57805189e-01 9.87468384e-01 -1.92703207e-03 -1.18918023e+01] [-1.27153151e-02 -8.06774493e-05 9.99919154e-01 6.81764069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.40, Y:-11.90, Z:0.68 [[ 9.87405488e-01 1.57510536e-01 1.48604725e-02 1.36402357e+02] [-1.57494054e-01 9.87517303e-01 -2.28031234e-03 -1.18965995e+01] [-1.50341469e-02 -8.88431369e-05 9.99886977e-01 6.81999496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.43, Y:-11.90, Z:0.68 [[ 9.87807213e-01 1.55127585e-01 1.31279533e-02 1.36434788e+02] [-1.55114478e-01 9.87894443e-01 -2.01696567e-03 -1.19006226e+01] [-1.32819191e-02 -4.39623821e-05 9.99911790e-01 6.83208304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.47, Y:-11.91, Z:0.68 [[ 9.87962958e-01 1.54115999e-01 1.33211330e-02 1.36466900e+02] [-1.54102373e-01 9.88052761e-01 -2.04959322e-03 -1.19066551e+01] [-1.34778573e-02 -2.78960138e-05 9.99909169e-01 6.83022371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.50, Y:-11.91, Z:0.68 [[ 9.88070084e-01 1.53451696e-01 1.30416893e-02 1.36499296e+02] [-1.53438541e-01 9.88156150e-01 -2.00932344e-03 -1.19126608e+01] [-1.31955596e-02 -1.57454039e-05 9.99912935e-01 6.83557825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.53, Y:-11.92, Z:0.68 [[ 9.88102789e-01 1.53377876e-01 1.13183612e-02 1.36530816e+02] [-1.53367948e-01 9.88167611e-01 -1.74515467e-03 -1.19175127e+01] [-1.14521060e-02 -1.14816230e-05 9.99934422e-01 6.83368670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.56, Y:-11.92, Z:0.68 [[ 9.88032388e-01 1.53863830e-01 1.08592353e-02 1.36563573e+02] [-1.53854698e-01 9.88092061e-01 -1.67639562e-03 -1.19194980e+01] [-1.09878609e-02 -1.44112066e-05 9.99939632e-01 6.83093872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.60, Y:-11.92, Z:0.69 [[ 9.87526175e-01 1.57015505e-01 1.17552105e-02 1.36596875e+02] [-1.57005011e-01 9.87596136e-01 -1.81606769e-03 -1.19171795e+01] [-1.18945512e-02 -5.22125754e-05 9.99929256e-01 6.85008809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.63, Y:-11.92, Z:0.69 [[ 9.87263298e-01 1.58543147e-01 1.32382246e-02 1.36628593e+02] [-1.58529952e-01 9.87352047e-01 -2.04691396e-03 -1.19207735e+01] [-1.33953123e-02 -7.78120811e-05 9.99910276e-01 6.85588627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.66, Y:-11.93, Z:0.69 [[ 9.86996238e-01 1.60143337e-01 1.38757889e-02 1.36660223e+02] [-1.60128972e-01 9.87093765e-01 -2.14734421e-03 -1.19257508e+01] [-1.40405876e-02 -1.02495155e-04 9.99901421e-01 6.86087421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.69, Y:-11.93, Z:0.69 [[ 9.86763251e-01 1.61507576e-01 1.46147252e-02 1.36691593e+02] [-1.61491761e-01 9.86871464e-01 -2.26366321e-03 -1.19309342e+01] [-1.47884540e-02 -1.26458036e-04 9.99890637e-01 6.85310639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.72, Y:-11.93, Z:0.69 [[ 9.86600604e-01 1.62600268e-01 1.34313402e-02 1.36724380e+02] [-1.62586986e-01 9.86692017e-01 -2.08226280e-03 -1.19324171e+01] [-1.35911727e-02 -1.29399401e-04 9.99907627e-01 6.85498910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.76, Y:-11.93, Z:0.68 [[ 9.86425621e-01 1.63598772e-01 1.41399062e-02 1.36756418e+02] [-1.63584127e-01 9.86526948e-01 -2.19401918e-03 -1.19345233e+01] [-1.43083374e-02 -1.48827484e-04 9.99897619e-01 6.84965865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.79, Y:-11.94, Z:0.69 [[ 9.86460679e-01 1.63513019e-01 1.26024010e-02 1.36788307e+02] [-1.63501356e-01 9.86541168e-01 -1.95725643e-03 -1.19366802e+01] [-1.27528243e-02 -1.29753145e-04 9.99918671e-01 6.86233279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.82, Y:-11.94, Z:0.69 [[ 9.86365613e-01 1.63972392e-01 1.39975705e-02 1.36820449e+02] [-1.63958024e-01 9.86464917e-01 -2.17575975e-03 -1.19386348e+01] [-1.41648767e-02 -1.48919403e-04 9.99899662e-01 6.86423809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.85, Y:-11.94, Z:0.69 [[ 9.86431971e-01 1.63535492e-01 1.44259919e-02 1.36853346e+02] [-1.63520135e-01 9.86537441e-01 -2.24567258e-03 -1.19424080e+01] [-1.45990283e-02 -1.43736927e-04 9.99893418e-01 6.86871939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.89, Y:-11.95, Z:0.69 [[ 9.86399290e-01 1.63732541e-01 1.44255451e-02 1.36885488e+02] [-1.63717164e-01 9.86504756e-01 -2.24854200e-03 -1.19473567e+01] [-1.45990283e-02 -1.43749098e-04 9.99893418e-01 6.87035798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.92, Y:-11.95, Z:0.69 [[ 9.86488968e-01 1.63248887e-01 1.37592262e-02 1.36917256e+02] [-1.63234829e-01 9.86584910e-01 -2.14625402e-03 -1.19515185e+01] [-1.39250186e-02 -1.28729025e-04 9.99903034e-01 6.87712189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.95, Y:-11.96, Z:0.69 [[ 9.86596833e-01 1.62556482e-01 1.42154539e-02 1.36949786e+02] [-1.62541357e-01 9.86699233e-01 -2.22065516e-03 -1.19558107e+01] [-1.43873593e-02 -1.19707823e-04 9.99896489e-01 6.87546297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.98, Y:-11.96, Z:0.69 [[ 9.86617090e-01 1.62462442e-01 1.38806762e-02 1.36982418e+02] [-1.62447991e-01 9.86714722e-01 -2.16991220e-03 -1.19577655e+01] [-1.40487967e-02 -1.14015490e-04 9.99901304e-01 6.87785417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.01, Y:-11.96, Z:0.69 [[ 9.86589737e-01 1.62658880e-01 1.35195786e-02 1.37014882e+02] [-1.62645164e-01 9.86682358e-01 -2.11533022e-03 -1.19590137e+01] [-1.36836070e-02 -1.11930990e-04 9.99906369e-01 6.87587729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.05, Y:-11.96, Z:0.69 [[ 9.86452862e-01 1.63446269e-01 1.40024633e-02 1.37046987e+02] [-1.63431607e-01 9.86552229e-01 -2.19276989e-03 -1.19596683e+01] [-1.41725615e-02 -1.25380952e-04 9.99899556e-01 6.87733973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.08, Y:-11.96, Z:0.69 [[ 9.86189270e-01 1.65077123e-01 1.34263589e-02 1.37079623e+02] [-1.65063769e-01 9.86280652e-01 -2.10439909e-03 -1.19612691e+01] [-1.35895461e-02 -1.40869604e-04 9.99907648e-01 6.88015982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.11, Y:-11.96, Z:0.69 [[ 9.86050092e-01 1.65854176e-01 1.40573567e-02 1.37111396e+02] [-1.65839589e-01 9.86150276e-01 -2.20520641e-03 -1.19637216e+01] [-1.42284089e-02 -1.56822286e-04 9.99898759e-01 6.87579630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.14, Y:-11.97, Z:0.69 [[ 9.86169128e-01 1.65182988e-01 1.36026437e-02 1.37143691e+02] [-1.65169239e-01 9.86262927e-01 -2.13576049e-03 -1.19685264e+01] [-1.37685745e-02 -1.40517258e-04 9.99905199e-01 6.87795050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.18, Y:-11.97, Z:0.69 [[ 9.87105967e-01 1.59501212e-01 1.34600883e-02 1.37175893e+02] [-1.59487196e-01 9.87197731e-01 -2.11522591e-03 -1.19703432e+01] [-1.36251497e-02 -5.87596260e-05 9.99907172e-01 6.85640198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.21, Y:-11.97, Z:0.69 [[ 9.87683317e-01 1.56031887e-01 1.16497360e-02 1.37208246e+02] [-1.56021127e-01 9.87752019e-01 -1.83240201e-03 -1.19738448e+01] [-1.17929633e-02 -7.77203292e-06 9.99930461e-01 6.85469502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.24, Y:-11.98, Z:0.69 [[ 9.88231554e-01 1.52459419e-01 1.24306614e-02 1.37239707e+02] [-1.52446872e-01 9.88309731e-01 -1.95628998e-03 -1.19778001e+01] [-1.25835985e-02 3.82520412e-05 9.99920823e-01 6.85832716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.27, Y:-11.98, Z:0.69 [[ 9.88652800e-01 1.49500433e-01 1.46717977e-02 1.37271131e+02] [-1.49482608e-01 9.88761656e-01 -2.31037919e-03 -1.19822506e+01] [-1.48523137e-02 9.09842743e-05 9.99889694e-01 6.86799498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.30, Y:-11.99, Z:0.69 [[ 9.89153689e-01 1.46114044e-01 1.50221805e-02 1.37302837e+02] [-1.46094933e-01 9.89267742e-01 -2.36770680e-03 -1.19858074e+01] [-1.52069138e-02 1.47361460e-04 9.99884357e-01 6.87658263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.692320588 meters Centerline goodness [0,1] 0.9996562561382832 Centerline is valid? [True, True] Translation: X:137.33, Y:-11.99, Z:0.69 [[ 9.89694671e-01 1.42507019e-01 1.40074248e-02 1.37334562e+02] [-1.42490015e-01 9.89793773e-01 -2.20964290e-03 -1.19889019e+01] [-1.41793515e-02 1.90953635e-04 9.99899450e-01 6.85590881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.722320588 meters Centerline goodness [0,1] 0.9996064154285152 Centerline is valid? [True, True] Translation: X:137.37, Y:-12.00, Z:0.68 [[ 9.89776262e-01 1.42028377e-01 1.30725469e-02 1.37365893e+02] [-1.42013502e-01 9.89862569e-01 -2.06392555e-03 -1.19960480e+01] [-1.32331609e-02 1.86346353e-04 9.99912421e-01 6.84273101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.752320588 meters Centerline goodness [0,1] 0.999704942217851 Centerline is valid? [True, True] Translation: X:137.40, Y:-12.00, Z:0.68 [[ 9.89747648e-01 1.42159761e-01 1.37911582e-02 1.37397545e+02] [-1.42143194e-01 9.89843707e-01 -2.17918389e-03 -1.20046803e+01] [-1.39608835e-02 1.96522852e-04 9.99902523e-01 6.83795082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.43, Y:-12.01, Z:0.69 [[ 9.89285391e-01 1.45021634e-01 1.68267888e-02 1.37428179e+02] [-1.44997360e-01 9.89428466e-01 -2.66020377e-03 -1.20135242e+01] [-1.70346909e-02 1.91860768e-04 9.99854881e-01 6.86515682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.812320588 meters Centerline goodness [0,1] 0.9998525798525798 Centerline is valid? [True, True] Translation: X:137.46, Y:-12.02, Z:0.69 [[ 9.88938487e-01 1.47447585e-01 1.61207207e-02 1.37459937e+02] [-1.47425590e-01 9.89069860e-01 -2.55091015e-03 -1.20164909e+01] [-1.63206445e-02 1.46086473e-04 9.99866799e-01 6.87865341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.842320588 meters Centerline goodness [0,1] 0.999950818865883 Centerline is valid? [True, True] Translation: X:137.49, Y:-12.02, Z:0.69 [[ 9.88681900e-01 1.49475136e-01 1.28563014e-02 1.37492183e+02] [-1.49461295e-01 9.88765480e-01 -2.03619157e-03 -1.20183188e+01] [-1.30162271e-02 9.16262949e-05 9.99915281e-01 6.88893124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.872320588 meters Centerline goodness [0,1] 0.999901739215879 Centerline is valid? [True, True] Translation: X:137.52, Y:-12.02, Z:0.69 [[ 9.88440737e-01 1.51367512e-01 8.53148685e-03 1.37524715e+02] [-1.51361475e-01 9.88477554e-01 -1.35258873e-03 -1.20202402e+01] [-8.63792124e-03 4.56153640e-05 9.99962691e-01 6.87411057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.56, Y:-12.03, Z:0.69 [[ 9.88209110e-01 1.52734485e-01 1.07206264e-02 1.37555394e+02] [-1.52725032e-01 9.88267259e-01 -1.69986650e-03 -1.20273681e+01] [-1.08544723e-02 4.25155605e-05 9.99941088e-01 6.86594163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.59, Y:-12.04, Z:0.69 [[ 9.88142711e-01 1.52927125e-01 1.36849042e-02 1.37586678e+02] [-1.52911710e-01 9.88237467e-01 -2.17197564e-03 -1.20352206e+01] [-1.38560890e-02 5.36398076e-05 9.99903998e-01 6.86640330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.62, Y:-12.04, Z:0.69 [[ 9.88082342e-01 1.53129814e-01 1.56379422e-02 1.37617633e+02] [-1.53109652e-01 9.88206080e-01 -2.48556243e-03 -1.20421593e+01] [-1.58341233e-02 6.16204573e-05 9.99874631e-01 6.87920182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.65, Y:-12.05, Z:0.69 [[ 9.88086486e-01 1.52946448e-01 1.71020629e-02 1.37649105e+02] [-1.52922275e-01 9.88234476e-01 -2.72009599e-03 -1.20467128e+01] [-1.73168772e-02 7.24037194e-05 9.99850049e-01 6.88280049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02232058799999 meters Centerline goodness [0,1] 0.9999018453082057 Centerline is valid? [True, True] Translation: X:137.68, Y:-12.05, Z:0.69 [[ 9.87955036e-01 1.53946958e-01 1.56582567e-02 1.37680973e+02] [-1.53926786e-01 9.88079112e-01 -2.49260428e-03 -1.20490770e+01] [-1.58553252e-02 5.23558213e-05 9.99874295e-01 6.87678726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.052320588 meters Centerline goodness [0,1] 0.9998524638536441 Centerline is valid? [True, True] Translation: X:137.71, Y:-12.06, Z:0.69 [[ 9.87799261e-01 1.55126426e-01 1.37262874e-02 1.37712703e+02] [-1.55111012e-01 9.87894625e-01 -2.18697469e-03 -1.20553098e+01] [-1.38993832e-02 3.11936391e-05 9.99903398e-01 6.87251247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.082320588 meters Centerline goodness [0,1] 0.9998525870964572 Centerline is valid? [True, True] Translation: X:137.74, Y:-12.06, Z:0.69 [[ 9.87706777e-01 1.55861306e-01 1.19404951e-02 1.37744350e+02] [-1.55849676e-01 9.87778949e-01 -1.90415098e-03 -1.20628386e+01] [-1.20913532e-02 1.98205332e-05 9.99926897e-01 6.86839701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.78, Y:-12.07, Z:0.69 [[ 9.87465685e-01 1.57525501e-01 9.86087478e-03 1.37775864e+02] [-1.57517637e-01 9.87514920e-01 -1.57396181e-03 -1.20703829e+01] [-9.98570009e-03 9.71580880e-07 9.99950142e-01 6.87434073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.81, Y:-12.08, Z:0.69 [[ 9.87465308e-01 1.57618106e-01 8.29446796e-03 1.37807309e+02] [-1.57612535e-01 9.87500143e-01 -1.32518519e-03 -1.20753543e+01] [-8.39966147e-03 1.26228039e-06 9.99964722e-01 6.88442382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.84, Y:-12.08, Z:0.69 [[ 9.87757205e-01 1.55630693e-01 1.07141002e-02 1.37838256e+02] [-1.55621279e-01 9.87815310e-01 -1.71194450e-03 -1.20791257e+01] [-1.08499834e-02 2.36435316e-05 9.99941137e-01 6.89357158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.202320588 meters Centerline goodness [0,1] 0.9997541547841479 Centerline is valid? [True, True] Translation: X:137.87, Y:-12.09, Z:0.69 [[ 9.87929613e-01 1.54273621e-01 1.39545431e-02 1.37869750e+02] [-1.54257485e-01 9.88028161e-01 -2.23185463e-03 -1.20855221e+01] [-1.41317979e-02 5.23225470e-05 9.99900140e-01 6.90432859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.232320588 meters Centerline goodness [0,1] 0.9998525508699498 Centerline is valid? [True, True] Translation: X:137.90, Y:-12.09, Z:0.69 [[ 9.88146650e-01 1.52755392e-01 1.52311674e-02 1.37901087e+02] [-1.52735957e-01 9.88264025e-01 -2.43802469e-03 -1.20918863e+01] [-1.54248362e-02 8.27790028e-05 9.99881027e-01 6.91506332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.93, Y:-12.10, Z:0.69 [[ 9.88369946e-01 1.51264122e-01 1.56209719e-02 1.37932349e+02] [-1.51243461e-01 9.88493375e-01 -2.50248009e-03 -1.20983095e+01] [-1.58197627e-02 1.10806254e-04 9.99874854e-01 6.91156740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.96, Y:-12.11, Z:0.69 [[ 9.88362165e-01 1.51497055e-01 1.37431307e-02 1.37963657e+02] [-1.51481059e-01 9.88457704e-01 -2.20356053e-03 -1.21051147e+01] [-1.39183364e-02 9.60918577e-05 9.99903131e-01 6.89909888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.322320588 meters Centerline goodness [0,1] 0.9999016715830875 Centerline is valid? [True, True] Translation: X:137.99, Y:-12.11, Z:0.69 [[ 9.88252131e-01 1.52301290e-01 1.27295903e-02 1.37994436e+02] [-1.52287610e-01 9.88334109e-01 -2.04280968e-03 -1.21138356e+01] [-1.28922108e-02 8.02521442e-05 9.99916889e-01 6.88759131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.352320588 meters Centerline goodness [0,1] 0.9998526450218577 Centerline is valid? [True, True] Translation: X:138.03, Y:-12.12, Z:0.69 [[ 9.88183999e-01 1.52849576e-01 1.13750075e-02 1.38025385e+02] [-1.52838671e-01 9.88249464e-01 -1.82702809e-03 -1.21232272e+01] [-1.15206056e-02 6.68988982e-05 9.99933633e-01 6.89463095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.382320588 meters Centerline goodness [0,1] 0.9999017247309715 Centerline is valid? [True, True] Translation: X:138.06, Y:-12.13, Z:0.69 [[ 9.88199340e-01 1.52723246e-01 1.17334478e-02 1.38056516e+02] [-1.52711615e-01 9.88268994e-01 -1.88615528e-03 -1.21323207e+01] [-1.18838624e-02 7.20636466e-05 9.99929382e-01 6.93154334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.09, Y:-12.14, Z:0.69 [[ 9.88086725e-01 1.53513474e-01 1.08737189e-02 1.38088516e+02] [-1.53503517e-01 9.88146553e-01 -1.74948998e-03 -1.21357552e+01] [-1.10133981e-02 5.94937327e-05 9.99939349e-01 6.93846167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.442320588 meters Centerline goodness [0,1] 0.9997541789577188 Centerline is valid? [True, True] Translation: X:138.12, Y:-12.14, Z:0.69 [[ 9.87960646e-01 1.54475136e-01 8.43772384e-03 1.38120757e+02] [-1.54469164e-01 9.87996676e-01 -1.35883984e-03 -1.21383741e+01] [-8.54635008e-03 3.91121412e-05 9.99963479e-01 6.93108093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.472320588 meters Centerline goodness [0,1] 0.9999508164469801 Centerline is valid? [True, True] Translation: X:138.15, Y:-12.14, Z:0.69 [[ 9.87595864e-01 1.56797499e-01 8.30380082e-03 1.38152300e+02] [-1.56791788e-01 9.87630773e-01 -1.33841302e-03 -1.21427156e+01] [-8.41094903e-03 1.98433857e-05 9.99964627e-01 6.91369295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.502320588 meters Centerline goodness [0,1] 0.9999507946661418 Centerline is valid? [True, True] Translation: X:138.18, Y:-12.15, Z:0.69 [[ 9.87084929e-01 1.59770165e-01 1.16977403e-02 1.38183528e+02] [-1.59759024e-01 9.87154240e-01 -1.88677450e-03 -1.21516319e+01] [-1.18489242e-02 -6.41289106e-06 9.99929799e-01 6.89951237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.532320588 meters Centerline goodness [0,1] 0.9998033141564636 Centerline is valid? [True, True] Translation: X:138.21, Y:-12.16, Z:0.69 [[ 9.86924889e-01 1.60728916e-01 1.20614429e-02 1.38214575e+02] [-1.60717123e-01 9.86998589e-01 -1.94706497e-03 -1.21596124e+01] [-1.22175768e-02 -1.68735250e-05 9.99925362e-01 6.91019457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.562320588 meters Centerline goodness [0,1] 0.9999508575359969 Centerline is valid? [True, True] Translation: X:138.25, Y:-12.17, Z:0.69 [[ 9.86707250e-01 1.62200548e-01 9.98928932e-03 1.38245902e+02] [-1.62192519e-01 9.86757813e-01 -1.61404446e-03 -1.21674774e+01] [-1.01188082e-02 -2.75986273e-05 9.99948803e-01 6.91843087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.28, Y:-12.17, Z:0.69 [[ 9.86689001e-01 1.62353245e-01 9.28646725e-03 1.38277553e+02] [-1.62346301e-01 9.86732701e-01 -1.50180100e-03 -1.21738119e+01] [-9.40708318e-03 -2.58130824e-05 9.99955752e-01 6.93435880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.31, Y:-12.18, Z:0.69 [[ 9.86782647e-01 1.61814254e-01 8.72668017e-03 1.38309919e+02] [-1.61808090e-01 9.86821233e-01 -1.41252934e-03 -1.21773770e+01] [-8.84024067e-03 -1.81880106e-05 9.99960924e-01 6.93900584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.652320588 meters Centerline goodness [0,1] 0.999950821284548 Centerline is valid? [True, True] Translation: X:138.34, Y:-12.18, Z:0.69 [[ 9.86644053e-01 1.62634846e-01 9.13340018e-03 1.38342218e+02] [-1.62628117e-01 9.86686326e-01 -1.47957916e-03 -1.21803206e+01] [-9.25243220e-03 -2.55296918e-05 9.99957195e-01 6.93860511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.682320588 meters Centerline goodness [0,1] 0.9998524638536441 Centerline is valid? [True, True] Translation: X:138.37, Y:-12.18, Z:0.69 [[ 9.86604264e-01 1.62793921e-01 1.04959430e-02 1.38374416e+02] [-1.62785030e-01 9.86660093e-01 -1.70164080e-03 -1.21829987e+01] [-1.06329449e-02 -2.97363255e-05 9.99943468e-01 6.94701152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.41, Y:-12.19, Z:0.69 [[ 9.86652825e-01 1.62298574e-01 1.32429847e-02 1.38405722e+02] [-1.62284334e-01 9.86741695e-01 -2.15002629e-03 -1.21879237e+01] [-1.34163514e-02 -2.77994433e-05 9.99909996e-01 6.94279152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.742320588 meters Centerline goodness [0,1] 0.9999508430418326 Centerline is valid? [True, True] Translation: X:138.44, Y:-12.20, Z:0.69 [[ 9.86909236e-01 1.60908690e-01 1.08881939e-02 1.38437223e+02] [-1.60898966e-01 9.86969297e-01 -1.76903467e-03 -1.21957105e+01] [-1.10309661e-02 -6.02248469e-06 9.99939157e-01 6.94722874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77232058799999 meters Centerline goodness [0,1] 0.9999014389907352 Centerline is valid? [True, True] Translation: X:138.47, Y:-12.20, Z:0.69 [[ 9.87463374e-01 1.57545975e-01 9.76478680e-03 1.38468074e+02] [-1.57537975e-01 9.87511653e-01 -1.58790621e-03 -1.22034903e+01] [-9.89300899e-03 2.96744789e-05 9.99951063e-01 6.93570871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.802320588 meters Centerline goodness [0,1] 0.9996059113300493 Centerline is valid? [True, True] Translation: X:138.50, Y:-12.21, Z:0.69 [[ 9.87995121e-01 1.54379801e-01 5.70238004e-03 1.38499470e+02] [-1.54377014e-01 9.88011577e-01 -9.28357475e-04 -1.22102779e+01] [-5.77733713e-03 3.68962556e-05 9.99983310e-01 6.94710578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.832320588 meters Centerline goodness [0,1] 0.9994094197549092 Centerline is valid? [True, True] Translation: X:138.53, Y:-12.22, Z:0.69 [[ 9.89187931e-01 1.46415450e-01 8.35182700e-03 1.38531505e+02] [-1.46409181e-01 9.89223180e-01 -1.36049275e-03 -1.22151780e+01] [-8.46101802e-03 1.22998858e-04 9.99964197e-01 6.94530524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.862320588 meters Centerline goodness [0,1] 0.999852739053603 Centerline is valid? [True, True] Translation: X:138.56, Y:-12.22, Z:0.69 [[ 9.89551752e-01 1.43831942e-01 9.98512852e-03 1.38563024e+02] [-1.43822837e-01 9.89602113e-01 -1.62774455e-03 -1.22205509e+01] [-1.01154259e-02 1.74647956e-04 9.99948823e-01 6.94420431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.59, Y:-12.23, Z:0.70 [[ 9.89648975e-01 1.43126425e-01 1.04753370e-02 1.38593983e+02] [-1.43116351e-01 9.89704395e-01 -1.70898127e-03 -1.22278048e+01] [-1.06120874e-02 1.92099557e-04 9.99943672e-01 6.95634596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.62, Y:-12.24, Z:0.70 [[ 9.89627289e-01 1.43334492e-01 9.64641825e-03 1.38624677e+02] [-1.43325946e-01 9.89674286e-01 -1.57506862e-03 -1.22365844e+01] [-9.77257376e-03 1.76148875e-04 9.99952232e-01 6.95940187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.952320588 meters Centerline goodness [0,1] 0.9999508816739525 Centerline is valid? [True, True] Translation: X:138.65, Y:-12.25, Z:0.69 [[ 9.89632555e-01 1.43408640e-01 7.83377212e-03 1.38654964e+02] [-1.43402997e-01 9.89663550e-01 -1.28025973e-03 -1.22507024e+01] [-7.93639903e-03 1.43600307e-04 9.99968496e-01 6.94984434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.982320588 meters Centerline goodness [0,1] 0.9999508091888435 Centerline is valid? [True, True] Translation: X:138.69, Y:-12.26, Z:0.69 [[ 9.89555272e-01 1.43816100e-01 9.86369858e-03 1.38686053e+02] [-1.43807163e-01 9.89604415e-01 -1.61315486e-03 -1.22601204e+01] [-9.99315730e-03 1.77835384e-04 9.99950051e-01 6.93706593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.012320588 meters Centerline goodness [0,1] 0.9997543118274286 Centerline is valid? [True, True] Translation: X:138.72, Y:-12.27, Z:0.69 [[ 9.89810208e-01 1.41878719e-01 1.20905372e-02 1.38716178e+02] [-1.41865128e-01 9.89884018e-01 -1.97878893e-03 -1.22729205e+01] [-1.22489776e-02 2.43399866e-04 9.99924949e-01 6.92501468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.75, Y:-12.28, Z:0.69 [[ 9.89883116e-01 1.41375525e-01 1.20157443e-02 1.38747314e+02] [-1.41362045e-01 9.89956008e-01 -1.96814200e-03 -1.22834322e+01] [-1.21733054e-02 2.49660342e-04 9.99925871e-01 6.92918588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.78, Y:-12.30, Z:0.69 [[ 9.89949263e-01 1.40996750e-01 1.09714441e-02 1.38779269e+02] [-1.40985460e-01 9.90010031e-01 -1.79962806e-03 -1.22950884e+01] [-1.11155814e-02 2.34726386e-04 9.99938192e-01 6.94585953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.81, Y:-12.31, Z:0.70 [[ 9.89855513e-01 1.41795936e-01 8.94291711e-03 1.38810046e+02] [-1.41788458e-01 9.89895893e-01 -1.46791775e-03 -1.23060622e+01] [-9.06070169e-03 1.85024052e-04 9.99958934e-01 6.97107917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.84, Y:-12.32, Z:0.70 [[ 9.89157259e-01 1.46583999e-01 9.00268879e-03 1.38840754e+02] [-1.46576608e-01 9.89198216e-01 -1.47893135e-03 -1.23199147e+01] [-9.12223136e-03 1.43312098e-04 9.99958381e-01 6.96113905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.87, Y:-12.33, Z:0.70 [[ 9.89128381e-01 1.46778757e-01 9.00234244e-03 1.38872840e+02] [-1.46771355e-01 9.89169336e-01 -1.48103893e-03 -1.23251314e+01] [-9.12222615e-03 1.43651642e-04 9.99958381e-01 6.96277749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.90, Y:-12.33, Z:0.70 [[ 9.88592127e-01 1.50305951e-01 9.68130922e-03 1.38903838e+02] [-1.50297545e-01 9.88639523e-01 -1.59414084e-03 -1.23348148e+01] [-9.81093379e-03 1.20878076e-04 9.99951864e-01 6.96345070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.94, Y:-12.34, Z:0.70 [[ 9.87883157e-01 1.54751595e-01 1.17818613e-02 1.38935285e+02] [-1.54739447e-01 9.87953407e-01 -1.94131740e-03 -1.23446918e+01] [-1.19403519e-02 9.46760640e-05 9.99928707e-01 6.95832463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.97, Y:-12.35, Z:0.70 [[ 9.86985319e-01 1.60206902e-01 1.39186626e-02 1.38966646e+02] [-1.60190463e-01 9.87083455e-01 -2.29522011e-03 -1.23542163e+01] [-1.41065917e-02 3.57115454e-05 9.99900496e-01 6.96113951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.00, Y:-12.36, Z:0.70 [[ 9.85989242e-01 1.66310173e-01 1.28895745e-02 1.38999153e+02] [-1.66296476e-01 9.86073489e-01 -2.13476230e-03 -1.23622357e+01] [-1.30651004e-02 -3.86381490e-05 9.99914647e-01 6.97531884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.03, Y:-12.37, Z:0.70 [[ 9.83560530e-01 1.80248283e-01 1.09196968e-02 1.39030173e+02] [-1.80239251e-01 9.83621128e-01 -1.81374810e-03 -1.23695786e+01] [-1.10677695e-02 -1.84226937e-04 9.99938733e-01 6.97161435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.06, Y:-12.38, Z:0.70 [[ 9.82237436e-01 1.87371115e-01 1.00838604e-02 1.39062109e+02] [-1.87363739e-01 9.82289167e-01 -1.67973752e-03 -1.23750028e+01] [-1.02200012e-02 -2.39448720e-04 9.99947746e-01 6.96992516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.09, Y:-12.38, Z:0.70 [[ 9.81079450e-01 1.93360382e-01 9.74044372e-03 1.39093990e+02] [-1.93353797e-01 9.81127758e-01 -1.62224434e-03 -1.23807060e+01] [-9.87029749e-03 -2.91801193e-04 9.99951245e-01 6.97722345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.13, Y:-12.39, Z:0.70 [[ 9.79930602e-01 1.99111691e-01 9.51572165e-03 1.39125248e+02] [-1.99105625e-01 9.79976745e-01 -1.59024683e-03 -1.23851324e+01] [-9.64182266e-03 -3.36302175e-04 9.99953460e-01 6.98552171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.16, Y:-12.39, Z:0.70 [[ 9.78921274e-01 2.03975088e-01 1.03587428e-02 1.39157451e+02] [-2.03968174e-01 9.78975990e-01 -1.73084293e-03 -1.23894469e+01] [-1.04940093e-02 -4.18494882e-04 9.99944849e-01 6.99441046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.19, Y:-12.39, Z:0.70 [[ 9.77393781e-01 2.11160231e-01 1.06185336e-02 1.39189522e+02] [-2.11153384e-01 9.77451328e-01 -1.77458788e-03 -1.23864550e+01] [-1.07538222e-02 -5.07668139e-04 9.99942047e-01 7.01288556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.22, Y:-12.39, Z:0.70 [[ 9.76603120e-01 2.14739031e-01 1.15539875e-02 1.39221457e+02] [-2.14731097e-01 9.76671286e-01 -1.93751382e-03 -1.23872682e+01] [-1.17005077e-02 -5.88818366e-04 9.99931373e-01 7.01270289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.25, Y:-12.39, Z:0.70 [[ 9.76078967e-01 2.17046132e-01 1.26817618e-02 1.39253201e+02] [-2.17036702e-01 9.76161117e-01 -2.13175899e-03 -1.23897330e+01] [-1.28421328e-02 -6.71642649e-04 9.99917311e-01 6.99234806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.29, Y:-12.39, Z:0.70 [[ 9.75676802e-01 2.18841740e-01 1.27698878e-02 1.39286379e+02] [-2.18832260e-01 9.75760119e-01 -2.15215830e-03 -1.23866796e+01] [-1.29313293e-02 -6.94652481e-04 9.99916146e-01 6.98276175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.32, Y:-12.39, Z:0.70 [[ 9.75911297e-01 2.17890021e-01 1.10036006e-02 1.39319284e+02] [-2.17882915e-01 9.75973152e-01 -1.85513333e-03 -1.23857473e+01] [-1.11434338e-02 -5.87050993e-04 9.99937738e-01 6.99139406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.35, Y:-12.39, Z:0.70 [[ 9.76545171e-01 2.15027702e-01 1.10732374e-02 1.39351408e+02] [-2.15020313e-01 9.76607791e-01 -1.86763250e-03 -1.23869282e+01] [-1.12158027e-02 -5.57143472e-04 9.99936946e-01 6.98752002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.38, Y:-12.38, Z:0.70 [[ 9.77376620e-01 2.11155977e-01 1.21695138e-02 1.39383419e+02] [-2.11146746e-01 9.77452217e-01 -2.05309359e-03 -1.23841371e+01] [-1.23286412e-02 -5.62907552e-04 9.99923841e-01 6.99196914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.42, Y:-12.38, Z:0.70 [[ 9.79034159e-01 2.03101854e-01 1.55483651e-02 1.39417187e+02] [-2.03085734e-01 9.79157440e-01 -2.62536405e-03 -1.23753330e+01] [-1.57575137e-02 -5.87330053e-04 9.99875670e-01 6.99391459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.45, Y:-12.38, Z:0.70 [[ 9.79794452e-01 1.99436378e-01 1.50984249e-02 1.39449095e+02] [-1.99420712e-01 9.79910644e-01 -2.55139969e-03 -1.23780094e+01] [-1.53039492e-02 -5.11091394e-04 9.99882757e-01 7.00521358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.48, Y:-12.38, Z:0.70 [[ 9.80696899e-01 1.95092863e-01 1.31288803e-02 1.39480502e+02] [-1.95080620e-01 9.80784700e-01 -2.21921896e-03 -1.23812859e+01] [-1.33095587e-02 -3.84808945e-04 9.99911350e-01 7.02529394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.51, Y:-12.38, Z:0.70 [[ 9.82141417e-01 1.87797535e-01 1.14158938e-02 1.39513087e+02] [-1.87787763e-01 9.82207730e-01 -1.93158002e-03 -1.23789441e+01] [-1.15755251e-02 -2.46680428e-04 9.99932971e-01 7.02837699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.55, Y:-12.38, Z:0.70 [[ 9.82779268e-01 1.84457024e-01 1.09780155e-02 1.39545121e+02] [-1.84447761e-01 9.82840560e-01 -1.85903282e-03 -1.23801409e+01] [-1.11325505e-02 -1.97851468e-04 9.99938012e-01 7.01599525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.58, Y:-12.38, Z:0.70 [[ 9.83347334e-01 1.81434180e-01 1.04718024e-02 1.39577570e+02] [-1.81425565e-01 9.83403078e-01 -1.77479199e-03 -1.23834189e+01] [-1.06200106e-02 -1.54615701e-04 9.99943594e-01 7.00035139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.61, Y:-12.39, Z:0.70 [[ 9.83911588e-01 1.78260916e-01 1.18757286e-02 1.39608921e+02] [-1.78249587e-01 9.83983246e-01 -2.01428450e-03 -1.23886860e+01] [-1.20445862e-02 -1.34965863e-04 9.99927452e-01 6.98786869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.64, Y:-12.39, Z:0.70 [[ 9.84827615e-01 1.73000851e-01 1.36115723e-02 1.39640824e+02] [-1.72985440e-01 9.84921672e-01 -2.31048857e-03 -1.23938179e+01] [-1.38060490e-02 -7.91708641e-05 9.99904689e-01 7.01870318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.67, Y:-12.40, Z:0.70 [[ 9.85181014e-01 1.71022399e-01 1.30272138e-02 1.39673340e+02] [-1.71008085e-01 9.85267140e-01 -2.21311495e-03 -1.23966748e+01] [-1.32137779e-02 -4.74400623e-05 9.99912693e-01 7.04292406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.71, Y:-12.40, Z:0.70 [[ 9.85382714e-01 1.69939372e-01 1.18960743e-02 1.39705549e+02] [-1.69927337e-01 9.85454519e-01 -2.02264466e-03 -1.23979261e+01] [-1.20667671e-02 -2.83891440e-05 9.99927194e-01 7.04724954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.74, Y:-12.40, Z:0.70 [[ 9.85558780e-01 1.68974336e-01 1.10256697e-02 1.39738444e+02] [-1.68963920e-01 9.85620451e-01 -1.87620411e-03 -1.23963866e+01] [-1.11841559e-02 -1.38309444e-05 9.99937455e-01 7.00576432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.77, Y:-12.40, Z:0.70 [[ 9.85581579e-01 1.68899945e-01 1.00875619e-02 1.39770022e+02] [-1.68891208e-01 9.85633202e-01 -1.71799179e-03 -1.24003471e+01] [-1.02328046e-02 -1.04794395e-05 9.99947643e-01 6.99006412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.80, Y:-12.41, Z:0.70 [[ 9.85745785e-01 1.67814237e-01 1.19845705e-02 1.39802038e+02] [-1.67801806e-01 9.85818635e-01 -2.04259101e-03 -1.24059435e+01] [-1.21573888e-02 2.44290049e-06 9.99926096e-01 6.97904467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.83, Y:-12.42, Z:0.70 [[ 9.86213352e-01 1.64751210e-01 1.55004601e-02 1.39832621e+02] [-1.64729983e-01 9.86335154e-01 -2.64513598e-03 -1.24151450e+01] [-1.57244381e-02 5.52778871e-05 9.99876362e-01 7.01534502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.86, Y:-12.42, Z:0.70 [[ 9.86487426e-01 1.63029720e-01 1.62440187e-02 1.39864536e+02] [-1.63006145e-01 9.86621155e-01 -2.77381881e-03 -1.24210556e+01] [-1.64789074e-02 8.84625116e-05 9.99864210e-01 7.03567775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.90, Y:-12.43, Z:0.71 [[ 9.86686562e-01 1.61888040e-01 1.55528280e-02 1.39897590e+02] [-1.61866232e-01 9.86809126e-01 -2.65928388e-03 -1.24251965e+01] [-1.57781788e-02 1.06402006e-04 9.99875511e-01 7.05123798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.93, Y:-12.43, Z:0.70 [[ 9.86792474e-01 1.61325784e-01 1.46493797e-02 1.39930013e+02] [-1.61306349e-01 9.86901200e-01 -2.50649839e-03 -1.24276845e+01] [-1.48618533e-02 1.10355781e-04 9.99889550e-01 7.04937270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.96, Y:-12.43, Z:0.70 [[ 9.86702986e-01 1.62039475e-01 1.26659024e-02 1.39962394e+02] [-1.62024982e-01 9.86784273e-01 -2.16894290e-03 -1.24311648e+01] [-1.28499677e-02 8.79098251e-05 9.99917432e-01 7.01460693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.99, Y:-12.44, Z:0.70 [[ 9.86540456e-01 1.63154376e-01 1.08893660e-02 1.39993482e+02] [-1.63143715e-01 9.86600550e-01 -1.86626569e-03 -1.24394856e+01] [-1.10479439e-02 6.46149753e-05 9.99938968e-01 7.01411019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.02, Y:-12.45, Z:0.70 [[ 9.86475260e-01 1.63548185e-01 1.08881898e-02 1.40024804e+02] [-1.63537534e-01 9.86535345e-01 -1.86753822e-03 -1.24484961e+01] [-1.10470166e-02 6.16525435e-05 9.99938978e-01 7.01984585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.06, Y:-12.46, Z:0.70 [[ 9.86563118e-01 1.62983284e-01 1.13869397e-02 1.40056324e+02] [-1.62971579e-01 9.86628828e-01 -1.95460379e-03 -1.24567716e+01] [-1.15532507e-02 7.25924655e-05 9.99933256e-01 7.03737019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.09, Y:-12.46, Z:0.71 [[ 9.86723479e-01 1.61789275e-01 1.41776906e-02 1.40087561e+02] [-1.61770981e-01 9.86825323e-01 -2.43540441e-03 -1.24627339e+01] [-1.43849264e-02 1.09531798e-04 9.99896526e-01 7.06829395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.12, Y:-12.47, Z:0.71 [[ 9.86769991e-01 1.61524261e-01 1.39605547e-02 1.40120618e+02] [-1.61506452e-01 9.86868735e-01 -2.40127123e-03 -1.24677132e+01] [-1.41650985e-02 1.14782735e-04 9.99899663e-01 7.06574191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.15, Y:-12.47, Z:0.71 [[ 9.86619281e-01 1.62583889e-01 1.22013321e-02 1.40152100e+02] [-1.62570349e-01 9.86694720e-01 -2.10011156e-03 -1.24729707e+01] [-1.23804342e-02 8.84357443e-05 9.99923356e-01 7.06185208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.18, Y:-12.48, Z:0.70 [[ 9.86401708e-01 1.64040117e-01 1.01246961e-02 1.40183845e+02] [-1.64030855e-01 9.86453667e-01 -1.74417217e-03 -1.24788214e+01] [-1.02736578e-02 5.96918490e-05 9.99947223e-01 7.04201227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.22, Y:-12.49, Z:0.70 [[ 9.85516398e-01 1.69215373e-01 1.11169929e-02 1.40215035e+02] [-1.69204519e-01 9.85579098e-01 -1.91658571e-03 -1.24872998e+01] [-1.12809916e-02 7.78121181e-06 9.99936368e-01 7.02326516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.25, Y:-12.50, Z:0.70 [[ 9.84993100e-01 1.72106836e-01 1.29549366e-02 1.40245802e+02] [-1.72092324e-01 9.85078289e-01 -2.23511250e-03 -1.24961506e+01] [-1.31463049e-02 -2.78747619e-05 9.99913583e-01 7.03344365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.28, Y:-12.50, Z:0.71 [[ 9.84777685e-01 1.73363291e-01 1.25730028e-02 1.40278255e+02] [-1.73349687e-01 9.84857943e-01 -2.17215752e-03 -1.25046720e+01] [-1.27591941e-02 -4.04338580e-05 9.99918597e-01 7.05846319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.31, Y:-12.51, Z:0.71 [[ 9.84511163e-01 1.75016648e-01 1.03413415e-02 1.40309522e+02] [-1.75007522e-01 9.84565473e-01 -1.78786597e-03 -1.25124360e+01] [-1.04946341e-02 -4.96385498e-05 9.99944929e-01 7.06961294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.34, Y:-12.52, Z:0.71 [[ 9.84633269e-01 1.74397533e-01 9.10087184e-03 1.40341256e+02] [-1.74390427e-01 9.84675327e-01 -1.57475674e-03 -1.25167059e+01] [-9.23603765e-03 -3.65470519e-05 9.99957346e-01 7.05609066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.37, Y:-12.52, Z:0.70 [[ 9.84612513e-01 1.74531413e-01 8.77409012e-03 1.40372765e+02] [-1.74524802e-01 9.84651606e-01 -1.51943954e-03 -1.25204429e+01] [-8.90461185e-03 -3.52371559e-05 9.99960353e-01 7.04779772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.40, Y:-12.53, Z:0.70 [[ 9.84487350e-01 1.75071929e-01 1.15964722e-02 1.40404267e+02] [-1.75060402e-01 9.84555645e-01 -2.00958903e-03 -1.25252054e+01] [-1.17691948e-02 -5.16681060e-05 9.99930739e-01 7.04943721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.44, Y:-12.53, Z:0.71 [[ 9.84009267e-01 1.77401301e-01 1.59543524e-02 1.40435001e+02] [-1.77379769e-01 9.84138591e-01 -2.76600481e-03 -1.25328895e+01] [-1.61919868e-02 -1.08204988e-04 9.99868895e-01 7.07701166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.47, Y:-12.54, Z:0.71 [[ 9.83944646e-01 1.77892305e-01 1.43965858e-02 1.40466268e+02] [-1.77874793e-01 9.84049957e-01 -2.49810570e-03 -1.25388402e+01] [-1.46113534e-02 -1.02791992e-04 9.99893243e-01 7.09301805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.50, Y:-12.54, Z:0.71 [[ 9.83834662e-01 1.78674687e-01 1.20297484e-02 1.40497907e+02] [-1.78662497e-01 9.83908201e-01 -2.08917086e-03 -1.25447011e+01] [-1.22094501e-02 -9.38661844e-05 9.99925457e-01 7.09048559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.53, Y:-12.55, Z:0.71 [[ 9.83863906e-01 1.78673003e-01 9.36867654e-03 1.40530160e+02] [-1.78665592e-01 9.83908508e-01 -1.62896037e-03 -1.25497317e+01] [-9.50897180e-03 -7.11848244e-05 9.99954786e-01 7.06848973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.56, Y:-12.56, Z:0.70 [[ 9.84382588e-01 1.75923647e-01 6.46466355e-03 1.40561957e+02] [-1.75920052e-01 9.84403814e-01 -1.12502829e-03 -1.25562625e+01] [-6.56175854e-03 -2.98056904e-05 9.99978471e-01 7.04535975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.59, Y:-12.56, Z:0.70 [[ 9.84823166e-01 1.73355996e-01 8.42797159e-03 1.40593554e+02] [-1.73349784e-01 9.84859228e-01 -1.46767190e-03 -1.25628486e+01] [-8.55479532e-03 -1.55897709e-05 9.99963407e-01 7.04519678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.63, Y:-12.57, Z:0.71 [[ 9.85366460e-01 1.70134597e-01 1.03517161e-02 1.40625034e+02] [-1.70125034e-01 9.85420833e-01 -1.80393973e-03 -1.25697517e+01] [-1.05077093e-02 1.64556483e-05 9.99944792e-01 7.10077486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.66, Y:-12.57, Z:0.71 [[ 9.85577380e-01 1.68931225e-01 9.97337629e-03 1.40657272e+02] [-1.68922273e-01 9.85627841e-01 -1.73941516e-03 -1.25747701e+01] [-1.01238789e-02 2.96028486e-05 9.99948752e-01 7.10689371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.69, Y:-12.58, Z:0.71 [[ 9.85630120e-01 1.68660750e-01 9.31761759e-03 1.40689144e+02] [-1.68652911e-01 9.85674160e-01 -1.62635794e-03 -1.25792839e+01] [-9.45843765e-03 3.15440393e-05 9.99955267e-01 7.09653728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.72, Y:-12.58, Z:0.71 [[ 9.85577155e-01 1.68978144e-01 9.16836631e-03 1.40720857e+02] [-1.68970557e-01 9.85619798e-01 -1.60155800e-03 -1.25845182e+01] [-9.30715165e-03 2.92750199e-05 9.99956687e-01 7.07381396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.75, Y:-12.59, Z:0.71 [[ 9.85790025e-01 1.67636063e-01 1.07785473e-02 1.40752116e+02] [-1.67625481e-01 9.85848948e-01 -1.88418931e-03 -1.25929560e+01] [-1.09418776e-02 5.06558444e-05 9.99940135e-01 7.05501332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.78, Y:-12.60, Z:0.71 [[ 9.86000022e-01 1.66251933e-01 1.28160951e-02 1.40783941e+02] [-1.66236834e-01 9.86083307e-01 -2.24199372e-03 -1.26003679e+01] [-1.30104733e-02 8.00987705e-05 9.99915357e-01 7.06694104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.82, Y:-12.61, Z:0.71 [[ 9.86332317e-01 1.64268322e-01 1.28249276e-02 1.40815278e+02] [-1.64253012e-01 9.86415687e-01 -2.24528041e-03 -1.26079053e+01] [-1.30195382e-02 1.08059641e-04 9.99915236e-01 7.08352070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.85, Y:-12.62, Z:0.71 [[ 9.86560437e-01 1.62844663e-01 1.34208433e-02 1.40846073e+02] [-1.62827742e-01 9.86651710e-01 -2.35139292e-03 -1.26161560e+01] [-1.36246098e-02 1.34505621e-04 9.99907172e-01 7.08633361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.88, Y:-12.62, Z:0.71 [[ 9.86528191e-01 1.63039944e-01 1.34203199e-02 1.40878111e+02] [-1.63023000e-01 9.86619460e-01 -2.35437901e-03 -1.26217136e+01] [-1.36246066e-02 1.34840452e-04 9.99907172e-01 7.08797221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.91, Y:-12.63, Z:0.71 [[ 9.86895775e-01 1.60975485e-01 1.11185699e-02 1.40908849e+02] [-1.60963709e-01 9.86958396e-01 -1.95190504e-03 -1.26340684e+01] [-1.12877748e-02 1.36640586e-04 9.99936282e-01 7.08414810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.94, Y:-12.64, Z:0.71 [[ 9.86853528e-01 1.61403461e-01 8.30886116e-03 1.40940500e+02] [-1.61396889e-01 9.86888501e-01 -1.45993957e-03 -1.26415700e+01] [-8.43555883e-03 9.97221723e-05 9.99964415e-01 7.08162611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.97, Y:-12.65, Z:0.71 [[ 9.86564964e-01 1.63165783e-01 8.15470215e-03 1.40972330e+02] [-1.63159503e-01 9.86598662e-01 -1.43398232e-03 -1.26479330e+01] [-8.27939508e-03 8.41995643e-05 9.99965722e-01 7.07294418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.00, Y:-12.66, Z:0.71 [[ 9.85448825e-01 1.69612547e-01 1.10543236e-02 1.41004305e+02] [-1.69601386e-01 9.85510823e-01 -1.94626579e-03 -1.26580445e+01] [-1.12242666e-02 4.31167328e-05 9.99937005e-01 7.08196023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.04, Y:-12.67, Z:0.71 [[ 9.84954081e-01 1.72429502e-01 1.15553195e-02 1.41036540e+02] [-1.72417472e-01 9.85021861e-01 -2.03683428e-03 -1.26673307e+01] [-1.17334526e-02 1.38492551e-05 9.99931161e-01 7.10083371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.07, Y:-12.68, Z:0.71 [[ 9.84499863e-01 1.75031661e-01 1.11327247e-02 1.41068902e+02] [-1.75020634e-01 9.84562805e-01 -1.96470545e-03 -1.26765102e+01] [-1.13047523e-02 -1.42042798e-05 9.99936099e-01 7.10262681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.10, Y:-12.68, Z:0.71 [[ 9.84146886e-01 1.77096326e-01 9.58109367e-03 1.41100571e+02] [-1.77088246e-01 9.84193523e-01 -1.69200565e-03 -1.26840853e+01] [-9.72929831e-03 -3.15169758e-05 9.99952669e-01 7.08943810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.13, Y:-12.69, Z:0.71 [[ 9.83602027e-01 1.80184937e-01 7.77440821e-03 1.41131635e+02] [-1.80179704e-01 9.83632750e-01 -1.37414711e-03 -1.26941950e+01] [-7.89476314e-03 -4.91766881e-05 9.99968835e-01 7.06765280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.16, Y:-12.70, Z:0.71 [[ 9.83405268e-01 1.81160164e-01 9.75061932e-03 1.41162429e+02] [-1.81151968e-01 9.83453603e-01 -1.72464444e-03 -1.27027389e+01] [-9.90171857e-03 -7.03194473e-05 9.99950974e-01 7.06323156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.19, Y:-12.71, Z:0.71 [[ 9.83101903e-01 1.82698211e-01 1.14896334e-02 1.41193619e+02] [-1.82686918e-01 9.83169036e-01 -2.03370596e-03 -1.27101724e+01] [-1.16678062e-02 -9.96655108e-05 9.99931924e-01 7.08393773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.23, Y:-12.71, Z:0.71 [[ 9.82219676e-01 1.87420915e-01 1.08586065e-02 1.41225842e+02] [-1.87411101e-01 9.82279685e-01 -1.92354629e-03 -1.27128104e+01] [-1.10267014e-02 -1.45678375e-04 9.99939193e-01 7.09100271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.26, Y:-12.72, Z:0.71 [[ 9.81618335e-01 1.90626556e-01 9.32525056e-03 1.41257223e+02] [-1.90619449e-01 9.81662616e-01 -1.65329972e-03 -1.27174402e+01] [-9.46941269e-03 -1.54664800e-04 9.99955152e-01 7.08388012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.29, Y:-12.73, Z:0.71 [[ 9.81045996e-01 1.93615000e-01 7.87312980e-03 1.41288721e+02] [-1.93610021e-01 9.81077575e-01 -1.39703121e-03 -1.27252453e+01] [-7.99463729e-03 -1.53764953e-04 9.99968031e-01 7.07012372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.32, Y:-12.73, Z:0.71 [[ 9.80666716e-01 1.95499420e-01 8.53050848e-03 1.41319901e+02] [-1.95493636e-01 9.80703800e-01 -1.51477236e-03 -1.27333776e+01] [-8.66203920e-03 -1.82173286e-04 9.99962467e-01 7.07906882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.35, Y:-12.74, Z:0.71 [[ 9.80314481e-01 1.96942986e-01 1.40348805e-02 1.41351898e+02] [-1.96927457e-01 9.80414891e-01 -2.49367125e-03 -1.27390964e+01] [-1.42511169e-02 -3.19271280e-04 9.99898397e-01 7.09608459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.38, Y:-12.74, Z:0.71 [[ 9.80352340e-01 1.96589197e-01 1.61856763e-02 1.41384159e+02] [-1.96568462e-01 9.80485878e-01 -2.87787200e-03 -1.27413951e+01] [-1.64355856e-02 -3.60264932e-04 9.99864862e-01 7.10377671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.42, Y:-12.74, Z:0.71 [[ 9.80385316e-01 1.96309616e-01 1.75261594e-02 1.41417437e+02] [-1.96285057e-01 9.80541888e-01 -3.12754266e-03 -1.27435127e+01] [-1.77991001e-02 -3.73926300e-04 9.99841514e-01 7.09819135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.45, Y:-12.75, Z:0.71 [[ 9.80934470e-01 1.93791392e-01 1.45760742e-02 1.41449540e+02] [-1.93774024e-01 9.81042724e-01 -2.60805764e-03 -1.27455013e+01] [-1.48051706e-02 -2.66130910e-04 9.99890362e-01 7.07931672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.48, Y:-12.75, Z:0.71 [[ 9.81211740e-01 1.92595342e-01 1.14260761e-02 1.41481419e+02] [-1.92584584e-01 9.81278246e-01 -2.04483741e-03 -1.27501161e+01] [-1.16059861e-02 -1.94067646e-04 9.99932629e-01 7.07698359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.51, Y:-12.75, Z:0.71 [[ 9.81243524e-01 1.92477426e-01 1.06577315e-02 1.41513410e+02] [-1.92468043e-01 9.81301385e-01 -1.90884681e-03 -1.27547771e+01] [-1.08258566e-02 -1.78229156e-04 9.99941383e-01 7.06904444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.55, Y:-12.76, Z:0.71 [[ 9.81360367e-01 1.91809786e-01 1.18674594e-02 1.41546526e+02] [-1.91798070e-01 9.81432102e-01 -2.12825244e-03 -1.27595922e+01] [-1.20553253e-02 -1.87573220e-04 9.99927314e-01 7.06530547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.58, Y:-12.76, Z:0.71 [[ 9.82000037e-01 1.88431690e-01 1.30163341e-02 1.41578340e+02] [-1.88417281e-01 9.82086286e-01 -2.33566026e-03 -1.27634039e+01] [-1.32232756e-02 -1.58883801e-04 9.99912556e-01 7.08353423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.61, Y:-12.77, Z:0.71 [[ 9.82431682e-01 1.86195586e-01 1.26172261e-02 1.41610510e+02] [-1.86181840e-01 9.82512691e-01 -2.26582312e-03 -1.27686652e+01] [-1.28184710e-02 -1.23081952e-04 9.99917832e-01 7.09288742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.64, Y:-12.77, Z:0.71 [[ 9.82996418e-01 1.83210986e-01 1.23197428e-02 1.41642253e+02] [-1.83197624e-01 9.83073613e-01 -2.21415214e-03 -1.27732514e+01] [-1.25168711e-02 -8.04439844e-05 9.99921658e-01 7.07775139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.67, Y:-12.78, Z:0.71 [[ 9.83451759e-01 1.80861016e-01 1.05797330e-02 1.41674595e+02] [-1.80851003e-01 9.83508664e-01 -1.90353220e-03 -1.27778212e+01] [-1.07495338e-02 -4.13232264e-05 9.99942221e-01 7.06984406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.71, Y:-12.78, Z:0.70 [[ 9.83843395e-01 1.78651336e-01 1.16565469e-02 1.41706330e+02] [-1.78639010e-01 9.83912445e-01 -2.09864500e-03 -1.27826731e+01] [-1.18439472e-02 -1.75759720e-05 9.99929858e-01 7.03117017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.74, Y:-12.79, Z:0.70 [[ 9.84012396e-01 1.77656485e-01 1.25609572e-02 1.41737715e+02] [-1.77642070e-01 9.84092563e-01 -2.26316248e-03 -1.27879703e+01] [-1.27632101e-02 -4.37450123e-06 9.99918547e-01 7.03582768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.77, Y:-12.79, Z:0.71 [[ 9.84113028e-01 1.76857412e-01 1.55885644e-02 1.41769011e+02] [-1.76835037e-01 9.84236484e-01 -2.81321893e-03 -1.27930481e+01] [-1.58403724e-02 1.19210461e-05 9.99874533e-01 7.06917733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.80, Y:-12.80, Z:0.71 [[ 9.84243044e-01 1.76248251e-01 1.42191260e-02 1.41800459e+02] [-1.76229550e-01 9.84345749e-01 -2.56755487e-03 -1.27990765e+01] [-1.44490632e-02 2.12678635e-05 9.99895607e-01 7.08632065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.83, Y:-12.81, Z:0.71 [[ 9.84334692e-01 1.75853352e-01 1.26812216e-02 1.41831809e+02] [-1.75838420e-01 9.84416374e-01 -2.29168349e-03 -1.28056306e+01] [-1.28866024e-02 2.59375861e-05 9.99916964e-01 7.08624398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.86, Y:-12.81, Z:0.71 [[ 9.84247838e-01 1.76409863e-01 1.16513673e-02 1.41863638e+02] [-1.76397278e-01 9.84316799e-01 -2.10723002e-03 -1.28125813e+01] [-1.18403727e-02 1.87671289e-05 9.99929900e-01 7.07599158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.90, Y:-12.82, Z:0.71 [[ 9.84279425e-01 1.76293524e-01 1.07054881e-02 1.41895046e+02] [-1.76282876e-01 9.84337642e-01 -1.93769327e-03 -1.28180457e+01] [-1.08794177e-02 2.00373916e-05 9.99940817e-01 7.06591411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.93, Y:-12.82, Z:0.71 [[ 9.84435488e-01 1.75148037e-01 1.44891578e-02 1.41926723e+02] [-1.75128392e-01 9.84542108e-01 -2.62363165e-03 -1.28209750e+01] [-1.47247099e-02 4.53331980e-05 9.99891585e-01 7.05422893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.96, Y:-12.83, Z:0.71 [[ 9.84558269e-01 1.74291499e-01 1.63550942e-02 1.41958420e+02] [-1.74266309e-01 9.84694099e-01 -2.96387942e-03 -1.28253889e+01] [-1.66213438e-02 6.79700849e-05 9.99861854e-01 7.05470947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.99, Y:-12.83, Z:0.71 [[ 9.84635829e-01 1.73681420e-01 1.80845043e-02 1.41989670e+02] [-1.73650475e-01 9.84801887e-01 -3.27965048e-03 -1.28309319e+01] [-1.83792683e-02 8.88786100e-05 9.99831083e-01 7.06224328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.02, Y:-12.84, Z:0.71 [[ 9.84733969e-01 1.73596487e-01 1.27777307e-02 1.42021473e+02] [-1.73580999e-01 9.84816864e-01 -2.31980966e-03 -1.28387907e+01] [-1.29864355e-02 6.64241019e-05 9.99915670e-01 7.07144277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.05, Y:-12.85, Z:0.71 [[ 9.84762529e-01 1.73560502e-01 1.09321966e-02 1.42052737e+02] [-1.73549147e-01 9.84823207e-01 -1.98619068e-03 -1.28459507e+01] [-1.11110052e-02 5.86527545e-05 9.99938269e-01 7.06385953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.08, Y:-12.85, Z:0.71 [[ 9.84822606e-01 1.73286466e-01 9.80996035e-03 1.42084088e+02] [-1.73277295e-01 9.84871462e-01 -1.78371633e-03 -1.28531374e+01] [-9.97064389e-03 5.68007673e-05 9.99950290e-01 7.07092627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.12, Y:-12.86, Z:0.71 [[ 9.84907707e-01 1.72563528e-01 1.33655113e-02 1.42116163e+02] [-1.72546415e-01 9.84998386e-01 -2.43179449e-03 -1.28589104e+01] [-1.35846461e-02 8.89220709e-05 9.99907720e-01 7.07476783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.15, Y:-12.86, Z:0.71 [[ 9.84721603e-01 1.73628000e-01 1.32922013e-02 1.42148399e+02] [-1.73611130e-01 9.84811308e-01 -2.42155013e-03 -1.28639963e+01] [-1.35107590e-02 7.68786440e-05 9.99908723e-01 7.08447345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.18, Y:-12.87, Z:0.71 [[ 9.84518972e-01 1.74654434e-01 1.47723564e-02 1.42180633e+02] [-1.74633689e-01 9.84629790e-01 -2.69275757e-03 -1.28687818e+01] [-1.50156042e-02 7.13198118e-05 9.99887257e-01 7.07471908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.21, Y:-12.87, Z:0.71 [[ 9.84409667e-01 1.75457540e-01 1.23393629e-02 1.42212300e+02] [-1.75443107e-01 9.84486998e-01 -2.25108288e-03 -1.28740405e+01] [-1.25429118e-02 5.11315836e-05 9.99921333e-01 7.07401995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.24, Y:-12.88, Z:0.71 [[ 9.84180935e-01 1.76769226e-01 1.18544552e-02 1.42243426e+02] [-1.76755980e-01 9.84252325e-01 -2.16426654e-03 -1.28801447e+01] [-1.20503508e-02 3.46840365e-05 9.99927391e-01 7.06746868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.27, Y:-12.89, Z:0.71 [[ 9.83928834e-01 1.78248474e-01 1.05608082e-02 1.42274751e+02] [-1.78238030e-01 9.83985509e-01 -1.92960505e-03 -1.28897067e+01] [-1.07356314e-02 1.62563935e-05 9.99942371e-01 7.07817804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.31, Y:-12.90, Z:0.71 [[ 9.83574889e-01 1.80123929e-01 1.16536194e-02 1.42306070e+02] [-1.80111325e-01 9.83643924e-01 -2.13083055e-03 -1.28974364e+01] [-1.18468255e-02 -3.11741120e-06 9.99929824e-01 7.09185495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.34, Y:-12.90, Z:0.71 [[ 9.82967777e-01 1.83313276e-01 1.30611081e-02 1.42337811e+02] [-1.83297702e-01 9.83054546e-01 -2.38990325e-03 -1.29029928e+01] [-1.32778827e-02 -4.48732096e-05 9.99911844e-01 7.10021151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.37, Y:-12.91, Z:0.71 [[ 9.82622691e-01 1.85060225e-01 1.43303810e-02 1.42369761e+02] [-1.85041634e-01 9.82727179e-01 -2.62407138e-03 -1.29077014e+01] [-1.45684661e-02 -7.32450297e-05 9.99893872e-01 7.10063120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.40, Y:-12.91, Z:0.71 [[ 9.82510460e-01 1.85629704e-01 1.46563452e-02 1.42402582e+02] [-1.85610271e-01 9.82619767e-01 -2.68714843e-03 -1.29127264e+01] [-1.49004290e-02 -8.02167560e-05 9.99888979e-01 7.10008435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.43, Y:-12.92, Z:0.71 [[ 9.82675883e-01 1.84881579e-01 1.29194006e-02 1.42434465e+02] [-1.84866394e-01 9.82760804e-01 -2.37025857e-03 -1.29182265e+01] [-1.31348977e-02 -5.91670805e-05 9.99913732e-01 7.09952395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.47, Y:-12.93, Z:0.71 [[ 9.82630082e-01 1.85118726e-01 1.30069088e-02 1.42466335e+02] [-1.85103315e-01 9.82716161e-01 -2.38939338e-03 -1.29272733e+01] [-1.32244209e-02 -5.97321261e-05 9.99912552e-01 7.10015656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.50, Y:-12.93, Z:0.71 [[ 9.82567555e-01 1.85403163e-01 1.36626428e-02 1.42497865e+02] [-1.85386165e-01 9.82662538e-01 -2.51135291e-03 -1.29345941e+01] [-1.38913800e-02 -6.52910662e-05 9.99903508e-01 7.10367149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.53, Y:-12.94, Z:0.71 [[ 9.82335837e-01 1.86566578e-01 1.44642784e-02 1.42529471e+02] [-1.86547624e-01 9.82442316e-01 -2.66068619e-03 -1.29403339e+01] [-1.47067143e-02 -8.45893655e-05 9.99891847e-01 7.11287004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.56, Y:-12.94, Z:0.71 [[ 9.82220034e-01 1.87195722e-01 1.41973764e-02 1.42561928e+02] [-1.87177478e-01 9.82322632e-01 -2.61496846e-03 -1.29445417e+01] [-1.44359151e-02 -8.89547047e-05 9.99895793e-01 7.11227152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.59, Y:-12.95, Z:0.71 [[ 9.82092648e-01 1.87968209e-01 1.27272387e-02 1.42594672e+02] [-1.87953585e-01 9.82175109e-01 -2.34631295e-03 -1.29470614e+01] [-1.29414093e-02 -8.78334357e-05 9.99916253e-01 7.11581082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.63, Y:-12.95, Z:0.71 [[ 9.82086226e-01 1.87855097e-01 1.47345420e-02 1.42625950e+02] [-1.87835457e-01 9.82196748e-01 -2.71812430e-03 -1.29524513e+01] [-1.49828327e-02 -9.82369998e-05 9.99887746e-01 7.11098564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.66, Y:-12.96, Z:0.71 [[ 9.81947162e-01 1.88556739e-01 1.50375547e-02 1.42658781e+02] [-1.88536312e-01 9.82062292e-01 -2.77751356e-03 -1.29591177e+01] [-1.52915344e-02 -1.07753549e-04 9.99883072e-01 7.11190072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.69, Y:-12.97, Z:0.71 [[ 9.81870668e-01 1.88888146e-01 1.58511658e-02 1.42689982e+02] [-1.88865463e-01 9.81998602e-01 -2.92957665e-03 -1.29675506e+01] [-1.61191849e-02 -1.17272383e-04 9.99870071e-01 7.11191468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.72, Y:-12.97, Z:0.71 [[ 9.81858658e-01 1.88979777e-01 1.54989909e-02 1.42721630e+02] [-1.88958068e-01 9.81980973e-01 -2.86664779e-03 -1.29730574e+01] [-1.57614526e-02 -1.14016416e-04 9.99875774e-01 7.11780272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.75, Y:-12.98, Z:0.71 [[ 9.81903385e-01 1.88783945e-01 1.50454257e-02 1.42753277e+02] [-1.88763433e-01 9.82018641e-01 -2.78487408e-03 -1.29770969e+01] [-1.53006280e-02 -1.05548913e-04 9.99882933e-01 7.12920395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.79, Y:-12.98, Z:0.71 [[ 9.81936898e-01 1.88684121e-01 1.40794501e-02 1.42785256e+02] [-1.88666119e-01 9.82037827e-01 -2.60807697e-03 -1.29803489e+01] [-1.43186553e-02 -9.53482007e-05 9.99897478e-01 7.14950678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.82, Y:-12.98, Z:0.71 [[ 9.82170604e-01 1.87318796e-01 1.58925674e-02 1.42817359e+02] [-1.87295646e-01 9.82299171e-01 -2.94607351e-03 -1.29820155e+01] [-1.61631108e-02 -8.30618834e-05 9.99869365e-01 7.14626932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.85, Y:-12.99, Z:0.71 [[ 9.82295698e-01 1.86738259e-01 1.49661321e-02 1.42849348e+02] [-1.86717630e-01 9.82409700e-01 -2.77642530e-03 -1.29874856e+01] [-1.52213381e-02 -6.71700835e-05 9.99884146e-01 7.13363083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.88, Y:-12.99, Z:0.71 [[ 9.82254004e-01 1.87022964e-01 1.41237997e-02 1.42881161e+02] [-1.87004593e-01 9.82355540e-01 -2.62216298e-03 -1.29948566e+01] [-1.43649976e-02 -6.55853304e-05 9.99896816e-01 7.12783674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.91, Y:-13.00, Z:0.71 [[ 9.82216278e-01 1.87221039e-01 1.41232086e-02 1.42913137e+02] [-1.87202642e-01 9.82317809e-01 -2.62534568e-03 -1.30007377e+01] [-1.43649993e-02 -6.52447018e-05 9.99896816e-01 7.12947525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.94, Y:-13.01, Z:0.71 [[ 9.82375541e-01 1.86522423e-01 1.21524268e-02 1.42944267e+02] [-1.86508731e-01 9.82450703e-01 -2.26047888e-03 -1.30089082e+01] [-1.23607902e-02 -4.58945258e-05 9.99923601e-01 7.12689385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.98, Y:-13.02, Z:0.71 [[ 9.83141749e-01 1.82488360e-01 1.14148554e-02 1.42975700e+02] [-1.82475989e-01 9.83208014e-01 -2.12491625e-03 -1.30160192e+01] [-1.16109498e-02 6.15686304e-06 9.99932591e-01 7.14506985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.01, Y:-13.02, Z:0.72 [[ 9.83448767e-01 1.80818336e-01 1.15435181e-02 1.43008559e+02] [-1.80805536e-01 9.83516512e-01 -2.15159441e-03 -1.30208218e+01] [-1.17422884e-02 2.88508885e-05 9.99931057e-01 7.16018536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.04, Y:-13.03, Z:0.72 [[ 9.83555596e-01 1.80201843e-01 1.20700104e-02 1.43040059e+02] [-1.80187788e-01 9.83629653e-01 -2.25099166e-03 -1.30253974e+01] [-1.22780530e-02 3.91069661e-05 9.99924621e-01 7.15985806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.07, Y:-13.03, Z:0.71 [[ 9.83522155e-01 1.80226126e-01 1.42377365e-02 1.43071934e+02] [-1.80206545e-01 9.83625204e-01 -2.65709017e-03 -1.30304004e+01] [-1.44834736e-02 4.75737463e-05 9.99895108e-01 7.14369785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.10, Y:-13.04, Z:0.71 [[ 9.82990044e-01 1.83080029e-01 1.45696884e-02 1.43103994e+02] [-1.83059787e-01 9.83098013e-01 -2.72241752e-03 -1.30373081e+01] [-1.48218520e-02 8.98527329e-06 9.99890150e-01 7.13815038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.14, Y:-13.04, Z:0.71 [[ 9.82427302e-01 1.86117123e-01 1.40361019e-02 1.43135046e+02] [-1.86098623e-01 9.82527565e-01 -2.62435047e-03 -1.30446290e+01] [-1.42792936e-02 -3.38656864e-05 9.99898045e-01 7.13157604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.17, Y:-13.06, Z:0.71 [[ 9.82005119e-01 1.88441676e-01 1.24772430e-02 1.43165210e+02] [-1.88427222e-01 9.82084381e-01 -2.33468772e-03 -1.30563287e+01] [-1.26936580e-02 -5.83769514e-05 9.99919431e-01 7.14062816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.20, Y:-13.07, Z:0.71 [[ 9.82233330e-01 1.87347311e-01 1.08935652e-02 1.43196067e+02] [-1.87336208e-01 9.82293736e-01 -2.03996537e-03 -1.30656322e+01] [-1.10828629e-02 -3.70372354e-05 9.99938583e-01 7.14213883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.23, Y:-13.07, Z:0.71 [[ 9.82414249e-01 1.86396394e-01 1.08916607e-02 1.43228497e+02] [-1.86385207e-01 9.82474622e-01 -2.04226046e-03 -1.30743354e+01] [-1.10814502e-02 -2.36986594e-05 9.99938599e-01 7.13716725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.26, Y:-13.08, Z:0.71 [[ 9.82533249e-01 1.85729436e-01 1.15321614e-02 1.43261187e+02] [-1.85716821e-01 9.82600924e-01 -2.16472037e-03 -1.30810094e+01] [-1.17335647e-02 -1.48066175e-05 9.99931159e-01 7.14581296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.29, Y:-13.09, Z:0.72 [[ 9.82681936e-01 1.84980810e-01 1.08771828e-02 1.43293211e+02] [-1.84969528e-01 9.82742133e-01 -2.04299296e-03 -1.30854371e+01] [-1.10673803e-02 -4.33508595e-06 9.99938755e-01 7.17345132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.32, Y:-13.09, Z:0.72 [[ 9.82381968e-01 1.86495560e-01 1.20447052e-02 1.43324842e+02] [-1.86481820e-01 9.82455803e-01 -2.26389728e-03 -1.30908926e+01] [-1.22555974e-02 -2.21066908e-05 9.99924897e-01 7.16871780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.36, Y:-13.10, Z:0.72 [[ 9.81935148e-01 1.88618052e-01 1.50530689e-02 1.43356482e+02] [-1.88596810e-01 9.82050522e-01 -2.83125085e-03 -1.30973524e+01] [-1.53168992e-02 -5.88560655e-05 9.99882688e-01 7.16767002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.39, Y:-13.10, Z:0.72 [[ 9.81440216e-01 1.91068514e-01 1.63684508e-02 1.43387444e+02] [-1.91043702e-01 9.81576697e-01 -3.08086622e-03 -1.31044830e+01] [-1.66555464e-02 -1.03403426e-04 9.99861281e-01 7.16928685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.42, Y:-13.11, Z:0.71 [[ 9.80524202e-01 1.95726864e-01 1.62260224e-02 1.43418181e+02] [-1.95702961e-01 9.80658434e-01 -3.06366064e-03 -1.31131135e+01] [-1.65118264e-02 -1.71487229e-04 9.99863656e-01 7.14521866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.45, Y:-13.12, Z:0.71 [[ 9.80353587e-01 1.96690230e-01 1.48255725e-02 1.43449417e+02] [-1.96670273e-01 9.80465668e-01 -2.80661507e-03 -1.31208918e+01] [-1.50879986e-02 -1.64274254e-04 9.99886156e-01 7.13178810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.48, Y:-13.13, Z:0.71 [[ 9.80814906e-01 1.94549577e-01 1.23524052e-02 1.43480618e+02] [-1.94535473e-01 9.80892681e-01 -2.34483422e-03 -1.31308746e+01] [-1.25725704e-02 -1.03132631e-04 9.99920957e-01 7.13475039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.51, Y:-13.14, Z:0.71 [[ 9.80876816e-01 1.94159340e-01 1.35211616e-02 1.43512097e+02] [-1.94142307e-01 9.80970000e-01 -2.57374789e-03 -1.31392985e+01] [-1.37635711e-02 -1.00499872e-04 9.99905273e-01 7.14012961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.54, Y:-13.15, Z:0.72 [[ 9.80946520e-01 1.93736127e-01 1.44996012e-02 1.43543977e+02] [-1.93716374e-01 9.81053671e-01 -2.76802055e-03 -1.31474950e+01] [-1.47611525e-02 -9.35300395e-05 9.99891044e-01 7.16125752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.58, Y:-13.15, Z:0.72 [[ 9.80793642e-01 1.94467189e-01 1.50447228e-02 1.43576191e+02] [-1.94445883e-01 9.80909018e-01 -2.88030793e-03 -1.31545701e+01] [-1.53176296e-02 -1.00396705e-04 9.99882673e-01 7.18374229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.61, Y:-13.16, Z:0.72 [[ 9.80342753e-01 1.96745614e-01 1.48071106e-02 1.43608364e+02] [-1.96725111e-01 9.80454562e-01 -2.84312679e-03 -1.31608394e+01] [-1.50770719e-02 -1.25691730e-04 9.99886327e-01 7.19365830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.64, Y:-13.17, Z:0.72 [[ 9.79596680e-01 2.00264099e-01 1.68711303e-02 1.43639606e+02] [-2.00237874e-01 9.79741931e-01 -3.24682767e-03 -1.31687674e+01] [-1.71795768e-02 -1.97657669e-04 9.99852401e-01 7.17238872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.67, Y:-13.18, Z:0.72 [[ 9.79105376e-01 2.02588332e-01 1.76246972e-02 1.43671022e+02] [-2.02559939e-01 9.79263963e-01 -3.40019969e-03 -1.31780068e+01] [-1.79480716e-02 -2.40903800e-04 9.99838891e-01 7.15239346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.70, Y:-13.19, Z:0.72 [[ 9.78779799e-01 2.04251054e-01 1.64806461e-02 1.43703167e+02] [-2.04226303e-01 9.78918509e-01 -3.18904038e-03 -1.31871201e+01] [-1.67845743e-02 -2.44413120e-04 9.99859099e-01 7.16355383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.74, Y:-13.20, Z:0.72 [[ 9.78267565e-01 2.06745362e-01 1.57773946e-02 1.43735175e+02] [-2.06722860e-01 9.78394749e-01 -3.06183050e-03 -1.31960083e+01] [-1.60695393e-02 -2.66258660e-04 9.99870841e-01 7.19350432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.77, Y:-13.20, Z:0.72 [[ 9.78044730e-01 2.07893128e-01 1.44552061e-02 1.43767773e+02] [-2.07874247e-01 9.78151513e-01 -2.81322959e-03 -1.32017144e+01] [-1.47242328e-02 -2.53400696e-04 9.99891560e-01 7.20912619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.80, Y:-13.21, Z:0.72 [[ 9.77836657e-01 2.08984726e-01 1.26828987e-02 1.43799504e+02] [-2.08970204e-01 9.77918878e-01 -2.47438925e-03 -1.32082095e+01] [-1.29199556e-02 -2.30799414e-04 9.99916507e-01 7.21576020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.83, Y:-13.21, Z:0.72 [[ 9.77771706e-01 2.09343737e-01 1.17341523e-02 1.43831492e+02] [-2.09331264e-01 9.77842091e-01 -2.29500803e-03 -1.32138825e+01] [-1.19545936e-02 -2.12331027e-04 9.99928519e-01 7.22174187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.86, Y:-13.22, Z:0.72 [[ 9.77538404e-01 2.10362449e-01 1.28960698e-02 1.43863456e+02] [-2.10347394e-01 9.77623436e-01 -2.52818971e-03 -1.32183282e+01] [-1.31393363e-02 -2.41252151e-04 9.99913646e-01 7.20426345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.90, Y:-13.22, Z:0.72 [[ 9.77175201e-01 2.11999436e-01 1.35965054e-02 1.43895077e+02] [-2.11982773e-01 9.77269751e-01 -2.67180180e-03 -1.32247320e+01] [-1.38538739e-02 -2.71406456e-04 9.99903994e-01 7.19464050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.93, Y:-13.23, Z:0.72 [[ 9.76960169e-01 2.13018181e-01 1.31179963e-02 1.43926701e+02] [-2.13002662e-01 9.77048199e-01 -2.58526566e-03 -1.32324897e+01] [-1.33676232e-02 -2.68466559e-04 9.99910613e-01 7.19617906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.96, Y:-13.24, Z:0.72 [[ 9.76808813e-01 2.13771729e-01 1.20909023e-02 1.43958849e+02] [-2.13758521e-01 9.76883609e-01 -2.38951588e-03 -1.32404375e+01] [-1.23222152e-02 -2.50433221e-04 9.99924047e-01 7.20526365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.99, Y:-13.24, Z:0.72 [[ 9.76881030e-01 2.13308458e-01 1.42462198e-02 1.43992127e+02] [-2.13289967e-01 9.76984863e-01 -2.82267263e-03 -1.32434042e+01] [-1.45204410e-02 -2.81160388e-04 9.99894533e-01 7.24064961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.02, Y:-13.25, Z:0.72 [[ 9.76489158e-01 2.14995944e-01 1.56737849e-02 1.44024537e+02] [-2.14973670e-01 9.76614886e-01 -3.11228899e-03 -1.32460714e+01] [-1.59763811e-02 -3.30334609e-04 9.99872315e-01 7.24443219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.06, Y:-13.25, Z:0.72 [[ 9.76220061e-01 2.16184617e-01 1.60811643e-02 1.44056456e+02] [-2.16161209e-01 9.76352440e-01 -3.20062135e-03 -1.32487608e+01] [-1.63928091e-02 -3.51613143e-04 9.99865567e-01 7.24727680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.09, Y:-13.25, Z:0.72 [[ 9.75847165e-01 2.18064099e-01 1.30521939e-02 1.44088994e+02] [-2.18048760e-01 9.75934401e-01 -2.60429684e-03 -1.32506756e+01] [-1.33059887e-02 -3.04619011e-04 9.99911425e-01 7.19902565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.12, Y:-13.25, Z:0.72 [[ 9.75818228e-01 2.18327225e-01 1.05833935e-02 1.44120826e+02] [-2.18317097e-01 9.75875588e-01 -2.11709371e-03 -1.32541344e+01] [-1.07902946e-02 -2.44637116e-04 9.99941753e-01 7.19210282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.15, Y:-13.26, Z:0.72 [[ 9.75974292e-01 2.17684210e-01 9.36836434e-03 1.44152514e+02] [-2.17676245e-01 9.76019232e-01 -1.87392625e-03 -1.32578879e+01] [-9.55162792e-03 -2.10366525e-04 9.99954360e-01 7.19864438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.18, Y:-13.26, Z:0.72 [[ 9.76105309e-01 2.17084847e-01 9.62261389e-03 1.44184027e+02] [-2.17076402e-01 9.76152716e-01 -1.92608683e-03 -1.32627964e+01] [-9.81126495e-03 -2.08778821e-04 9.99951847e-01 7.21814670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.22, Y:-13.27, Z:0.73 [[ 9.76834794e-01 2.13739144e-01 1.04576966e-02 1.44216534e+02] [-2.13728964e-01 9.76890753e-01 -2.09459714e-03 -1.32661551e+01] [-1.06637245e-02 -1.89037298e-04 9.99943123e-01 7.25367843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.25, Y:-13.27, Z:0.73 [[ 9.77450860e-01 2.10912627e-01 1.02800388e-02 1.44248800e+02] [-2.10902619e-01 9.77504905e-01 -2.06045245e-03 -1.32703028e+01] [-1.04833638e-02 -1.54096089e-04 9.99945036e-01 7.25160914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.28, Y:-13.27, Z:0.72 [[ 9.78063336e-01 2.08073279e-01 9.88033629e-03 1.44281356e+02] [-2.08063870e-01 9.78113233e-01 -1.98226288e-03 -1.32739179e+01] [-1.00765436e-02 -1.16962356e-04 9.99949224e-01 7.23765921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.31, Y:-13.28, Z:0.72 [[ 9.79036406e-01 2.03445081e-01 9.89015411e-03 1.44313781e+02] [-2.03435403e-01 9.79086357e-01 -1.98547410e-03 -1.32764430e+01] [-1.00872499e-02 -6.81560613e-05 9.99949120e-01 7.21904293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.35, Y:-13.28, Z:0.72 [[ 9.79277754e-01 2.02308351e-01 9.29576022e-03 1.44345579e+02] [-2.02299738e-01 9.79321872e-01 -1.86749920e-03 -1.32807856e+01] [-9.48135198e-03 -5.17294346e-05 9.99955050e-01 7.22527900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.38, Y:-13.28, Z:0.72 [[ 9.79367878e-01 2.01825262e-01 1.02529897e-02 1.44377663e+02] [-2.01814743e-01 9.79421544e-01 -2.06116900e-03 -1.32848004e+01] [-1.04579949e-02 -5.05617586e-05 9.99945312e-01 7.23142724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.41, Y:-13.28, Z:0.72 [[ 9.79760293e-01 1.99849219e-01 1.14043152e-02 1.44411078e+02] [-1.99836039e-01 9.79826663e-01 -2.29532876e-03 -1.32847281e+01] [-1.16329718e-02 -3.01212123e-05 9.99932334e-01 7.23626196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.44, Y:-13.29, Z:0.72 [[ 9.79989078e-01 1.98691076e-01 1.19692480e-02 1.44444048e+02] [-1.98676441e-01 9.80062170e-01 -2.41150985e-03 -1.32895519e+01] [-1.22097526e-02 -1.47542782e-05 9.99925458e-01 7.24008418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.48, Y:-13.30, Z:0.72 [[ 9.80395939e-01 1.96683991e-01 1.17987744e-02 1.44476375e+02] [-1.96669595e-01 9.80466934e-01 -2.37964073e-03 -1.32957179e+01] [-1.20363454e-02 1.25299241e-05 9.99927560e-01 7.23199901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.51, Y:-13.30, Z:0.72 [[ 9.80878052e-01 1.94269541e-01 1.17299928e-02 1.44508566e+02] [-1.94255110e-01 9.80948186e-01 -2.36825425e-03 -1.33033836e+01] [-1.19665948e-02 4.43575732e-05 9.99928397e-01 7.21663499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.54, Y:-13.31, Z:0.72 [[ 9.82195862e-01 1.87600752e-01 9.86138173e-03 1.44538947e+02] [-1.87590205e-01 9.82245360e-01 -1.99213593e-03 -1.33136982e+01] [-1.00600226e-02 1.06769046e-04 9.99949391e-01 7.20931948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.57, Y:-13.32, Z:0.72 [[ 9.82749936e-01 1.84674661e-01 9.89104664e-03 1.44570113e+02] [-1.84663889e-01 9.82799700e-01 -1.99947133e-03 -1.33204972e+01] [-1.00901694e-02 1.38461183e-04 9.99949083e-01 7.21975724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.60, Y:-13.33, Z:0.72 [[ 9.82997251e-01 1.83281924e-01 1.11418450e-02 1.44602039e+02] [-1.83268149e-01 9.83060378e-01 -2.25374769e-03 -1.33263583e+01] [-1.13661775e-02 1.73482480e-04 9.99935388e-01 7.23715527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.63, Y:-13.33, Z:0.73 [[ 9.83165409e-01 1.82328669e-01 1.19178761e-02 1.44633914e+02] [-1.82312819e-01 9.83237620e-01 -2.41228925e-03 -1.33316357e+01] [-1.21579337e-02 1.98897748e-04 9.99926070e-01 7.25321405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.67, Y:-13.34, Z:0.73 [[ 9.83183602e-01 1.82417975e-01 8.58416741e-03 1.44665659e+02] [-1.82409744e-01 9.83221065e-01 -1.73884140e-03 -1.33367590e+01] [-8.75733015e-03 1.43764572e-04 9.99961644e-01 7.27479452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.70, Y:-13.34, Z:0.73 [[ 9.83069619e-01 1.83067965e-01 7.76176635e-03 1.44697316e+02] [-1.83061247e-01 9.83100251e-01 -1.57336363e-03 -1.33447792e+01] [-7.91862693e-03 1.25847355e-04 9.99968639e-01 7.26964472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.73, Y:-13.35, Z:0.73 [[ 9.83146039e-01 1.82665985e-01 7.55009822e-03 1.44728638e+02] [-1.82659602e-01 9.83175021e-01 -1.53237346e-03 -1.33545661e+01] [-7.70298049e-03 1.27448961e-04 9.99970323e-01 7.25790206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.76, Y:-13.37, Z:0.73 [[ 9.83115557e-01 1.82773606e-01 8.80972841e-03 1.44759297e+02] [-1.82764913e-01 9.83155017e-01 -1.78872060e-03 -1.33661202e+01] [-8.98825959e-03 1.48409799e-04 9.99959594e-01 7.25112379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.79, Y:-13.38, Z:0.73 [[ 9.83240197e-01 1.81970877e-01 1.11944496e-02 1.44789515e+02] [-1.81956774e-01 9.83303900e-01 -2.27423958e-03 -1.33775931e+01] [-1.14213913e-02 1.99217843e-04 9.99934754e-01 7.25773757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.82, Y:-13.38, Z:0.73 [[ 9.83265013e-01 1.81853721e-01 1.09150713e-02 1.44821689e+02] [-1.81840277e-01 9.83325574e-01 -2.22006676e-03 -1.33828695e+01] [-1.11367961e-02 1.98114389e-04 9.99937964e-01 7.25779994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.85, Y:-13.39, Z:0.73 [[ 9.83013889e-01 1.83279160e-01 9.61474623e-03 1.44853149e+02] [-1.83268786e-01 9.83060895e-01 -1.95665738e-03 -1.33898172e+01] [-9.81049555e-03 1.61338508e-04 9.99951863e-01 7.27029454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.88, Y:-13.40, Z:0.73 [[ 9.82860658e-01 1.84118435e-01 9.23736483e-03 1.44883743e+02] [-1.84108885e-01 9.82904054e-01 -1.88113674e-03 -1.33995460e+01] [-9.42579530e-03 1.48214360e-04 9.99955565e-01 7.28643026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.92, Y:-13.41, Z:0.73 [[ 9.82824300e-01 1.84312439e-01 9.23692550e-03 1.44915608e+02] [-1.84302877e-01 9.82867693e-01 -1.88329347e-03 -1.34059811e+01] [-9.42579007e-03 1.48554641e-04 9.99955565e-01 7.28806871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.95, Y:-13.42, Z:0.73 [[ 9.82757436e-01 1.84695431e-01 8.68449473e-03 1.44946534e+02] [-1.84686985e-01 9.82795797e-01 -1.77156118e-03 -1.34156599e+01] [-8.86228418e-03 1.37101775e-04 9.99960720e-01 7.30875620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.98, Y:-13.42, Z:0.73 [[ 9.82549719e-01 1.85709482e-01 1.03941422e-02 1.44977679e+02] [-1.85697427e-01 9.82604684e-01 -2.12159645e-03 -1.34246015e+01] [-1.06073334e-02 1.54408533e-04 9.99943729e-01 7.30800552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.01, Y:-13.43, Z:0.73 [[ 9.81958925e-01 1.88776086e-01 1.09662648e-02 1.45008764e+02] [-1.88762842e-01 9.82020149e-01 -2.23984403e-03 -1.34348717e+01] [-1.11919220e-02 1.29411533e-04 9.99937360e-01 7.28564630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.04, Y:-13.44, Z:0.73 [[ 9.81476280e-01 1.91273239e-01 1.09022555e-02 1.45039896e+02] [-1.91260286e-01 9.81536824e-01 -2.22827796e-03 -1.34426989e+01] [-1.11271752e-02 1.01833447e-04 9.99938086e-01 7.27280779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.07, Y:-13.45, Z:0.73 [[ 9.81181025e-01 1.92824770e-01 1.01195378e-02 1.45071285e+02] [-1.92813678e-01 9.81233205e-01 -2.06975288e-03 -1.34495406e+01] [-1.03287262e-02 7.96169406e-05 9.99946654e-01 7.27601041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.10, Y:-13.46, Z:0.73 [[ 9.80917515e-01 1.94248542e-01 8.26641647e-03 1.45102686e+02] [-1.94241180e-01 9.80952344e-01 -1.69199774e-03 -1.34559207e+01] [-8.43762870e-03 5.40317293e-05 9.99964401e-01 7.28967752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.13, Y:-13.47, Z:0.73 [[ 9.80419352e-01 1.96845916e-01 5.43865803e-03 1.45133966e+02] [-1.96842762e-01 9.80434437e-01 -1.11456888e-03 -1.34658185e+01] [-5.55164596e-03 2.21844324e-05 9.99984589e-01 7.29152897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.17, Y:-13.48, Z:0.73 [[ 9.79930527e-01 1.99251931e-01 5.90172952e-03 1.45165995e+02] [-1.99248250e-01 9.79948299e-01 -1.21120717e-03 -1.34760023e+01] [-6.02472517e-03 1.09896060e-05 9.99981851e-01 7.28562978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.20, Y:-13.49, Z:0.73 [[ 9.79432424e-01 2.01701727e-01 5.34236022e-03 1.45197751e+02] [-2.01698741e-01 9.79446994e-01 -1.09752525e-03 -1.34859255e+01] [-5.45393140e-03 -2.59551763e-06 9.99985127e-01 7.28518644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.23, Y:-13.50, Z:0.73 [[ 9.78605731e-01 2.05649309e-01 6.25977821e-03 1.45228486e+02] [-2.05645288e-01 9.78625751e-01 -1.28634244e-03 -1.34964919e+01] [-6.39051559e-03 -2.84718073e-05 9.99979580e-01 7.29613178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.26, Y:-13.50, Z:0.73 [[ 9.78042010e-01 2.08253089e-01 8.02985036e-03 1.45259966e+02] [-2.08246552e-01 9.78074970e-01 -1.65100293e-03 -1.35036818e+01] [-8.19762212e-03 -5.74384343e-05 9.99966397e-01 7.30278440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.29, Y:-13.51, Z:0.73 [[ 9.77357669e-01 2.11474805e-01 7.09886120e-03 1.45292156e+02] [-2.11469737e-01 9.77383447e-01 -1.46565032e-03 -1.35100694e+01] [-7.24825754e-03 -6.87297316e-05 9.99973729e-01 7.31446266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.32, Y:-13.52, Z:0.73 [[ 9.76623539e-01 2.14833694e-01 7.27650002e-03 1.45323930e+02] [-2.14828439e-01 9.76650641e-01 -1.50542762e-03 -1.35159187e+01] [-7.43001499e-03 -9.29630933e-05 9.99972393e-01 7.32237784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.36, Y:-13.52, Z:0.73 [[ 9.75356854e-01 2.20477519e-01 8.28682487e-03 1.45355620e+02] [-2.20470877e-01 9.75392045e-01 -1.71806820e-03 -1.35201171e+01] [-8.46169846e-03 -1.51273950e-04 9.99964188e-01 7.32433249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.39, Y:-13.53, Z:0.73 [[ 9.75023497e-01 2.21893590e-01 9.61326478e-03 1.45386946e+02] [-2.21884679e-01 9.75070869e-01 -1.99728146e-03 -1.35258587e+01] [-9.81679840e-03 -1.85639820e-04 9.99951797e-01 7.32018903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.42, Y:-13.53, Z:0.73 [[ 9.74540199e-01 2.24016778e-01 9.37460048e-03 1.45418615e+02] [-2.24008359e-01 9.74585268e-01 -1.95218165e-03 -1.35326539e+01] [-9.57366896e-03 -1.97509370e-04 9.99954152e-01 7.32631119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.45, Y:-13.54, Z:0.73 [[ 9.74363018e-01 2.24797507e-01 9.09885402e-03 1.45450891e+02] [-2.24789560e-01 9.74405482e-01 -1.90013007e-03 -1.35397883e+01] [-9.29311774e-03 -1.93910926e-04 9.99956799e-01 7.32933391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.48, Y:-13.55, Z:0.73 [[ 9.74040020e-01 2.26207379e-01 8.73275079e-03 1.45483361e+02] [-2.26200072e-01 9.74079147e-01 -1.82853748e-03 -1.35469807e+01] [-8.92001911e-03 -1.94280169e-04 9.99960197e-01 7.33831713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.51, Y:-13.55, Z:0.73 [[ 9.73696570e-01 2.27679153e-01 8.78591691e-03 1.45514983e+02] [-2.27671782e-01 9.73736187e-01 -1.84344795e-03 -1.35517278e+01] [-8.97487989e-03 -2.05346419e-04 9.99959704e-01 7.34831511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.55, Y:-13.56, Z:0.74 [[ 9.73351659e-01 2.29161979e-01 8.44605871e-03 1.45548071e+02] [-2.29155180e-01 9.73388281e-01 -1.77713176e-03 -1.35556608e+01] [-8.62854559e-03 -2.05683954e-04 9.99962752e-01 7.35334894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.58, Y:-13.56, Z:0.73 [[ 9.72464942e-01 2.32928519e-01 7.49947860e-03 1.45580790e+02] [-2.32923244e-01 9.72493836e-01 -1.58141639e-03 -1.35566871e+01] [-7.66155369e-03 -2.08930892e-04 9.99970628e-01 7.34285182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.61, Y:-13.56, Z:0.73 [[ 9.72035154e-01 2.34742212e-01 6.61457860e-03 1.45612954e+02] [-2.34738129e-01 9.72057640e-01 -1.39814679e-03 -1.35609893e+01] [-6.75795573e-03 -1.93645971e-04 9.99977146e-01 7.33269910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.64, Y:-13.57, Z:0.73 [[ 9.71730007e-01 2.36002251e-01 6.61296511e-03 1.45644971e+02] [-2.35998178e-01 9.71752488e-01 -1.40090916e-03 -1.35672114e+01] [-6.75678301e-03 -1.99342251e-04 9.99977153e-01 7.32874365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.68, Y:-13.57, Z:0.74 [[ 9.72374610e-01 2.33287153e-01 8.04496953e-03 1.45676226e+02] [-2.33281005e-01 9.72407866e-01 -1.70753814e-03 -1.35736475e+01] [-8.22133836e-03 -2.16371842e-04 9.99966181e-01 7.36168281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.71, Y:-13.58, Z:0.74 [[ 9.72739172e-01 2.31741608e-01 8.62145703e-03 1.45708259e+02] [-2.31734452e-01 9.72777354e-01 -1.83375731e-03 -1.35788773e+01] [-8.81171603e-03 -2.14121054e-04 9.99961153e-01 7.36535610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.74, Y:-13.58, Z:0.74 [[ 9.73192400e-01 2.29820340e-01 8.89743618e-03 1.45740771e+02] [-2.29812601e-01 9.73233051e-01 -1.89655309e-03 -1.35826128e+01] [-9.09514543e-03 -1.99031895e-04 9.99958619e-01 7.36675407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.77, Y:-13.59, Z:0.74 [[ 9.73366060e-01 2.29052225e-01 9.67430258e-03 1.45774115e+02] [-2.29042983e-01 9.73414114e-01 -2.06757563e-03 -1.35863508e+01] [-9.89068547e-03 -2.03323184e-04 9.99951065e-01 7.36044841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.81, Y:-13.59, Z:0.73 [[ 9.73702439e-01 2.27508597e-01 1.19749194e-02 1.45807702e+02] [-2.27494318e-01 9.73776044e-01 -2.55945606e-03 -1.35888743e+01] [-1.22431879e-02 -2.32077507e-04 9.99925022e-01 7.34266412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.84, Y:-13.59, Z:0.74 [[ 9.73594394e-01 2.27997191e-01 1.14558626e-02 1.45840244e+02] [-2.27984064e-01 9.73661765e-01 -2.45648805e-03 -1.35931658e+01] [-1.17142078e-02 -2.20131120e-04 9.99931362e-01 7.35410356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.87, Y:-13.60, Z:0.74 [[ 9.73488831e-01 2.28547885e-01 9.23907384e-03 1.45872110e+02] [-2.28539328e-01 9.73532656e-01 -1.98571346e-03 -1.35978969e+01] [-9.44837071e-03 -1.78421845e-04 9.99955347e-01 7.36146452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.90, Y:-13.60, Z:0.74 [[ 9.73612398e-01 2.28083973e-01 7.52324944e-03 1.45903925e+02] [-2.28078287e-01 9.73641454e-01 -1.61673361e-03 -1.36033783e+01] [-7.69369855e-03 -1.41817953e-04 9.99970393e-01 7.37215439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.93, Y:-13.61, Z:0.74 [[ 9.74000002e-01 2.26417847e-01 7.67814925e-03 1.45934805e+02] [-2.26411865e-01 9.74030257e-01 -1.65106758e-03 -1.36113340e+01] [-7.85258085e-03 -1.30284260e-04 9.99969160e-01 7.37335119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.97, Y:-13.62, Z:0.74 [[ 9.73960240e-01 2.26584151e-01 7.81494844e-03 1.45966804e+02] [-2.26577942e-01 9.73991584e-01 -1.68247032e-03 -1.36172278e+01] [-7.99291512e-03 -1.32035744e-04 9.99968047e-01 7.36026451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.00, Y:-13.62, Z:0.73 [[ 9.73816726e-01 2.27152669e-01 9.09116743e-03 1.45998698e+02] [-2.27144268e-01 9.73859148e-01 -1.95979367e-03 -1.36196972e+01] [-9.29868893e-03 -1.56526717e-04 9.99956754e-01 7.34662021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.03, Y:-13.61, Z:0.73 [[ 9.73457743e-01 2.28599125e-01 1.10663105e-02 1.46032453e+02] [-2.28586765e-01 9.73520620e-01 -2.38618805e-03 -1.36145466e+01] [-1.13187620e-02 -2.06758878e-04 9.99935919e-01 7.33418038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.07, Y:-13.62, Z:0.73 [[ 9.73383791e-01 2.28929972e-01 1.07267396e-02 1.46066009e+02] [-2.28918344e-01 9.73442873e-01 -2.31608986e-03 -1.36178472e+01] [-1.09720906e-02 -2.01103124e-04 9.99939785e-01 7.34350420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.10, Y:-13.62, Z:0.74 [[ 9.73538754e-01 2.28243556e-01 1.12771531e-02 1.46098559e+02] [-2.28230634e-01 9.73604046e-01 -2.43704858e-03 -1.36228153e+01] [-1.15357225e-02 -2.01230558e-04 9.99933441e-01 7.35859968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.13, Y:-13.63, Z:0.74 [[ 9.73583815e-01 2.28056332e-01 1.11742782e-02 1.46130807e+02] [-2.28043618e-01 9.73647919e-01 -2.41604977e-03 -1.36281904e+01] [-1.14308081e-02 -1.95995879e-04 9.99934647e-01 7.36973078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.16, Y:-13.63, Z:0.74 [[ 9.74239259e-01 2.25234831e-01 1.12754849e-02 1.46163918e+02] [-2.25221672e-01 9.74304493e-01 -2.44009894e-03 -1.36295157e+01] [-1.15353509e-02 -1.62243375e-04 9.99933452e-01 7.36359476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.20, Y:-13.63, Z:0.73 [[ 9.74829747e-01 2.22595510e-01 1.25779234e-02 1.46196075e+02] [-2.22578896e-01 9.74910877e-01 -2.72343411e-03 -1.36318391e+01] [-1.28685785e-02 -1.44695711e-04 9.99917186e-01 7.34751742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.23, Y:-13.64, Z:0.73 [[ 9.75442295e-01 2.19958172e-01 1.14337742e-02 1.46228078e+02] [-2.19944243e-01 9.75509299e-01 -2.47737266e-03 -1.36354525e+01] [-1.16986714e-02 -9.82587321e-05 9.99931563e-01 7.34662809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.26, Y:-13.64, Z:0.73 [[ 9.76106717e-01 2.16908751e-01 1.28945976e-02 1.46260213e+02] [-2.16890728e-01 9.76191881e-01 -2.79692368e-03 -1.36412673e+01] [-1.31942787e-02 -6.66226659e-05 9.99912949e-01 7.33958351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.29, Y:-13.65, Z:0.74 [[ 9.76916009e-01 2.13220007e-01 1.31278183e-02 1.46291884e+02] [-2.13200974e-01 9.77004211e-01 -2.84898191e-03 -1.36482249e+01] [-1.34333937e-02 -1.56476096e-05 9.99909768e-01 7.35517650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.32, Y:-13.65, Z:0.74 [[ 9.78312936e-01 2.06801048e-01 1.17100755e-02 1.46323506e+02] [-2.06785423e-01 9.78383014e-01 -2.54300495e-03 -1.36543420e+01] [-1.19828350e-02 6.63817363e-05 9.99928201e-01 7.38752662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.36, Y:-13.66, Z:0.74 [[ 9.78642812e-01 2.05258135e-01 1.12846715e-02 1.46355847e+02] [-2.05243490e-01 9.78707868e-01 -2.45332320e-03 -1.36605804e+01] [-1.15479613e-02 8.48217461e-05 9.99933316e-01 7.39097267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.39, Y:-13.67, Z:0.74 [[ 9.78743861e-01 2.04863920e-01 9.55140575e-03 1.46387167e+02] [-2.04853399e-01 9.78790462e-01 -2.07762450e-03 -1.36673211e+01] [-9.77445515e-03 7.68242943e-05 9.99952226e-01 7.38987849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.42, Y:-13.67, Z:0.74 [[ 9.78651129e-01 2.05190309e-01 1.17857940e-02 1.46418665e+02] [-2.05174296e-01 9.78722089e-01 -2.56513476e-03 -1.36732082e+01] [-1.20613577e-02 9.22300430e-05 9.99927255e-01 7.36800422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.45, Y:-13.68, Z:0.74 [[ 9.78108933e-01 2.07627457e-01 1.39195910e-02 1.46449723e+02] [-2.07605341e-01 9.78207970e-01 -3.03133606e-03 -1.36796096e+01] [-1.42456435e-02 7.51954440e-05 9.99898523e-01 7.36430929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.48, Y:-13.69, Z:0.74 [[ 9.77769977e-01 2.09133677e-01 1.51320024e-02 1.46480550e+02] [-2.09107689e-01 9.77887060e-01 -3.29739093e-03 -1.36876146e+01] [-1.54869849e-02 5.98717895e-05 9.99880068e-01 7.35570774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.51, Y:-13.70, Z:0.73 [[ 9.77539968e-01 2.10366475e-01 1.27105071e-02 1.46511085e+02] [-2.10348219e-01 9.77622598e-01 -2.77159249e-03 -1.36968863e+01] [-1.30091292e-02 3.57098942e-05 9.99915377e-01 7.34940039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.54, Y:-13.71, Z:0.73 [[ 9.77004961e-01 2.12943156e-01 1.07943699e-02 1.46541759e+02] [-2.12930129e-01 9.77064590e-01 -2.35537782e-03 -1.37072795e+01] [-1.10483581e-02 2.76925021e-06 9.99938965e-01 7.33349559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.57, Y:-13.71, Z:0.73 [[ 9.76839529e-01 2.13755641e-01 9.64676176e-03 1.46573469e+02] [-2.13745262e-01 9.76887161e-01 -2.10638636e-03 -1.37126990e+01] [-9.87404968e-03 -4.34816228e-06 9.99951250e-01 7.34893075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.61, Y:-13.72, Z:0.74 [[ 9.76496731e-01 2.15363724e-01 8.52059820e-03 1.46605278e+02] [-2.15355677e-01 9.76533904e-01 -1.86176291e-03 -1.37170530e+01] [-8.72160922e-03 -1.69537971e-05 9.99961966e-01 7.37142272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.64, Y:-13.72, Z:0.74 [[ 9.76060104e-01 2.17329551e-01 8.63368519e-03 1.46638345e+02] [-2.17321346e-01 9.76098287e-01 -1.88864456e-03 -1.37222020e+01] [-8.83778359e-03 -3.28534836e-05 9.99960945e-01 7.38709940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.67, Y:-13.73, Z:0.74 [[ 9.75580141e-01 2.19447552e-01 9.28221525e-03 1.46669854e+02] [-2.19438157e-01 9.75624297e-01 -2.03138883e-03 -1.37283285e+01] [-9.50173803e-03 -5.50896043e-05 9.99954856e-01 7.39187741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.70, Y:-13.74, Z:0.74 [[ 9.74991930e-01 2.21934156e-01 1.16605024e-02 1.46700895e+02] [-2.21919489e-01 9.75061650e-01 -2.55332836e-03 -1.37366638e+01] [-1.19363795e-02 -9.82181909e-05 9.99928754e-01 7.37979202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.73, Y:-13.74, Z:0.74 [[ 9.74770860e-01 2.22850958e-01 1.26182621e-02 1.46732847e+02] [-2.22833838e-01 9.74852521e-01 -2.76477165e-03 -1.37432578e+01] [-1.29170766e-02 -1.16756926e-04 9.99916564e-01 7.38630340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.76, Y:-13.75, Z:0.74 [[ 9.74668784e-01 2.23418876e-01 1.02356283e-02 1.46764764e+02] [-2.23407625e-01 9.74722523e-01 -2.24428549e-03 -1.37459033e+01] [-1.04783131e-02 -9.92823953e-05 9.99945096e-01 7.39134097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.80, Y:-13.75, Z:0.74 [[ 9.74656005e-01 2.23550772e-01 8.40981037e-03 1.46796298e+02] [-2.23543171e-01 9.74692283e-01 -1.84524901e-03 -1.37508004e+01] [-8.60948410e-03 -8.14726524e-05 9.99962934e-01 7.38981645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.83, Y:-13.76, Z:0.74 [[ 9.74602854e-01 2.23830290e-01 7.01986719e-03 1.46827898e+02] [-2.23824993e-01 9.74628132e-01 -1.54138161e-03 -1.37564410e+01] [-7.18676794e-03 -6.89868115e-05 9.99974172e-01 7.38476908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.86, Y:-13.76, Z:0.74 [[ 9.74626649e-01 2.23703964e-01 7.70916166e-03 1.46859289e+02] [-2.23697564e-01 9.74657135e-01 -1.69375336e-03 -1.37626001e+01] [-7.89268876e-03 -7.37435204e-05 9.99968850e-01 7.38508543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.89, Y:-13.77, Z:0.74 [[ 9.74279814e-01 2.25177509e-01 8.59842108e-03 1.46890459e+02] [-2.25169595e-01 9.74317751e-01 -1.89024341e-03 -1.37694640e+01] [-8.80323459e-03 -9.44769897e-05 9.99961246e-01 7.42306374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.92, Y:-13.78, Z:0.74 [[ 9.74235132e-01 2.25352489e-01 9.06443131e-03 1.46922001e+02] [-2.25343690e-01 9.74277294e-01 -1.99393335e-03 -1.37754051e+01] [-9.28060745e-03 -1.00052477e-04 9.99956929e-01 7.43488930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.95, Y:-13.78, Z:0.74 [[ 9.73867557e-01 2.26926506e-01 9.29209119e-03 1.46953816e+02] [-2.26917319e-01 9.73911879e-01 -2.04529147e-03 -1.37809254e+01] [-9.51380884e-03 -1.16693417e-04 9.99954736e-01 7.42452717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.98, Y:-13.79, Z:0.74 [[ 9.73837209e-01 2.27056718e-01 9.29181747e-03 1.46984762e+02] [-2.27047525e-01 9.73881529e-01 -2.04653486e-03 -1.37877017e+01] [-9.51380889e-03 -1.16692368e-04 9.99954736e-01 7.42612351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.02, Y:-13.79, Z:0.74 [[ 9.73490181e-01 2.28610444e-01 7.35741501e-03 1.47017176e+02] [-2.28604716e-01 9.73517978e-01 -1.62165260e-03 -1.37919572e+01] [-7.53330251e-03 -1.03276884e-04 9.99971619e-01 7.41537033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.05, Y:-13.79, Z:0.74 [[ 9.72609940e-01 2.32338276e-01 6.98782169e-03 1.47049665e+02] [-2.32333198e-01 9.72635034e-01 -1.54120863e-03 -1.37931959e+01] [-7.15468195e-03 -1.24508123e-04 9.99974397e-01 7.40223547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.08, Y:-13.80, Z:0.74 [[ 9.72216849e-01 2.33900731e-01 9.21119671e-03 1.47082061e+02] [-2.33891966e-01 9.72260467e-01 -2.03266511e-03 -1.37975639e+01] [-9.43112427e-03 -1.78233640e-04 9.99955510e-01 7.40787241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.11, Y:-13.80, Z:0.74 [[ 9.72160446e-01 2.34075921e-01 1.06080063e-02 1.47114073e+02] [-2.34064292e-01 9.72218299e-01 -2.34227441e-03 -1.38015623e+01] [-1.08615679e-02 -2.05888950e-04 9.99940990e-01 7.41760135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.15, Y:-13.80, Z:0.74 [[ 9.72425258e-01 2.33031435e-01 9.24488561e-03 1.47146575e+02] [-2.33022543e-01 9.72469188e-01 -2.04267957e-03 -1.38048430e+01] [-9.46637496e-03 -1.67913540e-04 9.99955179e-01 7.44867036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.18, Y:-13.81, Z:0.74 [[ 9.72853545e-01 2.31232675e-01 9.35043102e-03 1.47178282e+02] [-2.31223483e-01 9.72898467e-01 -2.06730925e-03 -1.38109581e+01] [-9.57504946e-03 -1.50850096e-04 9.99954147e-01 7.43840988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.21, Y:-13.82, Z:0.74 [[ 9.73268315e-01 2.29558049e-01 7.20346443e-03 1.47209597e+02] [-2.29552542e-01 9.73294966e-01 -1.59336174e-03 -1.38167584e+01] [-7.37686468e-03 -1.02805072e-04 9.99972785e-01 7.43684447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.24, Y:-13.82, Z:0.74 [[ 9.73630324e-01 2.27970426e-01 8.57187555e-03 1.47240754e+02] [-2.27962564e-01 9.73668051e-01 -1.89637496e-03 -1.38213106e+01] [-8.77847877e-03 -1.07698567e-04 9.99961463e-01 7.42371067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.27, Y:-13.82, Z:0.74 [[ 9.73675906e-01 2.27724800e-01 9.83087007e-03 1.47272881e+02] [-2.27714440e-01 9.73725527e-01 -2.17555239e-03 -1.38202211e+01] [-1.00679964e-02 -1.20348120e-04 9.99949309e-01 7.43725348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.30, Y:-13.82, Z:0.74 [[ 9.73828540e-01 2.27004743e-01 1.12614959e-02 1.47304195e+02] [-2.26991091e-01 9.73893644e-01 -2.49288023e-03 -1.38235356e+01] [-1.15333949e-02 -1.28621323e-04 9.99933480e-01 7.44004738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.33, Y:-13.83, Z:0.74 [[ 9.73851325e-01 2.26856254e-01 1.22408181e-02 1.47334960e+02] [-2.26840102e-01 9.73928242e-01 -2.71048536e-03 -1.38298319e+01] [-1.25365690e-02 -1.37098655e-04 9.99921405e-01 7.43952774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.37, Y:-13.84, Z:0.74 [[ 9.73964794e-01 2.26397854e-01 1.16872768e-02 1.47365703e+02] [-2.26383081e-01 9.74034905e-01 -2.58930896e-03 -1.38382889e+01] [-1.19700295e-02 -1.23905958e-04 9.99928349e-01 7.43954337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.40, Y:-13.85, Z:0.74 [[ 9.74843981e-01 2.22669515e-01 9.87421025e-03 1.47396549e+02] [-2.22658762e-01 9.74893985e-01 -2.18925699e-03 -1.38474682e+01] [-1.01137890e-02 -6.43954276e-05 9.99948852e-01 7.43333849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.43, Y:-13.85, Z:0.74 [[ 9.75315244e-01 2.20591891e-01 9.96958655e-03 1.47427782e+02] [-2.20580817e-01 9.75366196e-01 -2.21074175e-03 -1.38526348e+01] [-1.02116694e-02 -4.29294173e-05 9.99947859e-01 7.42753340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.46, Y:-13.86, Z:0.74 [[ 9.75719544e-01 2.18794189e-01 1.00237147e-02 1.47458748e+02] [-2.18782892e-01 9.75771030e-01 -2.22343763e-03 -1.38573168e+01] [-1.02673256e-02 -2.35657424e-05 9.99947289e-01 7.43530873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.49, Y:-13.86, Z:0.74 [[ 9.75797018e-01 2.18373655e-01 1.15380672e-02 1.47489098e+02] [-2.18358649e-01 9.75865230e-01 -2.56009484e-03 -1.38635185e+01] [-1.18186559e-02 -2.13038648e-05 9.99930157e-01 7.43248870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.52, Y:-13.87, Z:0.75 [[ 9.75472471e-01 2.19771727e-01 1.24034744e-02 1.47519706e+02] [-2.19754488e-01 9.75551324e-01 -2.75294163e-03 -1.38705795e+01] [-1.27052446e-02 -4.03003943e-05 9.99919284e-01 7.45607710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.55, Y:-13.88, Z:0.75 [[ 9.74885000e-01 2.22248605e-01 1.43106185e-02 1.47551593e+02] [-2.22225890e-01 9.74990026e-01 -3.17850998e-03 -1.38766967e+01] [-1.46591297e-02 -8.15082342e-05 9.99892546e-01 7.46829995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.58, Y:-13.88, Z:0.75 [[ 9.74436718e-01 2.24282749e-01 1.30510865e-02 1.47583281e+02] [-2.24264013e-01 9.74524109e-01 -2.90064649e-03 -1.38819273e+01] [-1.33691634e-02 -1.00392585e-04 9.99910624e-01 7.47427411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.61, Y:-13.89, Z:0.75 [[ 9.73847084e-01 2.26834446e-01 1.29611493e-02 1.47614580e+02] [-2.26816170e-01 9.73933322e-01 -2.88245805e-03 -1.38878259e+01] [-1.32771360e-02 -1.32724877e-04 9.99911846e-01 7.46566536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.65, Y:-13.89, Z:0.75 [[ 9.73560502e-01 2.28216702e-01 9.85321194e-03 1.47645598e+02] [-2.28206196e-01 9.73610355e-01 -2.19281160e-03 -1.38949644e+01] [-1.00936254e-02 -1.13729248e-04 9.99949052e-01 7.46073814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.68, Y:-13.90, Z:0.75 [[ 9.73036454e-01 2.30462875e-01 9.32325836e-03 1.47676129e+02] [-2.30453568e-01 9.73081110e-01 -2.07521748e-03 -1.39018240e+01] [-9.55054718e-03 -1.29315893e-04 9.99954384e-01 7.46244625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.71, Y:-13.91, Z:0.75 [[ 9.73033684e-01 2.30437015e-01 1.02094171e-02 1.47705843e+02] [-2.30425857e-01 9.73087232e-01 -2.27208756e-03 -1.39065610e+01] [-1.04582265e-02 -1.41695952e-04 9.99945301e-01 7.47493051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.74, Y:-13.91, Z:0.75 [[ 9.73029424e-01 2.30364770e-01 1.20752974e-02 1.47736457e+02] [-2.30349155e-01 9.73104334e-01 -2.68733591e-03 -1.39112623e+01] [-1.23695918e-02 -1.66677648e-04 9.99923480e-01 7.48412239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.77, Y:-13.92, Z:0.75 [[ 9.73068581e-01 2.30237940e-01 1.13149208e-02 1.47766399e+02] [-2.30224221e-01 9.73134352e-01 -2.51811546e-03 -1.39150996e+01] [-1.15907039e-02 -1.54669802e-04 9.99932814e-01 7.49492892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.80, Y:-13.92, Z:0.75 [[ 9.72850909e-01 2.31164379e-01 1.11417868e-02 1.47797277e+02] [-2.31151125e-01 9.72914695e-01 -2.48068783e-03 -1.39216153e+01] [-1.14134548e-02 -1.62097142e-04 9.99934851e-01 7.49014649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.83, Y:-13.93, Z:0.75 [[ 9.72744781e-01 2.31605287e-01 1.12509171e-02 1.47827140e+02] [-2.31591805e-01 9.72809829e-01 -2.50464427e-03 -1.39276037e+01] [-1.15250916e-02 -1.69240559e-04 9.99933570e-01 7.48684235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.86, Y:-13.93, Z:0.75 [[ 9.72649137e-01 2.31982730e-01 1.17332273e-02 1.47856930e+02] [-2.31968095e-01 9.72719888e-01 -2.61201467e-03 -1.39329275e+01] [-1.20190858e-02 -1.81160570e-04 9.99927752e-01 7.48779790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.89, Y:-13.94, Z:0.75 [[ 9.72727339e-01 2.31581354e-01 1.30996653e-02 1.47886621e+02] [-2.31563076e-01 9.72815521e-01 -2.91620687e-03 -1.39388848e+01] [-1.34188969e-02 -1.96724648e-04 9.99909943e-01 7.49272620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.92, Y:-13.95, Z:0.75 [[ 9.72850997e-01 2.31038357e-01 1.34986900e-02 1.47916674e+02] [-2.31018878e-01 9.72944623e-01 -3.00631224e-03 -1.39474771e+01] [-1.38280513e-02 -1.93758360e-04 9.99904369e-01 7.48929701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.95, Y:-13.96, Z:0.75 [[ 9.72957155e-01 2.30575884e-01 1.37526744e-02 1.47947115e+02] [-2.30555606e-01 9.73054328e-01 -3.06381599e-03 -1.39564318e+01] [-1.40885414e-02 -1.89794482e-04 9.99900734e-01 7.48641933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.98, Y:-13.96, Z:0.75 [[ 9.73304388e-01 2.29007827e-01 1.52965083e-02 1.47977825e+02] [-2.28982530e-01 9.73424564e-01 -3.40876823e-03 -1.39636947e+01] [-1.56706315e-02 -1.84864102e-04 9.99877191e-01 7.47853446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.01, Y:-13.97, Z:0.75 [[ 9.73999597e-01 2.25973491e-01 1.61482454e-02 1.48009930e+02] [-2.25944839e-01 9.74133441e-01 -3.60113349e-03 -1.39683205e+01] [-1.65443065e-02 -1.41110127e-04 9.99863124e-01 7.46770853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.04, Y:-13.98, Z:0.75 [[ 9.74181719e-01 2.25255995e-01 1.51563364e-02 1.48041393e+02] [-2.25230635e-01 9.74299606e-01 -3.38207874e-03 -1.39750506e+01] [-1.55286461e-02 -1.18912000e-04 9.99879416e-01 7.46987366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.07, Y:-13.98, Z:0.75 [[ 9.74438992e-01 2.24121963e-01 1.54271319e-02 1.48072847e+02] [-2.24095513e-01 9.74561099e-01 -3.44461251e-03 -1.39826100e+01] [-1.58066959e-02 -1.00586287e-04 9.99875061e-01 7.47344319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.10, Y:-13.99, Z:0.75 [[ 9.75042431e-01 2.21549036e-01 1.44320020e-02 1.48103835e+02] [-2.21525576e-01 9.75149231e-01 -3.22446975e-03 -1.39920497e+01] [-1.47877338e-02 -5.30627437e-05 9.99890654e-01 7.49557712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.14, Y:-14.00, Z:0.75 [[ 9.75284265e-01 2.20519782e-01 1.38429764e-02 1.48135533e+02] [-2.20498067e-01 9.75382502e-01 -3.09482290e-03 -1.39999639e+01] [-1.41846666e-02 -3.40174647e-05 9.99899392e-01 7.49525493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.17, Y:-14.01, Z:0.75 [[ 9.75587158e-01 2.19183449e-01 1.37227071e-02 1.48166818e+02] [-2.19161950e-01 9.75683666e-01 -3.06985522e-03 -1.40069560e+01] [-1.40618826e-02 -1.25839205e-05 9.99901127e-01 7.49662431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.20, Y:-14.01, Z:0.75 [[ 9.76151624e-01 2.16587242e-01 1.47639440e-02 1.48197129e+02] [-2.16562051e-01 9.76263267e-01 -3.30339571e-03 -1.40131126e+01] [-1.51289695e-02 2.73051080e-05 9.99885550e-01 7.49590308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.23, Y:-14.02, Z:0.75 [[ 9.76960550e-01 2.12788996e-01 1.63989979e-02 1.48228373e+02] [-2.12757337e-01 9.77098170e-01 -3.67181325e-03 -1.40200164e+01] [-1.68047523e-02 9.82095810e-05 9.99858785e-01 7.48039393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.042320588 meters Centerline goodness [0,1] 0.9999508913224967 Centerline is valid? [True, True] Translation: X:148.26, Y:-14.03, Z:0.75 [[ 9.77442080e-01 2.10549027e-01 1.66158740e-02 1.48259506e+02] [-2.10516163e-01 9.77583289e-01 -3.72259905e-03 -1.40288428e+01] [-1.70271903e-02 1.40714928e-04 9.99855017e-01 7.47139503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.29, Y:-14.04, Z:0.75 [[ 9.77617819e-01 2.09815651e-01 1.55174779e-02 1.48290142e+02] [-2.09786862e-01 9.77740953e-01 -3.47866418e-03 -1.40387366e+01] [-1.59019519e-02 1.45441095e-04 9.99873545e-01 7.47262857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.32, Y:-14.05, Z:0.75 [[ 9.78017245e-01 2.08022852e-01 1.44486130e-02 1.48320816e+02] [-2.07997668e-01 9.78123952e-01 -3.24104103e-03 -1.40497032e+01] [-1.48067451e-02 1.64516211e-04 9.99890361e-01 7.49519935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.35, Y:-14.06, Z:0.75 [[ 9.78188965e-01 2.07239058e-01 1.40826840e-02 1.48352365e+02] [-2.07215024e-01 9.78290316e-01 -3.16088519e-03 -1.40569612e+01] [-1.44320122e-02 1.73799310e-04 9.99895838e-01 7.51392176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.38, Y:-14.06, Z:0.75 [[ 9.78257253e-01 2.06983393e-01 1.30622281e-02 1.48383963e+02] [-2.06962669e-01 9.78344442e-01 -2.93364034e-03 -1.40649840e+01] [-1.33865731e-02 1.66461358e-04 9.99910382e-01 7.51547594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.41, Y:-14.07, Z:0.75 [[ 9.78402444e-01 2.06346379e-01 1.22404753e-02 1.48414675e+02] [-2.06328109e-01 9.78478995e-01 -2.75077515e-03 -1.40737527e+01] [-1.25446604e-02 1.65811014e-04 9.99921299e-01 7.51669044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.222320588 meters Centerline goodness [0,1] 0.9999507655949977 Centerline is valid? [True, True] Translation: X:148.44, Y:-14.09, Z:0.75 [[ 9.78581082e-01 2.05492186e-01 1.23299593e-02 1.48444632e+02] [-2.05473560e-01 9.78658740e-01 -2.77252955e-03 -1.40869013e+01] [-1.26365556e-02 1.79664338e-04 9.99920139e-01 7.50675278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.48, Y:-14.10, Z:0.75 [[ 9.78578479e-01 2.05419360e-01 1.36765502e-02 1.48475388e+02] [-2.05396411e-01 9.78674024e-01 -3.07709988e-03 -1.40957670e+01] [-1.40169803e-02 2.02069406e-04 9.99901737e-01 7.50941269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.51, Y:-14.10, Z:0.75 [[ 9.78584580e-01 2.05405252e-01 1.34499781e-02 1.48506637e+02] [-2.05383031e-01 9.78676986e-01 -3.02793412e-03 -1.41043190e+01] [-1.37851376e-02 2.00692362e-04 9.99904960e-01 7.51575412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.54, Y:-14.11, Z:0.75 [[ 9.78620587e-01 2.05192837e-01 1.40586875e-02 1.48537287e+02] [-2.05168488e-01 9.78721540e-01 -3.16839083e-03 -1.41125004e+01] [-1.44096713e-02 2.16252839e-04 9.99896152e-01 7.51652775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.57, Y:-14.12, Z:0.75 [[ 9.78807237e-01 2.04391247e-01 1.26732428e-02 1.48568188e+02] [-2.04371375e-01 9.78889256e-01 -2.85755570e-03 -1.41236293e+01] [-1.29897606e-02 2.06948149e-04 9.99915608e-01 7.51846212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.60, Y:-14.13, Z:0.75 [[ 9.78863491e-01 2.04132303e-01 1.25007501e-02 1.48599534e+02] [-2.04112926e-01 9.78943287e-01 -2.82036005e-03 -1.41326604e+01] [-1.28132519e-02 2.09182818e-04 9.99917885e-01 7.51823716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.63, Y:-14.14, Z:0.75 [[ 9.78967999e-01 2.03584476e-01 1.32294444e-02 1.48630717e+02] [-2.03562700e-01 9.79057357e-01 -2.98651436e-03 -1.41414644e+01] [-1.35603929e-02 2.30680552e-04 9.99908027e-01 7.51556572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.66, Y:-14.15, Z:0.75 [[ 9.79009940e-01 2.03310804e-01 1.42917611e-02 1.48661459e+02] [-2.03285334e-01 9.79114218e-01 -3.22819457e-03 -1.41509178e+01] [-1.46495933e-02 2.55129152e-04 9.99892656e-01 7.53086204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.69, Y:-14.16, Z:0.75 [[ 9.79598928e-01 2.00404804e-01 1.49617746e-02 1.48692119e+02] [-2.00376520e-01 9.79713129e-01 -3.38149318e-03 -1.41623874e+01] [-1.53359145e-02 3.14518760e-04 9.99882348e-01 7.53756174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.72, Y:-14.17, Z:0.75 [[ 9.79839309e-01 1.99251150e-01 1.46255843e-02 1.48723368e+02] [-1.99223966e-01 9.79948403e-01 -3.30745406e-03 -1.41709826e+01] [-1.49913320e-02 3.27006597e-04 9.99887570e-01 7.53835301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.75, Y:-14.18, Z:0.75 [[ 9.80127564e-01 1.97815031e-01 1.48044820e-02 1.48754300e+02] [-1.97786984e-01 9.80239301e-01 -3.34987270e-03 -1.41783719e+01] [-1.51745903e-02 3.55168711e-04 9.99884796e-01 7.52649469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.78, Y:-14.19, Z:0.75 [[ 9.80487770e-01 1.95861371e-01 1.67945560e-02 1.48784694e+02] [-1.95824952e-01 9.80631496e-01 -3.80229347e-03 -1.41893788e+01] [-1.72139930e-02 4.39309109e-04 9.99851732e-01 7.51522646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.82, Y:-14.20, Z:0.75 [[ 9.80715334e-01 1.94568105e-01 1.84576676e-02 1.48815003e+02] [-1.94523842e-01 9.80888879e-01 -4.18118153e-03 -1.42000090e+01] [-1.89184455e-02 5.10092416e-04 9.99820900e-01 7.52628501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.85, Y:-14.21, Z:0.75 [[ 9.81049503e-01 1.93006230e-01 1.70431207e-02 1.48845206e+02] [-1.92968218e-01 9.81197403e-01 -3.86301337e-03 -1.42120572e+01] [-1.74682514e-02 5.01026730e-04 9.99847293e-01 7.54015880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.88, Y:-14.23, Z:0.75 [[ 9.81419653e-01 1.91303959e-01 1.47736494e-02 1.48875903e+02] [-1.91275154e-01 9.81530733e-01 -3.35193889e-03 -1.42253209e+01] [-1.51420301e-02 4.63826640e-04 9.99885245e-01 7.53566181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.91, Y:-14.23, Z:0.75 [[ 9.81383653e-01 1.91488598e-01 1.47730180e-02 1.48907639e+02] [-1.91459772e-01 9.81494728e-01 -3.35472090e-03 -1.42324674e+01] [-1.51420301e-02 4.63829590e-04 9.99885245e-01 7.53730109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.702320588 meters Centerline goodness [0,1] 0.999950888910716 Centerline is valid? [True, True] Translation: X:148.94, Y:-14.25, Z:0.75 [[ 9.81774011e-01 1.89697714e-01 1.16003503e-02 1.48938279e+02] [-1.89679786e-01 9.81842465e-01 -2.63675124e-03 -1.42459720e+01] [-1.18899022e-02 3.88341878e-04 9.99929237e-01 7.52929959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.97, Y:-14.26, Z:0.75 [[ 9.82090626e-01 1.87939320e-01 1.32971935e-02 1.48967434e+02] [-1.87915584e-01 9.82180528e-01 -3.02370274e-03 -1.42642749e+01] [-1.36285172e-02 4.70800230e-04 9.99907017e-01 7.51707346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.762320588 meters Centerline goodness [0,1] 0.9999509202453988 Centerline is valid? [True, True] Translation: X:149.00, Y:-14.28, Z:0.75 [[ 9.81955819e-01 1.88473858e-01 1.55040362e-02 1.48998344e+02] [-1.88441625e-01 9.82078058e-01 -3.52743821e-03 -1.42751115e+01] [-1.58910036e-02 5.42182701e-04 9.99873583e-01 7.53003348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.792320588 meters Centerline goodness [0,1] 0.9999018549416037 Centerline is valid? [True, True] Translation: X:149.03, Y:-14.29, Z:0.75 [[ 9.81498768e-01 1.90726851e-01 1.68356063e-02 1.49029082e+02] [-1.90689126e-01 9.81642992e-01 -3.83322979e-03 -1.42863243e+01] [-1.72576548e-02 5.51943263e-04 9.99850923e-01 7.54847883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.06, Y:-14.30, Z:0.75 [[ 9.80176767e-01 1.97631516e-01 1.39745974e-02 1.49057679e+02] [-1.97606207e-01 9.80276316e-01 -3.18304306e-03 -1.43039803e+01] [-1.43280365e-02 3.58477662e-04 9.99897284e-01 7.54216781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.09, Y:-14.32, Z:0.75 [[ 9.79200859e-01 2.02477705e-01 1.29790534e-02 1.49087189e+02] [-2.02456265e-01 9.79286835e-01 -2.95882347e-03 -1.43180941e+01] [-1.33093119e-02 2.69591802e-04 9.99911391e-01 7.52729360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.882320588 meters Centerline goodness [0,1] 0.9999509033778476 Centerline is valid? [True, True] Translation: X:149.12, Y:-14.33, Z:0.75 [[ 9.77912300e-01 2.08663414e-01 1.21290136e-02 1.49116980e+02] [-2.08645073e-01 9.77987498e-01 -2.77240565e-03 -1.43313539e+01] [-1.24405233e-02 1.80510639e-04 9.99922597e-01 7.51891179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.15, Y:-14.34, Z:0.75 [[ 9.76748523e-01 2.14010192e-01 1.27263594e-02 1.49147200e+02] [-2.13990374e-01 9.76831420e-01 -2.91499942e-03 -1.43430454e+01] [-1.30553473e-02 1.23902976e-04 9.99914768e-01 7.51197102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.18, Y:-14.36, Z:0.75 [[ 9.74862993e-01 2.22378765e-01 1.37778502e-02 1.49177124e+02] [-2.22356336e-01 9.74960350e-01 -3.15830057e-03 -1.43570935e+01] [-1.41351966e-02 1.53180514e-05 9.99900093e-01 7.53189936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.21, Y:-14.37, Z:0.75 [[ 9.74045689e-01 2.25869796e-01 1.47590774e-02 1.49209075e+02] [-2.25844312e-01 9.74157500e-01 -3.39301854e-03 -1.43671844e+01] [-1.51440463e-02 -2.82985873e-05 9.99885322e-01 7.53159238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.24, Y:-14.38, Z:0.75 [[ 9.73093749e-01 2.29825406e-01 1.63963048e-02 1.49239684e+02] [-2.29794389e-01 9.73231871e-01 -3.77682766e-03 -1.43768443e+01] [-1.68254174e-02 -9.25714669e-05 9.99858438e-01 7.53450844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.27, Y:-14.39, Z:0.75 [[ 9.71098447e-01 2.37921060e-01 1.90098937e-02 1.49269971e+02] [-2.37880904e-01 9.71284457e-01 -4.37936748e-03 -1.43893101e+01] [-1.95059580e-02 -2.69293735e-04 9.99809704e-01 7.53992592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.30, Y:-14.40, Z:0.75 [[ 9.70030947e-01 2.42253554e-01 1.87930341e-02 1.49300345e+02] [-2.42214931e-01 9.70212914e-01 -4.33924224e-03 -1.43985580e+01] [-1.92844412e-02 -3.42754202e-04 9.99813979e-01 7.54067865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.33, Y:-14.41, Z:0.75 [[ 9.69030535e-01 2.46360919e-01 1.69150766e-02 1.49331726e+02] [-2.46330109e-01 9.69178084e-01 -3.91400084e-03 -1.44062805e+01] [-1.73579784e-02 -3.73906340e-04 9.99849269e-01 7.53482899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.36, Y:-14.41, Z:0.75 [[ 9.68098725e-01 2.50079449e-01 1.56565388e-02 1.49363518e+02] [-2.50053418e-01 9.68225237e-01 -3.63033261e-03 -1.44123950e+01] [-1.60669275e-02 -4.00450659e-04 9.99870838e-01 7.52031787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.40, Y:-14.42, Z:0.75 [[ 9.66648785e-01 2.55616431e-01 1.58229987e-02 1.49395343e+02] [-2.55590577e-01 9.66778151e-01 -3.66937652e-03 -1.44152501e+01] [-1.62352824e-02 -4.97211019e-04 9.99868075e-01 7.52818045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.43, Y:-14.42, Z:0.75 [[ 9.66259680e-01 2.57004767e-01 1.70523058e-02 1.49426228e+02] [-2.56974784e-01 9.66409978e-01 -3.96415264e-03 -1.44227270e+01] [-1.74983246e-02 -5.51611742e-04 9.99846740e-01 7.54520694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.46, Y:-14.43, Z:0.76 [[ 9.66271829e-01 2.56883814e-01 1.81509865e-02 1.49458067e+02] [-2.56849640e-01 9.66442122e-01 -4.22931525e-03 -1.44306477e+01] [-1.86283205e-02 -5.75406155e-04 9.99826312e-01 7.56674275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.49, Y:-14.44, Z:0.76 [[ 9.66092254e-01 2.57627767e-01 1.71373804e-02 1.49490217e+02] [-2.57597260e-01 9.66244086e-01 -4.00226974e-03 -1.44368083e+01] [-1.75899883e-02 -5.47980456e-04 9.99845134e-01 7.58281108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.52, Y:-14.44, Z:0.76 [[ 9.65666506e-01 2.59332148e-01 1.53308756e-02 1.49524201e+02] [-2.59307816e-01 9.65788060e-01 -3.58879339e-03 -1.44363805e+01] [-1.57370661e-02 -5.09838291e-04 9.99876035e-01 7.56847613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.56, Y:-14.44, Z:0.75 [[ 9.65087966e-01 2.61538888e-01 1.42347763e-02 1.49556126e+02] [-2.61518057e-01 9.65192810e-01 -3.33861523e-03 -1.44394412e+01] [-1.46124815e-02 -5.00593666e-04 9.99893107e-01 7.53593403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.59, Y:-14.44, Z:0.75 [[ 9.64798233e-01 2.62686303e-01 1.26599999e-02 1.49588829e+02] [-2.62669829e-01 9.64881185e-01 -2.97662631e-03 -1.44448398e+01] [-1.29973147e-02 -4.53556204e-04 9.99915428e-01 7.52900431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.62, Y:-14.45, Z:0.75 [[ 9.64348115e-01 2.64178616e-01 1.55683024e-02 1.49621513e+02] [-2.64153799e-01 9.64473601e-01 -3.66661958e-03 -1.44468080e+01] [-1.59838592e-02 -5.76528559e-04 9.99872084e-01 7.53958762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.65, Y:-14.45, Z:0.76 [[ 9.64386746e-01 2.63976122e-01 1.65774445e-02 1.49654712e+02] [-2.63947802e-01 9.64529027e-01 -3.91317002e-03 -1.44485296e+01] [-1.70224099e-02 -6.01770754e-04 9.99854927e-01 7.56236084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.69, Y:-14.45, Z:0.76 [[ 9.64681396e-01 2.62902038e-01 1.65021751e-02 1.49687521e+02] [-2.62873692e-01 9.64822362e-01 -3.90279951e-03 -1.44503946e+01] [-1.69477215e-02 -5.73029623e-04 9.99856213e-01 7.57269521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.72, Y:-14.45, Z:0.76 [[ 9.65018783e-01 2.61745721e-01 1.50972430e-02 1.49720026e+02] [-2.61721742e-01 9.65136741e-01 -3.57778863e-03 -1.44538262e+01] [-1.55073748e-02 -4.98643530e-04 9.99879629e-01 7.56987270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.75, Y:-14.46, Z:0.75 [[ 9.66479781e-01 2.56529272e-01 1.04673845e-02 1.49751942e+02] [-2.56517434e-01 9.66536419e-01 -2.48109885e-03 -1.44569792e+01] [-1.07535828e-02 -2.87134739e-04 9.99942137e-01 7.53859424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.78, Y:-14.46, Z:0.75 [[ 9.66694815e-01 2.55727569e-01 1.02247214e-02 1.49783413e+02] [-2.55716159e-01 9.66748851e-01 -2.43023612e-03 -1.44621863e+01] [-1.05062161e-02 -2.65329827e-04 9.99944773e-01 7.52310692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.82, Y:-14.47, Z:0.75 [[ 9.66834760e-01 2.55107961e-01 1.22668386e-02 1.49816340e+02] [-2.55091405e-01 9.66912528e-01 -2.92216188e-03 -1.44662179e+01] [-1.26064266e-02 -3.03917411e-04 9.99920490e-01 7.52312754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.85, Y:-14.47, Z:0.75 [[ 9.66874577e-01 2.54795036e-01 1.52657212e-02 1.49848388e+02] [-2.54769259e-01 9.66995013e-01 -3.64278846e-03 -1.44694397e+01] [-1.56900407e-02 -3.67116917e-04 9.99876836e-01 7.53075477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.88, Y:-14.47, Z:0.76 [[ 9.66697237e-01 2.55353431e-01 1.70609600e-02 1.49881288e+02] [-2.55321185e-01 9.66847689e-01 -4.07898172e-03 -1.44692854e+01] [-1.75369317e-02 -4.12884153e-04 9.99846131e-01 7.56368183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.91, Y:-14.47, Z:0.76 [[ 9.66620064e-01 2.55721073e-01 1.58866379e-02 1.49913683e+02] [-2.55693036e-01 9.66750529e-01 -3.80597568e-03 -1.44729214e+01] [-1.63316838e-02 -3.83170233e-04 9.99866556e-01 7.56141564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.95, Y:-14.48, Z:0.75 [[ 9.66444595e-01 2.56541744e-01 1.30835173e-02 1.49946045e+02] [-2.56522788e-01 9.66533097e-01 -3.13560850e-03 -1.44780595e+01] [-1.34500669e-02 -3.25828440e-04 9.99909491e-01 7.54653652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.98, Y:-14.48, Z:0.75 [[ 9.66191065e-01 2.57526740e-01 1.24420196e-02 1.49978864e+02] [-2.57509642e-01 9.66271119e-01 -2.98466109e-03 -1.44808663e+01] [-1.27909942e-02 -3.20187126e-04 9.99918141e-01 7.53714478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.01, Y:-14.49, Z:0.75 [[ 9.66341698e-01 2.56838300e-01 1.47584058e-02 1.50011323e+02] [-2.56814027e-01 9.66454323e-01 -3.54930251e-03 -1.44850133e+01] [-1.51749219e-02 -3.60326618e-04 9.99884789e-01 7.54568386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.04, Y:-14.49, Z:0.76 [[ 9.67073601e-01 2.54036780e-01 1.52959196e-02 1.50043143e+02] [-2.54010353e-01 9.67194503e-01 -3.67876162e-03 -1.44886670e+01] [-1.57286701e-02 -3.27688691e-04 9.99876243e-01 7.55259680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.08, Y:-14.49, Z:0.76 [[ 9.67618782e-01 2.51984512e-01 1.47546276e-02 1.50075462e+02] [-2.51959653e-01 9.67731226e-01 -3.55063763e-03 -1.44921165e+01] [-1.51732195e-02 -2.81907188e-04 9.99884840e-01 7.55885310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.11, Y:-14.50, Z:0.75 [[ 9.69778086e-01 2.43684084e-01 1.21873621e-02 1.50106831e+02] [-2.43666451e-01 9.69854655e-01 -2.93409390e-03 -1.44981745e+01] [-1.25349619e-02 -1.24231308e-04 9.99921427e-01 7.53597175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.14, Y:-14.51, Z:0.75 [[ 9.70813077e-01 2.39459769e-01 1.34532308e-02 1.50138087e+02] [-2.39437848e-01 9.70906285e-01 -3.24089108e-03 -1.45069158e+01] [-1.38378894e-02 -7.49131956e-05 9.99904249e-01 7.52510881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.17, Y:-14.51, Z:0.75 [[ 9.71657373e-01 2.36046922e-01 1.27984796e-02 1.50169096e+02] [-2.36026762e-01 9.71741658e-01 -3.08500867e-03 -1.45135166e+01] [-1.31650226e-02 -2.32122745e-05 9.99913337e-01 7.53100023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.20, Y:-14.51, Z:0.75 [[ 9.72327899e-01 2.33152918e-01 1.47706813e-02 1.50202140e+02] [-2.33125702e-01 9.72440084e-01 -3.56236120e-03 -1.45137722e+01] [-1.51941774e-02 2.03577333e-05 9.99884562e-01 7.53258320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.23, Y:-14.52, Z:0.75 [[ 9.72447090e-01 2.32771186e-01 1.28153041e-02 1.50233467e+02] [-2.32750642e-01 9.72531529e-01 -3.09263637e-03 -1.45191791e+01] [-1.31831639e-02 2.46549848e-05 9.99913098e-01 7.53699543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.27, Y:-14.53, Z:0.75 [[ 9.72606378e-01 2.32082686e-01 1.32083758e-02 1.50265880e+02] [-2.32060756e-01 9.72696060e-01 -3.19063486e-03 -1.45277004e+01] [-1.35882263e-02 3.80861380e-05 9.99907675e-01 7.52821220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.30, Y:-14.54, Z:0.75 [[ 9.72899230e-01 2.30942935e-01 1.15086351e-02 1.50297024e+02] [-2.30926190e-01 9.72967296e-01 -2.78143506e-03 -1.45375667e+01] [-1.18398783e-02 4.84107780e-05 9.99929905e-01 7.52435796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.33, Y:-14.55, Z:0.75 [[ 9.73829308e-01 2.26926204e-01 1.26876981e-02 1.50327510e+02] [-2.26905489e-01 9.73911950e-01 -3.06807441e-03 -1.45476947e+01] [-1.30529273e-02 1.08872437e-04 9.99914801e-01 7.54921509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.36, Y:-14.56, Z:0.75 [[ 9.74233087e-01 2.25102066e-01 1.41050664e-02 1.50358535e+02] [-2.25076246e-01 9.74335177e-01 -3.41267194e-03 -1.45554737e+01] [-1.45112619e-02 1.50022531e-04 9.99894695e-01 7.54874842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.082320588 meters Centerline goodness [0,1] 0.9999507825573383 Centerline is valid? [True, True] Translation: X:150.39, Y:-14.56, Z:0.76 [[ 9.74550335e-01 2.23721260e-01 1.41577600e-02 1.50389962e+02] [-2.23695072e-01 9.74653153e-01 -3.42735820e-03 -1.45633217e+01] [-1.45656783e-02 1.73111939e-04 9.99893900e-01 7.55675796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.42, Y:-14.57, Z:0.75 [[ 9.75066787e-01 2.21379704e-01 1.53553626e-02 1.50420476e+02] [-2.21348576e-01 9.75187661e-01 -3.71932188e-03 -1.45728819e+01] [-1.57977425e-02 2.27699599e-04 9.99875182e-01 7.53849573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.45, Y:-14.58, Z:0.75 [[ 9.75024322e-01 2.21586836e-01 1.50614176e-02 1.50451926e+02] [-2.21556860e-01 9.75140618e-01 -3.65154451e-03 -1.45821967e+01] [-1.54961343e-02 2.23384311e-04 9.99879903e-01 7.54278740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.48, Y:-14.59, Z:0.76 [[ 9.74837943e-01 2.22458807e-01 1.42500488e-02 1.50482477e+02] [-2.22432043e-01 9.74942070e-01 -3.45648617e-03 -1.45922392e+01] [-1.46618978e-02 1.99846412e-04 9.99892489e-01 7.55505843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.51, Y:-14.60, Z:0.76 [[ 9.74567708e-01 2.23652985e-01 1.40401001e-02 1.50512772e+02] [-2.23627099e-01 9.74668820e-01 -3.40749829e-03 -1.46028563e+01] [-1.44465450e-02 1.81090950e-04 9.99895627e-01 7.56712016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.54, Y:-14.62, Z:0.76 [[ 9.73558334e-01 2.28064254e-01 1.30715886e-02 1.50541884e+02] [-2.28042189e-01 9.73646077e-01 -3.17428339e-03 -1.46178266e+01] [-1.34510416e-02 1.09476365e-04 9.99909525e-01 7.56973448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.57, Y:-14.63, Z:0.76 [[ 9.72987070e-01 2.30461984e-01 1.35438443e-02 1.50572289e+02] [-2.30438501e-01 9.73081326e-01 -3.29083187e-03 -1.46281879e+01] [-1.39376736e-02 8.09136747e-05 9.99902863e-01 7.56978750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.60, Y:-14.64, Z:0.76 [[ 9.72241224e-01 2.33551890e-01 1.41604076e-02 1.50603765e+02] [-2.33526499e-01 9.72344339e-01 -3.44396498e-03 -1.46370530e+01] [-1.45731367e-02 4.15343186e-05 9.99893805e-01 7.57678574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.64, Y:-14.64, Z:0.76 [[ 9.71356196e-01 2.37101482e-01 1.58122806e-02 1.50635001e+02] [-2.37070263e-01 9.71484888e-01 -3.84748830e-03 -1.46444403e+01] [-1.62736368e-02 -1.13399231e-05 9.99867576e-01 7.58845300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.67, Y:-14.65, Z:0.76 [[ 9.69097572e-01 2.46146849e-01 1.61748314e-02 1.50665972e+02] [-2.46115280e-01 9.69232533e-01 -3.94528827e-03 -1.46521254e+01] [-1.66482931e-02 -1.57503884e-04 9.99861395e-01 7.61104047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.70, Y:-14.66, Z:0.76 [[ 9.67902684e-01 2.50981438e-01 1.31419939e-02 1.50698038e+02] [-2.50960933e-01 9.67991881e-01 -3.21366506e-03 -1.46606049e+01] [-1.35279137e-02 -1.87612015e-04 9.99908476e-01 7.63455208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.73, Y:-14.67, Z:0.76 [[ 9.66890579e-01 2.54960704e-01 1.08465412e-02 1.50729613e+02] [-2.54946987e-01 9.66951394e-01 -2.65229811e-03 -1.46687430e+01] [-1.11643099e-02 -2.00810927e-04 9.99937657e-01 7.63120791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.76, Y:-14.68, Z:0.76 [[ 9.65917362e-01 2.58722995e-01 8.12781494e-03 1.50761014e+02] [-2.58715415e-01 9.65951541e-01 -1.98880042e-03 -1.46769792e+01] [-8.36562376e-03 -1.81774155e-04 9.99964991e-01 7.63176899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.79, Y:-14.68, Z:0.76 [[ 9.65071209e-01 2.61804656e-01 9.79207434e-03 1.50791842e+02] [-2.61793805e-01 9.65120852e-01 -2.39672996e-03 -1.46839749e+01] [-1.00780102e-02 -2.50489321e-04 9.99949184e-01 7.60805379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.82, Y:-14.69, Z:0.76 [[ 9.64994352e-01 2.61986987e-01 1.21950718e-02 1.50822569e+02] [-2.61970083e-01 9.65071357e-01 -2.99188420e-03 -1.46916408e+01] [-1.25529493e-02 -3.07592630e-04 9.99921161e-01 7.60653852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.85, Y:-14.70, Z:0.76 [[ 9.65040359e-01 2.61796719e-01 1.26326236e-02 1.50854607e+02] [-2.61778547e-01 9.65122986e-01 -3.10060009e-03 -1.46996947e+01] [-1.30037623e-02 -3.14745617e-04 9.99915398e-01 7.61086961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.89, Y:-14.71, Z:0.76 [[ 9.65222996e-01 2.61139158e-01 1.22844960e-02 1.50885706e+02] [-2.61121903e-01 9.65301120e-01 -3.01654103e-03 -1.47066748e+01] [-1.26459747e-02 -2.96116183e-04 9.99919993e-01 7.62478763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.92, Y:-14.71, Z:0.76 [[ 9.65368950e-01 2.60681956e-01 1.03782439e-02 1.50917509e+02] [-2.60669598e-01 9.65424704e-01 -2.55000230e-03 -1.47109808e+01] [-1.06841527e-02 -2.43599625e-04 9.99942893e-01 7.63952044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.95, Y:-14.72, Z:0.76 [[ 9.65317077e-01 2.60874002e-01 1.03776551e-02 1.50949100e+02] [-2.60861629e-01 9.65372827e-01 -2.55239797e-03 -1.47186924e+01] [-1.06841606e-02 -2.43258669e-04 9.99942893e-01 7.64115926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.98, Y:-14.73, Z:0.76 [[ 9.65130616e-01 2.61536131e-01 1.10339087e-02 1.50980860e+02] [-2.61522174e-01 9.65193650e-01 -2.71493278e-03 -1.47253992e+01] [-1.13599116e-02 -2.65347030e-04 9.99935439e-01 7.62526162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.01, Y:-14.73, Z:0.76 [[ 9.64700695e-01 2.63121181e-01 1.09458943e-02 1.51012133e+02] [-2.63107531e-01 9.64762751e-01 -2.69478103e-03 -1.47321734e+01] [-1.12692450e-02 -2.80290076e-04 9.99936461e-01 7.62505985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.04, Y:-14.74, Z:0.76 [[ 9.64707038e-01 2.63089151e-01 1.11547704e-02 1.51043966e+02] [-2.63074942e-01 9.64771485e-01 -2.74886588e-03 -1.47390654e+01] [-1.14850012e-02 -2.82690314e-04 9.99934005e-01 7.63651454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.08, Y:-14.75, Z:0.76 [[ 9.64996913e-01 2.61984049e-01 1.20547290e-02 1.51075725e+02] [-2.61967326e-01 9.65072161e-01 -2.97408053e-03 -1.47466464e+01] [-1.24128450e-02 -2.87966579e-04 9.99922916e-01 7.64954450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.11, Y:-14.76, Z:0.77 [[ 9.65366851e-01 2.60616404e-01 1.20802998e-02 1.51106570e+02] [-2.60599489e-01 9.65442395e-01 -2.98145837e-03 -1.47552677e+01] [-1.24398506e-02 -2.69918880e-04 9.99922586e-01 7.65209128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.14, Y:-14.76, Z:0.77 [[ 9.65700090e-01 2.59351133e-01 1.26619603e-02 1.51137408e+02] [-2.59332418e-01 9.65783061e-01 -3.12675707e-03 -1.47635508e+01] [-1.30396348e-02 -2.64147205e-04 9.99914945e-01 7.66409619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.17, Y:-14.77, Z:0.77 [[ 9.66453944e-01 2.56397316e-01 1.50728075e-02 1.51169719e+02] [-2.56370406e-01 9.66571439e-01 -3.72410469e-03 -1.47686665e+01] [-1.55237957e-02 -2.65046114e-04 9.99879463e-01 7.66190944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.20, Y:-14.77, Z:0.77 [[ 9.66619530e-01 2.55844287e-01 1.37979899e-02 1.51202131e+02] [-2.55821652e-01 9.66717977e-01 -3.41111624e-03 -1.47730955e+01] [-1.42114795e-02 -2.32572999e-04 9.99898985e-01 7.65923602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.23, Y:-14.78, Z:0.77 [[ 9.66353342e-01 2.57007620e-01 1.04068271e-02 1.51234210e+02] [-2.56994794e-01 9.66409359e-01 -2.57440837e-03 -1.47781760e+01] [-1.07188976e-02 -1.86712247e-04 9.99942534e-01 7.66130498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.27, Y:-14.78, Z:0.76 [[ 9.66299558e-01 2.57287632e-01 8.26067746e-03 1.51266218e+02] [-2.57279550e-01 9.66334855e-01 -2.04481047e-03 -1.47842444e+01] [-8.50868500e-03 -1.49403929e-04 9.99963789e-01 7.64882172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.30, Y:-14.79, Z:0.77 [[ 9.65654932e-01 2.59709079e-01 7.85790560e-03 1.51297555e+02] [-2.59701836e-01 9.65686889e-01 -1.94626262e-03 -1.47929602e+01] [-8.09373849e-03 -1.61294416e-04 9.99967232e-01 7.65768981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.33, Y:-14.80, Z:0.77 [[ 9.65441032e-01 2.60434396e-01 9.87614847e-03 1.51328363e+02] [-2.60422961e-01 9.65491524e-01 -2.44927309e-03 -1.48002438e+01] [-1.01732126e-02 -2.07347091e-04 9.99948230e-01 7.66677837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.36, Y:-14.81, Z:0.77 [[ 9.65107468e-01 2.61504756e-01 1.35217291e-02 1.51359823e+02] [-2.61483415e-01 9.65202141e-01 -3.35414914e-03 -1.48064321e+01] [-1.39283279e-02 -2.98593529e-04 9.99902952e-01 7.67266543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.39, Y:-14.81, Z:0.77 [[ 9.64815212e-01 2.62523517e-01 1.45948364e-02 1.51391750e+02] [-2.62498741e-01 9.64925536e-01 -3.62232325e-03 -1.48114190e+01] [-1.50338754e-02 -3.36253605e-04 9.99886928e-01 7.67928495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.42, Y:-14.81, Z:0.77 [[ 9.64755191e-01 2.62678893e-01 1.57232666e-02 1.51424602e+02] [-2.62650122e-01 9.64883240e-01 -3.90453981e-03 -1.48140577e+01] [-1.61967566e-02 -3.62792843e-04 9.99868758e-01 7.66193323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.46, Y:-14.82, Z:0.76 [[ 9.64943678e-01 2.62076081e-01 1.41359584e-02 1.51455994e+02] [-2.62052732e-01 9.65047164e-01 -3.51241661e-03 -1.48206782e+01] [-1.45623869e-02 -3.15082312e-04 9.99893913e-01 7.64535078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.49, Y:-14.83, Z:0.76 [[ 9.65099430e-01 2.61507496e-01 1.40328291e-02 1.51487051e+02] [-2.61484398e-01 9.65201398e-01 -3.48875293e-03 -1.48275291e+01] [-1.44568413e-02 -3.02372401e-04 9.99895449e-01 7.63797064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.52, Y:-14.83, Z:0.77 [[ 9.65892408e-01 2.58716450e-01 1.08468459e-02 1.51519198e+02] [-2.58702455e-01 9.65953290e-01 -2.69836350e-03 -1.48323567e+01] [-1.11756575e-02 -1.99776858e-04 9.99937530e-01 7.65228801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.55, Y:-14.84, Z:0.77 [[ 9.66201814e-01 2.57626939e-01 9.07827881e-03 1.51551534e+02] [-2.57617075e-01 9.66244449e-01 -2.25979806e-03 -1.48372116e+01] [-9.35402137e-03 -1.55298645e-04 9.99956238e-01 7.66694008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.58, Y:-14.84, Z:0.77 [[ 9.66592251e-01 2.56130129e-01 9.83753068e-03 1.51584237e+02] [-2.56118449e-01 9.66642299e-01 -2.45065313e-03 -1.48410680e+01] [-1.01370594e-02 -1.50790784e-04 9.99948607e-01 7.66204414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.62, Y:-14.85, Z:0.77 [[ 9.66782833e-01 2.55403212e-01 1.00076436e-02 1.51615886e+02] [-2.55391073e-01 9.66834618e-01 -2.49426825e-03 -1.48452953e+01] [-1.03127804e-02 -1.44447098e-04 9.99946811e-01 7.66342604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.65, Y:-14.85, Z:0.77 [[ 9.67158229e-01 2.53816003e-01 1.35054145e-02 1.51647710e+02] [-2.53793717e-01 9.67252505e-01 -3.36768947e-03 -1.48489060e+01] [-1.39179195e-02 -1.70500767e-04 9.99903127e-01 7.65400893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.68, Y:-14.86, Z:0.77 [[ 9.67341021e-01 2.53096212e-01 1.39160685e-02 1.51680237e+02] [-2.53072429e-01 9.67441100e-01 -3.47337660e-03 -1.48559097e+01] [-1.43420751e-02 -1.61833604e-04 9.99897134e-01 7.65534809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.71, Y:-14.86, Z:0.77 [[ 9.67527778e-01 2.52433006e-01 1.29451406e-02 1.51711595e+02] [-2.52412347e-01 9.67614364e-01 -3.23258109e-03 -1.48624421e+01] [-1.33419142e-02 -1.39901331e-04 9.99910983e-01 7.66082772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.74, Y:-14.87, Z:0.77 [[ 9.67815641e-01 2.51311198e-01 1.32501395e-02 1.51743187e+02] [-2.51289422e-01 9.67906331e-01 -3.31061188e-03 -1.48676673e+01] [-1.36568877e-02 -1.25557939e-04 9.99906732e-01 7.66157247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.402320588 meters Centerline goodness [0,1] 0.9999508961453474 Centerline is valid? [True, True] Translation: X:151.78, Y:-14.87, Z:0.76 [[ 9.68722409e-01 2.47856290e-01 1.20063906e-02 1.51775914e+02] [-2.47838123e-01 9.68796808e-01 -3.00162927e-03 -1.48705606e+01] [-1.23757256e-02 -6.78957897e-05 9.99923415e-01 7.63221280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.81, Y:-14.88, Z:0.76 [[ 9.69382176e-01 2.45291533e-01 1.14132040e-02 1.51807598e+02] [-2.45274920e-01 9.69449361e-01 -2.85496492e-03 -1.48777589e+01] [-1.17648220e-02 -3.18205825e-05 9.99930792e-01 7.63012904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.84, Y:-14.89, Z:0.76 [[ 9.69767977e-01 2.43722549e-01 1.22224988e-02 1.51838066e+02] [-2.43703350e-01 9.69844998e-01 -3.05907841e-03 -1.48874110e+01] [-1.25994957e-02 -1.20676228e-05 9.99920623e-01 7.62385420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.87, Y:-14.90, Z:0.76 [[ 9.70109509e-01 2.42286511e-01 1.35936293e-02 1.51868528e+02] [-2.42262596e-01 9.70204745e-01 -3.40408703e-03 -1.48982328e+01] [-1.40133681e-02 9.10925619e-06 9.99901808e-01 7.64265102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.90, Y:-14.91, Z:0.76 [[ 9.70214756e-01 2.41812434e-01 1.44939134e-02 1.51899591e+02] [-2.41785165e-01 9.70323011e-01 -3.63151436e-03 -1.49063611e+01] [-1.49419230e-02 1.89355714e-05 9.99888363e-01 7.64117078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.93, Y:-14.91, Z:0.76 [[ 9.70337724e-01 2.41365486e-01 1.36895413e-02 1.51930363e+02] [-2.41341087e-01 9.70434285e-01 -3.43192475e-03 -1.49142644e+01] [-1.41131484e-02 2.62772704e-05 9.99900404e-01 7.64691580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.96, Y:-14.92, Z:0.76 [[ 9.70330133e-01 2.41478947e-01 1.21388172e-02 1.51961396e+02] [-2.41459737e-01 9.70406058e-01 -3.04590423e-03 -1.49248199e+01] [-1.25151034e-02 2.44970621e-05 9.99921683e-01 7.64027951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.99, Y:-14.93, Z:0.76 [[ 9.70176898e-01 2.42098232e-01 1.20512209e-02 1.51991846e+02] [-2.42079329e-01 9.70251744e-01 -3.02534936e-03 -1.49347009e+01] [-1.24251498e-02 1.77725960e-05 9.99922805e-01 7.64274384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.02, Y:-14.94, Z:0.77 [[ 9.69800379e-01 2.43506108e-01 1.38564099e-02 1.52022044e+02] [-2.43481235e-01 9.69899363e-01 -3.48036946e-03 -1.49447069e+01] [-1.42868144e-02 1.48782446e-06 9.99897938e-01 7.65001253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.05, Y:-14.95, Z:0.77 [[ 9.69284401e-01 2.45526402e-01 1.43016195e-02 1.52052496e+02] [-2.45500095e-01 9.69389904e-01 -3.59418998e-03 -1.49547383e+01] [-1.47463141e-02 -2.72566669e-05 9.99891267e-01 7.66731709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.08, Y:-14.96, Z:0.77 [[ 9.68229507e-01 2.49565805e-01 1.57648702e-02 1.52083802e+02] [-2.49534339e-01 9.68357837e-01 -3.96405678e-03 -1.49640211e+01] [-1.62553286e-02 -9.57597322e-05 9.99867869e-01 7.68392640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.12, Y:-14.97, Z:0.77 [[ 9.67627760e-01 2.51985776e-01 1.41310411e-02 1.52115045e+02] [-2.51960722e-01 9.67730931e-01 -3.55530695e-03 -1.49718588e+01] [-1.45709324e-02 -1.20253624e-04 9.99893831e-01 7.69737507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.15, Y:-14.98, Z:0.77 [[ 9.67102818e-01 2.54046373e-01 1.31369855e-02 1.52146977e+02] [-2.54024866e-01 9.67192029e-01 -3.30844835e-03 -1.49809247e+01] [-1.35464870e-02 -1.37511279e-04 9.99908233e-01 7.69879059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.18, Y:-14.99, Z:0.77 [[ 9.66734099e-01 2.55515575e-01 1.17035121e-02 1.52177260e+02] [-2.55498597e-01 9.66804929e-01 -2.94884797e-03 -1.49906511e+01] [-1.20684898e-02 -1.39479040e-04 9.99927163e-01 7.70829129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.21, Y:-15.00, Z:0.77 [[ 9.65783555e-01 2.59085981e-01 1.16866942e-02 1.52207257e+02] [-2.59069293e-01 9.65854244e-01 -2.94627077e-03 -1.50017577e+01] [-1.20509807e-02 -1.82203743e-04 9.99927368e-01 7.70011310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.24, Y:-15.01, Z:0.77 [[ 9.65236207e-01 2.61178986e-01 1.02275250e-02 1.52239055e+02] [-2.61166295e-01 9.65290373e-01 -2.58100915e-03 -1.50087693e+01] [-1.05466368e-02 -1.79801330e-04 9.99944367e-01 7.70581971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.27, Y:-15.01, Z:0.77 [[ 9.64257291e-01 2.64803219e-01 9.33450850e-03 1.52271148e+02] [-2.64792806e-01 9.64302450e-01 -2.35670202e-03 -1.50120797e+01] [-9.62535170e-03 -1.99243599e-04 9.99953655e-01 7.71402646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.30, Y:-15.02, Z:0.77 [[ 9.63479470e-01 2.67626796e-01 9.12183755e-03 1.52302670e+02] [-2.67616967e-01 9.63522625e-01 -2.30430252e-03 -1.50177178e+01] [-9.40578996e-03 -2.21010332e-04 9.99955740e-01 7.71114743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.33, Y:-15.02, Z:0.77 [[ 9.62730587e-01 2.70337734e-01 8.20533074e-03 1.52334645e+02] [-2.70329869e-01 9.62765527e-01 -2.07400059e-03 -1.50238754e+01] [-8.46049020e-03 -2.21442174e-04 9.99964185e-01 7.71175027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.37, Y:-15.03, Z:0.77 [[ 9.62252633e-01 2.72059601e-01 7.31051293e-03 1.52366302e+02] [-2.72053400e-01 9.62280380e-01 -1.84890783e-03 -1.50297686e+01] [-7.53777628e-03 -2.09733471e-04 9.99971569e-01 7.71575515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.40, Y:-15.04, Z:0.77 [[ 9.61658785e-01 2.74126915e-01 8.17406525e-03 1.52398129e+02] [-2.74119227e-01 9.61693491e-01 -2.06836656e-03 -1.50353423e+01] [-8.42794030e-03 -2.51605569e-04 9.99964453e-01 7.71479980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.43, Y:-15.04, Z:0.77 [[ 9.62028577e-01 2.72675706e-01 1.22056004e-02 1.52430699e+02] [-2.72658431e-01 9.62105936e-01 -3.08987683e-03 -1.50395266e+01] [-1.25856149e-02 -3.55410032e-04 9.99920735e-01 7.71114898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.46, Y:-15.05, Z:0.77 [[ 9.62139379e-01 2.72255600e-01 1.28336592e-02 1.52461657e+02] [-2.72236440e-01 9.62224898e-01 -3.25062758e-03 -1.50470899e+01] [-1.32338680e-02 -3.66232909e-04 9.99912361e-01 7.71730845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.49, Y:-15.05, Z:0.77 [[ 9.62538461e-01 2.70779411e-01 1.40791149e-02 1.52493708e+02] [-2.70756166e-01 9.62641350e-01 -3.56798436e-03 -1.50531767e+01] [-1.45192749e-02 -3.77685011e-04 9.99894518e-01 7.71164491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.53, Y:-15.06, Z:0.77 [[ 9.62711661e-01 2.70180642e-01 1.37360232e-02 1.52525902e+02] [-2.70158428e-01 9.62809583e-01 -3.48297323e-03 -1.50575011e+01] [-1.41662067e-02 -3.57803494e-04 9.99899590e-01 7.72537108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.56, Y:-15.06, Z:0.77 [[ 9.62716211e-01 2.70234314e-01 1.22846326e-02 1.52558905e+02] [-2.70216528e-01 9.62794533e-01 -3.11675132e-03 -1.50564103e+01] [-1.26698302e-02 -3.18963744e-04 9.99919684e-01 7.70148546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.59, Y:-15.06, Z:0.77 [[ 9.63051661e-01 2.69123732e-01 1.01938593e-02 1.52590640e+02] [-2.69111412e-01 9.63105578e-01 -2.58730668e-03 -1.50609000e+01] [-1.05140683e-02 -2.51573863e-04 9.99944694e-01 7.70761184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.62, Y:-15.07, Z:0.77 [[ 9.63670290e-01 2.66917015e-01 9.74057195e-03 1.52621214e+02] [-2.66905658e-01 9.63719492e-01 -2.47176948e-03 -1.50658406e+01] [-1.00469364e-02 -2.17842957e-04 9.99949505e-01 7.70221493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.65, Y:-15.07, Z:0.77 [[ 9.64410674e-01 2.64172787e-01 1.11710037e-02 1.52650806e+02] [-2.64157679e-01 9.64475345e-01 -2.83362404e-03 -1.50707772e+01] [-1.15227240e-02 -2.18129128e-04 9.99933587e-01 7.69970096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.68, Y:-15.08, Z:0.77 [[ 9.65453138e-01 2.60348092e-01 1.09136717e-02 1.52681244e+02] [-2.60333424e-01 9.65514807e-01 -2.76868595e-03 -1.50759848e+01] [-1.12581337e-02 -1.68156979e-04 9.99936611e-01 7.70891178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.71, Y:-15.08, Z:0.77 [[ 9.68021061e-01 2.50592427e-01 1.17754852e-02 1.52709852e+02] [-2.50574641e-01 9.68092677e-01 -2.98614541e-03 -1.50823017e+01] [-1.21480664e-02 -5.99863355e-05 9.99926208e-01 7.69190024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.74, Y:-15.09, Z:0.77 [[ 9.69339340e-01 2.45450335e-01 1.16351354e-02 1.52739819e+02] [-2.45432596e-01 9.69409167e-01 -2.95089411e-03 -1.50901937e+01] [-1.20035049e-02 4.77625901e-06 9.99927955e-01 7.67650371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.77, Y:-15.10, Z:0.77 [[ 9.70595990e-01 2.40428929e-01 1.17198253e-02 1.52769843e+02] [-2.40410564e-01 9.70666743e-01 -2.97237308e-03 -1.50969954e+01] [-1.20906891e-02 6.74035859e-05 9.99926903e-01 7.66617693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.80, Y:-15.10, Z:0.77 [[ 9.71587017e-01 2.36321178e-01 1.30755390e-02 1.52799836e+02] [-2.36297947e-01 9.71674988e-01 -3.31620815e-03 -1.51032452e+01] [-1.34888644e-02 1.32261772e-04 9.99909012e-01 7.65660224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.83, Y:-15.11, Z:0.76 [[ 9.72887318e-01 2.30903812e-01 1.31793928e-02 1.52829026e+02] [-2.30879712e-01 9.72976560e-01 -3.34254749e-03 -1.51125061e+01] [-1.35950473e-02 2.09067639e-04 9.99907561e-01 7.64988154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.452320588 meters Centerline goodness [0,1] 0.9999508696079394 Centerline is valid? [True, True] Translation: X:152.86, Y:-15.12, Z:0.77 [[ 9.73236054e-01 2.29512252e-01 1.16493923e-02 1.52859207e+02] [-2.29493297e-01 9.73305751e-01 -2.95674842e-03 -1.51237438e+01] [-1.20170305e-02 2.04156734e-04 9.99927772e-01 7.65782120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.482320588 meters Centerline goodness [0,1] 0.9999508696079394 Centerline is valid? [True, True] Translation: X:152.89, Y:-15.13, Z:0.77 [[ 9.73221693e-01 2.29573148e-01 1.16492874e-02 1.52889111e+02] [-2.29554192e-01 9.73291389e-01 -2.95716156e-03 -1.51313144e+01] [-1.20170360e-02 2.03831030e-04 9.99927772e-01 7.65937536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.92, Y:-15.14, Z:0.77 [[ 9.73723556e-01 2.27476991e-01 1.08006767e-02 1.52918536e+02] [-2.27460558e-01 9.73783432e-01 -2.74248238e-03 -1.51424327e+01] [-1.11413716e-02 2.13691752e-04 9.99937910e-01 7.66373712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.95, Y:-15.16, Z:0.77 [[ 9.74495615e-01 2.23990812e-01 1.36532949e-02 1.52946303e+02] [-2.23964208e-01 9.74591203e-01 -3.46702021e-03 -1.51582136e+01] [-1.40829618e-02 3.20746609e-04 9.99900779e-01 7.67021308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.98, Y:-15.17, Z:0.77 [[ 9.74853167e-01 2.22313490e-01 1.54277191e-02 1.52975924e+02] [-2.22279253e-01 9.74975157e-01 -3.92131167e-03 -1.51704068e+01] [-1.59134033e-02 3.93441232e-04 9.99873296e-01 7.65926349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.01, Y:-15.18, Z:0.77 [[ 9.75188819e-01 2.20822242e-01 1.56302351e-02 1.53006088e+02] [-2.20786880e-01 9.75313979e-01 -3.97453102e-03 -1.51827587e+01] [-1.61220516e-02 4.24967380e-04 9.99869941e-01 7.66634730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.04, Y:-15.20, Z:0.77 [[ 9.75427468e-01 2.19748485e-01 1.58700314e-02 1.53035129e+02] [-2.19711853e-01 9.75556456e-01 -4.03757878e-03 -1.52004699e+01] [-1.63693634e-02 4.51531242e-04 9.99865911e-01 7.66439120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.07, Y:-15.21, Z:0.77 [[ 9.75234010e-01 2.20652699e-01 1.51990857e-02 1.53065393e+02] [-2.20619177e-01 9.75352352e-01 -3.86892002e-03 -1.52133903e+01] [-1.56781516e-02 4.19892609e-04 9.99877002e-01 7.67549367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.692320588 meters Centerline goodness [0,1] 0.999950821284548 Centerline is valid? [True, True] Translation: X:153.10, Y:-15.23, Z:0.77 [[ 9.74813300e-01 2.22577643e-01 1.40791747e-02 1.53095451e+02] [-2.22549052e-01 9.74914900e-01 -3.58577500e-03 -1.52267328e+01] [-1.45241105e-02 3.62154183e-04 9.99894454e-01 7.69093850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.13, Y:-15.24, Z:0.77 [[ 9.74137892e-01 2.25495726e-01 1.43890354e-02 1.53125147e+02] [-2.25466152e-01 9.74244102e-01 -3.66661067e-03 -1.52395598e+01] [-1.48452379e-02 3.27543951e-04 9.99889750e-01 7.69107966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.15, Y:-15.26, Z:0.77 [[ 9.72288053e-01 2.33314794e-01 1.48373991e-02 1.53154036e+02] [-2.33284206e-01 9.72401234e-01 -3.78416360e-03 -1.52588082e+01] [-1.53108065e-02 2.17966197e-04 9.99882759e-01 7.68521192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.18, Y:-15.27, Z:0.77 [[ 9.71326824e-01 2.37309148e-01 1.44419098e-02 1.53184022e+02] [-2.37280575e-01 9.71434169e-01 -3.68567634e-03 -1.52716511e+01] [-1.49040094e-02 1.53211634e-04 9.99888917e-01 7.67719674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.21, Y:-15.28, Z:0.77 [[ 9.70347519e-01 2.41365063e-01 1.29845287e-02 1.53214358e+02] [-2.41342305e-01 9.70434387e-01 -3.31550557e-03 -1.52833152e+01] [-1.34008804e-02 8.34765285e-05 9.99910201e-01 7.67594761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.24, Y:-15.29, Z:0.77 [[ 9.69548263e-01 2.44634062e-01 1.14167483e-02 1.53244730e+02] [-2.44616674e-01 9.69615478e-01 -2.91686297e-03 -1.52948719e+01] [-1.17834199e-02 3.53124120e-05 9.99930572e-01 7.68631272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.27, Y:-15.31, Z:0.77 [[ 9.67973499e-01 2.50875473e-01 9.42346720e-03 1.53273966e+02] [-2.50863908e-01 9.68019368e-01 -2.40906230e-03 -1.53112333e+01] [-9.72647340e-03 -3.20993393e-05 9.99952696e-01 7.70446971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.30, Y:-15.32, Z:0.77 [[ 9.66959403e-01 2.54758331e-01 9.36515065e-03 1.53304061e+02] [-2.54747077e-01 9.67004751e-01 -2.39550301e-03 -1.53223718e+01] [-9.66641952e-03 -6.93905996e-05 9.99953277e-01 7.70802343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.33, Y:-15.33, Z:0.77 [[ 9.65882334e-01 2.58816891e-01 9.22683025e-03 1.53334403e+02] [-2.58806140e-01 9.65926398e-01 -2.36144752e-03 -1.53323383e+01] [-9.52362141e-03 -1.07079880e-04 9.99954644e-01 7.72018691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.37, Y:-15.34, Z:0.77 [[ 9.63893918e-01 2.66075506e-01 1.05990934e-02 1.53365190e+02] [-2.66061681e-01 9.63952170e-01 -2.71954740e-03 -1.53433133e+01] [-1.09406240e-02 -1.98657399e-04 9.99940130e-01 7.71278190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.40, Y:-15.35, Z:0.77 [[ 9.62688597e-01 2.70378958e-01 1.12197877e-02 1.53395377e+02] [-2.70363697e-01 9.62753942e-01 -2.88415819e-03 -1.53541748e+01] [-1.15817105e-02 -2.56877073e-04 9.99932897e-01 7.70635174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.43, Y:-15.37, Z:0.77 [[ 9.61339181e-01 2.75181296e-01 1.01110685e-02 1.53425370e+02] [-2.75169114e-01 9.61392312e-01 -2.60426488e-03 -1.53653046e+01] [-1.04373485e-02 -2.78671896e-04 9.99945491e-01 7.71190218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.46, Y:-15.38, Z:0.77 [[ 9.60228903e-01 2.79061757e-01 9.21903612e-03 1.53455756e+02] [-2.79051764e-01 9.60273114e-01 -2.37908203e-03 -1.53753711e+01] [-9.51670333e-03 -2.88124964e-04 9.99954674e-01 7.71566648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.49, Y:-15.38, Z:0.77 [[ 9.58628517e-01 2.84479147e-01 1.01479626e-02 1.53486861e+02] [-2.84467334e-01 9.58682155e-01 -2.61955207e-03 -1.53824173e+01] [-1.04738786e-02 -3.75586563e-04 9.99945077e-01 7.70913914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.52, Y:-15.39, Z:0.77 [[ 9.58058175e-01 2.86336308e-01 1.16641094e-02 1.53517992e+02] [-2.86320767e-01 9.58129071e-01 -3.01682378e-03 -1.53889138e+01] [-1.20395485e-02 -4.49384073e-04 9.99927421e-01 7.70218145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.55, Y:-15.40, Z:0.77 [[ 9.57682734e-01 2.87575674e-01 1.20005245e-02 1.53548376e+02] [-2.87559258e-01 9.57757802e-01 -3.10899566e-03 -1.53980206e+01] [-1.23876675e-02 -4.73430438e-04 9.99923158e-01 7.69798139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.58, Y:-15.41, Z:0.77 [[ 9.57420907e-01 2.88497741e-01 1.06892890e-02 1.53579877e+02] [-2.88484704e-01 9.57480481e-01 -2.77562171e-03 -1.54083244e+01] [-1.10355462e-02 -4.26258120e-04 9.99939016e-01 7.69475129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.61, Y:-15.42, Z:0.77 [[ 9.57734971e-01 2.87489232e-01 9.67813257e-03 1.53610161e+02] [-2.87478449e-01 9.57783798e-01 -2.51745908e-03 -1.54188592e+01] [-9.99330095e-03 -3.71195936e-04 9.99949997e-01 7.72048047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.64, Y:-15.43, Z:0.77 [[ 9.57903564e-01 2.86935625e-01 9.41860092e-03 1.53641769e+02] [-2.86925342e-01 9.57949802e-01 -2.45445050e-03 -1.54253211e+01] [-9.72681618e-03 -3.51308409e-04 9.99952632e-01 7.71726458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.67, Y:-15.43, Z:0.77 [[ 9.57863315e-01 2.87048457e-01 1.00524748e-02 1.53673971e+02] [-2.87036692e-01 9.57915991e-01 -2.62519956e-03 -1.54309898e+01] [-1.03829859e-02 -3.70846771e-04 9.99946027e-01 7.70663228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.71, Y:-15.44, Z:0.77 [[ 9.58124793e-01 2.86147435e-01 1.07947480e-02 1.53705997e+02] [-2.86133762e-01 9.58185524e-01 -2.82353285e-03 -1.54355841e+01] [-1.11513180e-02 -3.83445031e-04 9.99937749e-01 7.70347076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.74, Y:-15.44, Z:0.77 [[ 9.58377695e-01 2.85200091e-01 1.31568461e-02 1.53738175e+02] [-2.85179594e-01 9.58467896e-01 -3.44831266e-03 -1.54426008e+01] [-1.35938737e-02 -4.47278095e-04 9.99907499e-01 7.67927722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.77, Y:-15.45, Z:0.77 [[ 9.58753749e-01 2.83953294e-01 1.27190696e-02 1.53769380e+02] [-2.83933954e-01 9.58838025e-01 -3.33931229e-03 -1.54517514e+01] [-1.31437363e-02 -4.09797565e-04 9.99913533e-01 7.68294880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.80, Y:-15.46, Z:0.77 [[ 9.60158187e-01 2.79345644e-01 7.89096289e-03 1.53799108e+02] [-2.79338049e-01 9.60190588e-01 -2.07118303e-03 -1.54608147e+01] [-8.15540425e-03 -2.15582832e-04 9.99966721e-01 7.69834639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.83, Y:-15.47, Z:0.77 [[ 9.60980443e-01 2.76522848e-01 7.19039458e-03 1.53830017e+02] [-2.76516421e-01 9.61007329e-01 -1.89284492e-03 -1.54689535e+01] [-7.43343676e-03 -1.69275224e-04 9.99972357e-01 7.69761237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.86, Y:-15.48, Z:0.77 [[ 9.61836461e-01 2.73472544e-01 9.13184483e-03 1.53861071e+02] [-2.73462005e-01 9.61879792e-01 -2.40774144e-03 -1.54765581e+01] [-9.44218818e-03 -1.81359097e-04 9.99955405e-01 7.69599702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.89, Y:-15.49, Z:0.77 [[ 9.62566170e-01 2.70863792e-01 9.95863473e-03 1.53891801e+02] [-2.70851070e-01 9.62617670e-01 -2.63041985e-03 -1.54858270e+01] [-1.02988433e-02 -1.65353712e-04 9.99946952e-01 7.69648297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.92, Y:-15.50, Z:0.77 [[ 9.63304151e-01 2.68122725e-01 1.24626528e-02 1.53923149e+02] [-2.68102482e-01 9.63384751e-01 -3.29869428e-03 -1.54980474e+01] [-1.28907845e-02 -1.63622246e-04 9.99916897e-01 7.70856579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.96, Y:-15.51, Z:0.77 [[ 9.63084935e-01 2.68915634e-01 1.23202865e-02 1.53955456e+02] [-2.68895828e-01 9.63163721e-01 -3.26798408e-03 -1.55063098e+01] [-1.27452650e-02 -1.65527386e-04 9.99918762e-01 7.72739389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.99, Y:-15.51, Z:0.77 [[ 9.62576407e-01 2.70720526e-01 1.25322405e-02 1.53988210e+02] [-2.70700094e-01 9.62657968e-01 -3.33118629e-03 -1.55128886e+01] [-1.29660817e-02 -1.85957344e-04 9.99915920e-01 7.73384989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.02, Y:-15.52, Z:0.77 [[ 9.61860103e-01 2.73289171e-01 1.17545884e-02 1.54020201e+02] [-2.73271305e-01 9.61931904e-01 -3.13125427e-03 -1.55194623e+01] [-1.21628515e-02 -2.00363155e-04 9.99926010e-01 7.72483545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.05, Y:-15.53, Z:0.77 [[ 9.60741695e-01 2.77164592e-01 1.24572979e-02 1.54049956e+02] [-2.77144830e-01 9.60822419e-01 -3.32008838e-03 -1.55308540e+01] [-1.28894621e-02 -2.62728381e-04 9.99916893e-01 7.71212965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.08, Y:-15.54, Z:0.77 [[ 9.60365164e-01 2.78442970e-01 1.29716593e-02 1.54080554e+02] [-2.78421561e-01 9.60452722e-01 -3.46453578e-03 -1.55414319e+01] [-1.34233411e-02 -2.84370159e-04 9.99909862e-01 7.71398481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.11, Y:-15.55, Z:0.77 [[ 9.60052662e-01 2.79519810e-01 1.29445913e-02 1.54112010e+02] [-2.79498486e-01 9.60139881e-01 -3.46486609e-03 -1.55506621e+01] [-1.33971171e-02 -2.91539770e-04 9.99910212e-01 7.73045074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.14, Y:-15.56, Z:0.77 [[ 9.60263435e-01 2.78730075e-01 1.42716979e-02 1.54144755e+02] [-2.78704043e-01 9.60369434e-01 -3.82178546e-03 -1.55554682e+01] [-1.47713490e-02 -3.07659057e-04 9.99890850e-01 7.74829045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.18, Y:-15.56, Z:0.77 [[ 9.60616860e-01 2.77524848e-01 1.39716826e-02 1.54175879e+02] [-2.77499653e-01 9.60718420e-01 -3.74957275e-03 -1.55618669e+01] [-1.44634524e-02 -2.75234271e-04 9.99895361e-01 7.74163328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.21, Y:-15.57, Z:0.77 [[ 9.61042213e-01 2.76100102e-01 1.29072823e-02 1.54207661e+02] [-2.76078460e-01 9.61128857e-01 -3.46481467e-03 -1.55694889e+01] [-1.33621972e-02 -2.33589466e-04 9.99910695e-01 7.73703210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.24, Y:-15.58, Z:0.77 [[ 9.61003970e-01 2.76253368e-01 1.24677772e-02 1.54239717e+02] [-2.76233073e-01 9.61084819e-01 -3.35573080e-03 -1.55789929e+01] [-1.29096233e-02 -2.19141790e-04 9.99916643e-01 7.74159611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.27, Y:-15.59, Z:0.77 [[ 9.61439079e-01 2.74721995e-01 1.27563021e-02 1.54270189e+02] [-2.74700537e-01 9.61523680e-01 -3.43921231e-03 -1.55903453e+01] [-1.32103138e-02 -1.97569932e-04 9.99912720e-01 7.73708915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.30, Y:-15.60, Z:0.77 [[ 9.61787102e-01 2.73555010e-01 1.15423971e-02 1.54300755e+02] [-2.73537287e-01 9.61856347e-01 -3.11785127e-03 -1.55992140e+01] [-1.19550317e-02 -1.58566843e-04 9.99928523e-01 7.73006807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.33, Y:-15.61, Z:0.77 [[ 9.62313468e-01 2.71700789e-01 1.14660617e-02 1.54331479e+02] [-2.71683100e-01 9.62381767e-01 -3.10295350e-03 -1.56080033e+01] [-1.18778036e-02 -1.29121244e-04 9.99929448e-01 7.72389257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.36, Y:-15.62, Z:0.77 [[ 9.62941763e-01 2.69498163e-01 1.06724936e-02 1.54362867e+02] [-2.69482642e-01 9.63000899e-01 -2.89366924e-03 -1.56163132e+01] [-1.10574595e-02 -8.96168222e-05 9.99938860e-01 7.72074672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.39, Y:-15.62, Z:0.77 [[ 9.63817043e-01 2.66268280e-01 1.25662934e-02 1.54394885e+02] [-2.66246393e-01 9.63898958e-01 -3.41437041e-03 -1.56247857e+01] [-1.30217757e-02 -5.49019122e-05 9.99915212e-01 7.72321969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.43, Y:-15.63, Z:0.77 [[ 9.64072352e-01 2.65329331e-01 1.28392261e-02 1.54426484e+02] [-2.65306303e-01 9.64157842e-01 -3.49584308e-03 -1.56330797e+01] [-1.33065902e-02 -3.60819424e-05 9.99911463e-01 7.72673410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.46, Y:-15.64, Z:0.77 [[ 9.63944477e-01 2.65743858e-01 1.38291873e-02 1.54457496e+02] [-2.65717073e-01 9.64043671e-01 -3.77314802e-03 -1.56434126e+01] [-1.43346314e-02 -3.75459838e-05 9.99897253e-01 7.72012964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.042320588 meters Centerline goodness [0,1] 0.9999507922448578 Centerline is valid? [True, True] Translation: X:154.49, Y:-15.65, Z:0.77 [[ 9.63977841e-01 2.65589275e-01 1.44588879e-02 1.54488690e+02] [-2.65559853e-01 9.64086270e-01 -3.95321689e-03 -1.56534300e+01] [-1.49895473e-02 -2.88866617e-05 9.99887650e-01 7.71831871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.52, Y:-15.66, Z:0.77 [[ 9.63930173e-01 2.65548660e-01 1.79591176e-02 1.54519161e+02] [-2.65503112e-01 9.64097458e-01 -4.91827531e-03 -1.56638809e+01] [-1.86203810e-02 -2.73276250e-05 9.99826625e-01 7.72321816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.55, Y:-15.67, Z:0.77 [[ 9.63885129e-01 2.65669603e-01 1.85774231e-02 1.54551234e+02] [-2.65620675e-01 9.64064138e-01 -5.09857919e-03 -1.56722822e+01] [-1.92643649e-02 -2.01029949e-05 9.99814425e-01 7.73181931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.58, Y:-15.68, Z:0.77 [[ 9.64074135e-01 2.65037967e-01 1.77746630e-02 1.54582224e+02] [-2.64992905e-01 9.64237977e-01 -4.88713094e-03 -1.56817930e+01] [-1.84342803e-02 1.39695211e-06 9.99830074e-01 7.73047291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.61, Y:-15.69, Z:0.77 [[ 9.64419221e-01 2.63964414e-01 1.47768133e-02 1.54611935e+02] [-2.63933026e-01 9.64532419e-01 -4.07070014e-03 -1.56948247e+01] [-1.53272354e-02 2.57724231e-05 9.99882531e-01 7.71622651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.64, Y:-15.71, Z:0.77 [[ 9.64935320e-01 2.62011291e-01 1.58086075e-02 1.54642625e+02] [-2.61974977e-01 9.65064805e-01 -4.36263751e-03 -1.57054802e+01] [-1.63993910e-02 6.82034201e-05 9.99865519e-01 7.70224314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.67, Y:-15.72, Z:0.77 [[ 9.65103864e-01 2.61388112e-01 1.58362337e-02 1.54673240e+02] [-2.61351431e-01 9.65233778e-01 -4.37976061e-03 -1.57170191e+01] [-1.64304850e-02 8.81015400e-05 9.99865007e-01 7.70588912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.70, Y:-15.73, Z:0.77 [[ 9.65618299e-01 2.59454843e-01 1.62630115e-02 1.54703399e+02] [-2.59415754e-01 9.65755232e-01 -4.50549784e-03 -1.57290630e+01] [-1.68750617e-02 1.31709762e-04 9.99857597e-01 7.72011152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.73, Y:-15.75, Z:0.77 [[ 9.66255630e-01 2.57058743e-01 1.64578387e-02 1.54732077e+02] [-2.57018224e-01 9.66395762e-01 -4.56766394e-03 -1.57456452e+01] [-1.70789435e-02 1.83566520e-04 9.99854127e-01 7.72735601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.76, Y:-15.76, Z:0.77 [[ 9.66407037e-01 2.56596909e-01 1.46787081e-02 1.54761716e+02] [-2.56564510e-01 9.66518491e-01 -4.08143318e-03 -1.57583268e+01] [-1.52345260e-02 1.78290192e-04 9.99883932e-01 7.73399716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.79, Y:-15.77, Z:0.77 [[ 9.66522270e-01 2.56220650e-01 1.36264803e-02 1.54792148e+02] [-2.56192677e-01 9.66618306e-01 -3.78991017e-03 -1.57708477e+01] [-1.41426586e-02 1.72028103e-04 9.99899973e-01 7.72792661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.82, Y:-15.78, Z:0.77 [[ 9.66292774e-01 2.57095541e-01 1.34222609e-02 1.54823287e+02] [-2.57068351e-01 9.66385976e-01 -3.74266221e-03 -1.57828745e+01] [-1.39333065e-02 1.66068966e-04 9.99902913e-01 7.74930274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.85, Y:-15.80, Z:0.78 [[ 9.65597488e-01 2.59543643e-01 1.60806991e-02 1.54852529e+02] [-2.59504834e-01 9.65731366e-01 -4.49113480e-03 -1.57964038e+01] [-1.66952810e-02 1.63609331e-04 9.99860611e-01 7.77981926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.88, Y:-15.80, Z:0.78 [[ 9.65459161e-01 2.60057878e-01 1.60782150e-02 1.54883893e+02] [-2.60018993e-01 9.65593016e-01 -4.50002259e-03 -1.58048477e+01] [-1.66952784e-02 1.63946765e-04 9.99860611e-01 7.78145818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.91, Y:-15.82, Z:0.78 [[ 9.64901664e-01 2.62156128e-01 1.54578014e-02 1.54914381e+02] [-2.62120334e-01 9.65025465e-01 -4.33391475e-03 -1.58165284e+01] [-1.60533343e-02 1.29997485e-04 9.99871128e-01 7.79352629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.94, Y:-15.83, Z:0.78 [[ 9.64249175e-01 2.64658952e-01 1.33853761e-02 1.54943961e+02] [-2.64632254e-01 9.64342072e-01 -3.76001069e-03 -1.58288307e+01] [-1.39032018e-02 8.33849466e-05 9.99903342e-01 7.78120467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.97, Y:-15.84, Z:0.78 [[ 9.63029742e-01 2.69208782e-01 1.00173261e-02 1.54973272e+02] [-2.69194017e-01 9.63081840e-01 -2.81962626e-03 -1.58437707e+01] [-1.04065730e-02 1.87796893e-05 9.99945850e-01 7.75995604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.00, Y:-15.85, Z:0.78 [[ 9.62290139e-01 2.71847541e-01 9.82865692e-03 1.55004708e+02] [-2.71833401e-01 9.62340332e-01 -2.77264214e-03 -1.58545792e+01] [-1.02122489e-02 -3.67104533e-06 9.99947854e-01 7.75809526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.04, Y:-15.86, Z:0.78 [[ 9.61508801e-01 2.74591300e-01 1.00221757e-02 1.55036581e+02] [-2.74576688e-01 9.61561031e-01 -2.83294509e-03 -1.58646284e+01] [-1.04148357e-02 -2.79541794e-05 9.99945764e-01 7.77119621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.07, Y:-15.88, Z:0.78 [[ 9.59963661e-01 2.79823434e-01 1.29852062e-02 1.55066452e+02] [-2.79799309e-01 9.60051475e-01 -3.67581213e-03 -1.58759323e+01] [-1.34950447e-02 -1.04605657e-04 9.99908932e-01 7.77747941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.10, Y:-15.89, Z:0.78 [[ 9.59355081e-01 2.81904709e-01 1.29446449e-02 1.55098238e+02] [-2.81880821e-01 9.59442400e-01 -3.67199870e-03 -1.58860894e+01] [-1.34547949e-02 -1.26096536e-04 9.99909472e-01 7.77167642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.13, Y:-15.90, Z:0.78 [[ 9.58908526e-01 2.83411968e-01 1.31184759e-02 1.55129403e+02] [-2.83387475e-01 9.58998246e-01 -3.72867438e-03 -1.58967312e+01] [-1.36373463e-02 -1.42154099e-04 9.99906997e-01 7.75364264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.16, Y:-15.91, Z:0.77 [[ 9.58355189e-01 2.85301605e-01 1.25827832e-02 1.55160642e+02] [-2.85279140e-01 9.58437776e-01 -3.58361859e-03 -1.59067380e+01] [-1.30822269e-02 -1.55226091e-04 9.99914412e-01 7.73683297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.19, Y:-15.92, Z:0.77 [[ 9.57862847e-01 2.87015237e-01 1.10009094e-02 1.55192737e+02] [-2.86998104e-01 9.57926005e-01 -3.13957285e-03 -1.59157460e+01] [-1.14391624e-02 -1.49959943e-04 9.99934559e-01 7.73969702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.22, Y:-15.92, Z:0.78 [[ 9.57214533e-01 2.89134044e-01 1.19097579e-02 1.55224230e+02] [-2.89114063e-01 9.57288603e-01 -3.40420155e-03 -1.59240806e+01] [-1.23853460e-02 -1.84727283e-04 9.99923282e-01 7.75711837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.26, Y:-15.93, Z:0.78 [[ 9.56621584e-01 2.90959926e-01 1.47467483e-02 1.55255470e+02] [-2.90929406e-01 9.56735208e-01 -4.22173044e-03 -1.59328920e+01] [-1.53370877e-02 -2.51664256e-04 9.99882348e-01 7.76758391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.29, Y:-15.94, Z:0.78 [[ 9.56361716e-01 2.91769496e-01 1.55829611e-02 1.55287403e+02] [-2.91735379e-01 9.56488624e-01 -4.47001209e-03 -1.59421991e+01] [-1.62091382e-02 -2.71152631e-04 9.99868587e-01 7.77170375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.32, Y:-15.95, Z:0.78 [[ 9.55869883e-01 2.93418936e-01 1.47680426e-02 1.55319171e+02] [-2.93388362e-01 9.55983918e-01 -4.24461894e-03 -1.59522783e+01] [-1.53634628e-02 -2.75468409e-04 9.99881937e-01 7.76578695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.35, Y:-15.96, Z:0.77 [[ 9.56838240e-01 2.90310909e-01 1.34223455e-02 1.55350422e+02] [-2.90285259e-01 9.56932357e-01 -3.86416941e-03 -1.59605283e+01] [-1.39660872e-02 -1.98923980e-04 9.99902450e-01 7.74557931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.912320588 meters Centerline goodness [0,1] 0.999950821284548 Centerline is valid? [True, True] Translation: X:155.38, Y:-15.97, Z:0.78 [[ 9.57509560e-01 2.88059537e-01 1.40408845e-02 1.55382189e+02] [-2.88031188e-01 9.57612486e-01 -4.04483474e-03 -1.59682011e+01] [-1.46108795e-02 -1.71244717e-04 9.99893241e-01 7.76531583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.41, Y:-15.98, Z:0.78 [[ 9.57950554e-01 2.86548858e-01 1.48488187e-02 1.55414227e+02] [-2.86516820e-01 9.58065619e-01 -4.28736505e-03 -1.59760766e+01] [-1.54546822e-02 -1.47352588e-04 9.99880558e-01 7.76972210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.44, Y:-15.98, Z:0.78 [[ 9.58536102e-01 2.84590008e-01 1.47332286e-02 1.55444983e+02] [-2.84558128e-01 9.58649318e-01 -4.26096685e-03 -1.59848951e+01] [-1.53366281e-02 -1.08169385e-04 9.99882381e-01 7.77885169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.48, Y:-15.99, Z:0.78 [[ 9.59270804e-01 2.82210054e-01 1.25303968e-02 1.55475566e+02] [-2.82186706e-01 9.59352637e-01 -3.63046533e-03 -1.59943888e+01] [-1.30456230e-02 -5.33120061e-05 9.99914901e-01 7.77406880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.51, Y:-16.00, Z:0.78 [[ 9.59440908e-01 2.81642178e-01 1.22811641e-02 1.55507336e+02] [-2.81619607e-01 9.59519506e-01 -3.56575989e-03 -1.60028630e+01] [-1.27882849e-02 -3.74806999e-05 9.99918226e-01 7.78130555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.54, Y:-16.01, Z:0.78 [[ 9.59785624e-01 2.80400250e-01 1.36841241e-02 1.55539548e+02] [-2.80371993e-01 9.59883170e-01 -3.98066366e-03 -1.60114336e+01] [-1.42513395e-02 -1.60614000e-05 9.99898444e-01 7.77500331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.57, Y:-16.02, Z:0.78 [[ 9.60066043e-01 2.79401069e-01 1.44303591e-02 1.55570982e+02] [-2.79369411e-01 9.60174486e-01 -4.20588798e-03 -1.60201235e+01] [-1.50307923e-02 6.52929871e-06 9.99887031e-01 7.79254475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.60, Y:-16.03, Z:0.78 [[ 9.60602775e-01 2.77528642e-01 1.48378620e-02 1.55602541e+02] [-2.77494814e-01 9.60717363e-01 -4.33324715e-03 -1.60302618e+01] [-1.54575918e-02 4.50994946e-05 9.99880523e-01 7.79833555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.63, Y:-16.04, Z:0.78 [[ 9.60691004e-01 2.77279905e-01 1.37349664e-02 1.55633487e+02] [-2.77250797e-01 9.60789182e-01 -4.01795967e-03 -1.60387834e+01] [-1.43105066e-02 5.19873455e-05 9.99897598e-01 7.79223420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.67, Y:-16.05, Z:0.78 [[ 9.61246934e-01 2.75414642e-01 1.22925515e-02 1.55665351e+02] [-2.75391075e-01 9.61325527e-01 -3.60373312e-03 -1.60481657e+01] [-1.28096644e-02 7.88184326e-05 9.99917950e-01 7.78079816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.212320588 meters Centerline goodness [0,1] 0.9999507970871876 Centerline is valid? [True, True] Translation: X:155.70, Y:-16.06, Z:0.78 [[ 9.61201317e-01 2.75578498e-01 1.21869076e-02 1.55696112e+02] [-2.75555256e-01 9.61278568e-01 -3.57995074e-03 -1.60598571e+01] [-1.27015706e-02 8.28869131e-05 9.99919328e-01 7.78139707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.73, Y:-16.07, Z:0.78 [[ 9.61525321e-01 2.74407491e-01 1.30224949e-02 1.55726236e+02] [-2.74380764e-01 9.61613496e-01 -3.83141738e-03 -1.60718420e+01] [-1.35739764e-02 1.10882732e-04 9.99907863e-01 7.78029942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.76, Y:-16.08, Z:0.78 [[ 9.61654244e-01 2.73894830e-01 1.42385978e-02 1.55756430e+02] [-2.73862717e-01 9.61759639e-01 -4.19623661e-03 -1.60836853e+01] [-1.48434362e-02 1.35907649e-04 9.99889821e-01 7.79263212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.302320588 meters Centerline goodness [0,1] 0.9999509033778476 Centerline is valid? [True, True] Translation: X:155.79, Y:-16.09, Z:0.78 [[ 9.61705411e-01 2.73646239e-01 1.55060881e-02 1.55786860e+02] [-2.73607998e-01 9.61830396e-01 -4.57740971e-03 -1.60939346e+01] [-1.61668178e-02 1.59529970e-04 9.99869296e-01 7.80691391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.82, Y:-16.10, Z:0.78 [[ 9.61279585e-01 2.75084208e-01 1.64388988e-02 1.55818965e+02] [-2.75041271e-01 9.61420124e-01 -4.86254006e-03 -1.61025458e+01] [-1.71422961e-02 1.52884889e-04 9.99853048e-01 7.79888892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.85, Y:-16.11, Z:0.78 [[ 9.60853680e-01 2.76567565e-01 1.64495544e-02 1.55850294e+02] [-2.76524625e-01 9.60994466e-01 -4.87524693e-03 -1.61110881e+01] [-1.71562659e-02 1.35692088e-04 9.99852811e-01 7.79052747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.88, Y:-16.12, Z:0.78 [[ 9.60380436e-01 2.78243622e-01 1.58083843e-02 1.55880795e+02] [-2.78204064e-01 9.60510528e-01 -4.69300187e-03 -1.61202876e+01] [-1.64899174e-02 1.09110412e-04 9.99864026e-01 7.78738352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.422320588 meters Centerline goodness [0,1] 0.9999507946661418 Centerline is valid? [True, True] Translation: X:155.91, Y:-16.14, Z:0.78 [[ 9.59756407e-01 2.80517544e-01 1.33246419e-02 1.55909608e+02] [-2.80489558e-01 9.59848896e-01 -3.96291902e-03 -1.61359746e+01] [-1.39013111e-02 6.60140234e-05 9.99903370e-01 7.78473642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.94, Y:-16.15, Z:0.78 [[ 9.59479735e-01 2.81481058e-01 1.29248881e-02 1.55940166e+02] [-2.81454707e-01 9.59566783e-01 -3.85192322e-03 -1.61498084e+01] [-1.34865367e-02 5.80716751e-05 9.99909051e-01 7.78606830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.97, Y:-16.16, Z:0.78 [[ 9.59185181e-01 2.82478736e-01 1.30212393e-02 1.55970761e+02] [-2.82451980e-01 9.59273559e-01 -3.88817187e-03 -1.61621920e+01] [-1.35892564e-02 5.16020261e-05 9.99907660e-01 7.78883510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.00, Y:-16.17, Z:0.78 [[ 9.58899930e-01 2.83388436e-01 1.42098089e-02 1.56002027e+02] [-2.83356553e-01 9.59005210e-01 -4.25111105e-03 -1.61719851e+01] [-1.48319965e-02 4.99476271e-05 9.99889999e-01 7.79075299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.03, Y:-16.18, Z:0.78 [[ 9.58682050e-01 2.84092224e-01 1.48437181e-02 1.56033730e+02] [-2.84057386e-01 9.58796957e-01 -4.44926913e-03 -1.61807545e+01] [-1.54961146e-02 4.89666814e-05 9.99879927e-01 7.78780651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.06, Y:-16.19, Z:0.78 [[ 9.58046411e-01 2.86247908e-01 1.44640752e-02 1.56064787e+02] [-2.86214945e-01 9.58155590e-01 -4.34401362e-03 -1.61917160e+01] [-1.51022993e-02 2.19321768e-05 9.99885954e-01 7.78785507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.09, Y:-16.20, Z:0.78 [[ 9.57585409e-01 2.87875636e-01 1.25619838e-02 1.56094645e+02] [-2.87850829e-01 9.57667802e-01 -3.77915003e-03 -1.62042105e+01] [-1.31181326e-02 2.88147069e-06 9.99913954e-01 7.78548191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.632320588 meters Centerline goodness [0,1] 0.9999017778214321 Centerline is valid? [True, True] Translation: X:156.12, Y:-16.22, Z:0.78 [[ 9.57103903e-01 2.89526669e-01 1.12439547e-02 1.56124461e+02] [-2.89506839e-01 9.57169947e-01 -3.38855746e-03 -1.62173036e+01] [-1.17434533e-02 -1.20002154e-05 9.99931043e-01 7.78378736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.15, Y:-16.23, Z:0.78 [[ 9.56006234e-01 2.93129772e-01 1.12702326e-02 1.56154011e+02] [-2.93110019e-01 9.56072662e-01 -3.40329438e-03 -1.62338076e+01] [-1.17727682e-02 -4.98474516e-05 9.99930697e-01 7.78782418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.18, Y:-16.25, Z:0.78 [[ 9.55531111e-01 2.94596725e-01 1.31554547e-02 1.56184278e+02] [-2.94569872e-01 9.55621664e-01 -3.97826367e-03 -1.62454832e+01] [-1.37436209e-02 -7.38458928e-05 9.99905549e-01 7.81341959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.21, Y:-16.26, Z:0.78 [[ 9.55044058e-01 2.96160593e-01 1.34071170e-02 1.56214835e+02] [-2.96132745e-01 9.55138155e-01 -4.06229308e-03 -1.62565661e+01] [-1.40087402e-02 -9.06175111e-05 9.99901869e-01 7.84100092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.25, Y:-16.27, Z:0.78 [[ 9.54481543e-01 2.97988820e-01 1.29479040e-02 1.56245905e+02] [-2.97962914e-01 9.54569354e-01 -3.93061299e-03 -1.62687951e+01] [-1.35309510e-02 -1.06297653e-04 9.99908447e-01 7.83086527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.28, Y:-16.28, Z:0.78 [[ 9.53711773e-01 3.00506260e-01 1.13948112e-02 1.56276890e+02] [-3.00486296e-01 9.53779835e-01 -3.46585049e-03 -1.62808703e+01] [-1.19096510e-02 -1.18562214e-04 9.99929071e-01 7.81011693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.31, Y:-16.29, Z:0.78 [[ 9.52708573e-01 3.03693675e-01 1.07947943e-02 1.56307286e+02] [-3.03675892e-01 9.52769716e-01 -3.28958137e-03 -1.62939179e+01] [-1.12839781e-02 -1.44106404e-04 9.99936324e-01 7.79355137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.34, Y:-16.31, Z:0.78 [[ 9.51380108e-01 3.07780644e-01 1.21228998e-02 1.56337232e+02] [-3.07758482e-01 9.51457319e-01 -3.69947677e-03 -1.63066528e+01] [-1.26730491e-02 -2.11316620e-04 9.99919671e-01 7.80312378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.37, Y:-16.32, Z:0.78 [[ 9.49241395e-01 3.14205744e-01 1.46807154e-02 1.56367777e+02] [-3.14174012e-01 9.49354844e-01 -4.47990655e-03 -1.63167195e+01] [-1.53448207e-02 -3.59786518e-04 9.99882197e-01 7.83464844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.40, Y:-16.32, Z:0.78 [[ 9.48430304e-01 3.16676786e-01 1.39918598e-02 1.56398840e+02] [-3.16648109e-01 9.48533433e-01 -4.27800205e-03 -1.63237309e+01] [-1.46264908e-02 -3.73109174e-04 9.99892958e-01 7.84740800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.43, Y:-16.33, Z:0.78 [[ 9.47631163e-01 3.19157333e-01 1.15661084e-02 1.56430248e+02] [-3.19137837e-01 9.47701686e-01 -3.54337078e-03 -1.63323758e+01] [-1.20921132e-02 -3.33374236e-04 9.99926832e-01 7.83642691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.46, Y:-16.34, Z:0.78 [[ 9.46962148e-01 3.21177884e-01 1.03661045e-02 1.56460477e+02] [-3.21162292e-01 9.47018831e-01 -3.18055590e-03 -1.63431319e+01] [-1.08384204e-02 -3.17335842e-04 9.99941212e-01 7.82439491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.49, Y:-16.36, Z:0.78 [[ 9.45737423e-01 3.24712686e-01 1.19330504e-02 1.56489941e+02] [-3.24692241e-01 9.45812617e-01 -3.66641723e-03 -1.63568882e+01] [-1.24769618e-02 -4.07100895e-04 9.99922077e-01 7.80579369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.52, Y:-16.37, Z:0.78 [[ 9.45357866e-01 3.25757538e-01 1.34361805e-02 1.56520995e+02] [-3.25731639e-01 9.45453229e-01 -4.13427128e-03 -1.63657796e+01] [-1.40500502e-02 -4.68223206e-04 9.99901184e-01 7.80914943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.55, Y:-16.37, Z:0.78 [[ 9.45325821e-01 3.25835411e-01 1.37977429e-02 1.56553528e+02] [-3.25807998e-01 9.45426390e-01 -4.25312544e-03 -1.63736189e+01] [-1.44305691e-02 -4.74825694e-04 9.99895761e-01 7.80563631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.59, Y:-16.38, Z:0.78 [[ 9.45030758e-01 3.26700266e-01 1.35573771e-02 1.56585024e+02] [-3.26673785e-01 9.45127882e-01 -4.18636689e-03 -1.63824749e+01] [-1.41811422e-02 -4.72594207e-04 9.99899331e-01 7.81822921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.62, Y:-16.39, Z:0.78 [[ 9.44420428e-01 3.28558017e-01 1.09400855e-02 1.56615341e+02] [-3.28540825e-01 9.44483706e-01 -3.38454068e-03 -1.63949918e+01] [-1.14447505e-02 -3.97835366e-04 9.99934428e-01 7.81447290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.65, Y:-16.40, Z:0.78 [[ 9.44209739e-01 3.29188685e-01 1.01379897e-02 1.56647052e+02] [-3.29173899e-01 9.44264090e-01 -3.14197090e-03 -1.64043288e+01] [-1.06072409e-02 -3.70482063e-04 9.99943673e-01 7.81151913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.68, Y:-16.41, Z:0.78 [[ 9.43860252e-01 3.30210518e-01 9.42537925e-03 1.56678796e+02] [-3.30197737e-01 9.43907247e-01 -2.92633753e-03 -1.64131330e+01] [-9.86299121e-03 -3.50185216e-04 9.99951298e-01 7.80747870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.71, Y:-16.42, Z:0.78 [[ 9.43650817e-01 3.30808603e-01 9.42360584e-03 1.56710386e+02] [-3.30795808e-01 9.43697803e-01 -2.93078676e-03 -1.64209348e+01] [-9.86256560e-03 -3.51649987e-04 9.99951302e-01 7.81102511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.74, Y:-16.43, Z:0.78 [[ 9.43357716e-01 3.31605388e-01 1.06810718e-02 1.56741504e+02] [-3.31588953e-01 9.43418096e-01 -3.32612832e-03 -1.64281779e+01] [-1.11796785e-02 -4.03996588e-04 9.99937424e-01 7.83296432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.77, Y:-16.44, Z:0.78 [[ 9.43066486e-01 3.32426832e-01 1.08629366e-02 1.56773521e+02] [-3.32409818e-01 9.43128957e-01 -3.38881871e-03 -1.64377454e+01] [-1.13716843e-02 -4.15065418e-04 9.99935254e-01 7.83491688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.80, Y:-16.45, Z:0.78 [[ 9.42905837e-01 3.32882282e-01 1.08613006e-02 1.56804599e+02] [-3.32865238e-01 9.42968300e-01 -3.39406041e-03 -1.64471166e+01] [-1.13716847e-02 -4.15070032e-04 9.99935254e-01 7.83655697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.84, Y:-16.46, Z:0.78 [[ 9.42702083e-01 3.33499976e-01 9.51567670e-03 1.56836412e+02] [-3.33486871e-01 9.42750037e-01 -2.97892562e-03 -1.64564365e+01] [-9.96437619e-03 -3.65113867e-04 9.99950288e-01 7.83205356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.87, Y:-16.46, Z:0.78 [[ 9.43573631e-01 3.30950725e-01 1.18499473e-02 1.56868530e+02] [-3.30930143e-01 9.43647945e-01 -3.71430937e-03 -1.64625827e+01] [-1.24114318e-02 -4.16780390e-04 9.99922888e-01 7.82178159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.90, Y:-16.47, Z:0.78 [[ 9.43720438e-01 3.30493752e-01 1.28691383e-02 1.56900633e+02] [-3.30469340e-01 9.43808077e-01 -4.04087991e-03 -1.64703011e+01] [-1.34814822e-02 -4.39394673e-04 9.99909024e-01 7.82259068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.93, Y:-16.48, Z:0.78 [[ 9.43892441e-01 3.29936970e-01 1.44449253e-02 1.56932907e+02] [-3.29906035e-01 9.44002843e-01 -4.54313836e-03 -1.64765174e+01] [-1.51349999e-02 -4.77234086e-04 9.99885345e-01 7.82997717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.97, Y:-16.48, Z:0.79 [[ 9.44201787e-01 3.29082282e-01 1.37053540e-02 1.56966894e+02] [-3.29054253e-01 9.44301151e-01 -4.31683525e-03 -1.64765797e+01] [-1.43625756e-02 -4.33841479e-04 9.99896759e-01 7.85606957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.00, Y:-16.48, Z:0.79 [[ 9.44195309e-01 3.29137609e-01 1.27926955e-02 1.56999347e+02] [-3.29113110e-01 9.44281883e-01 -4.03559973e-03 -1.64805512e+01] [-1.34081782e-02 -3.99849465e-04 9.99910026e-01 7.85283302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.03, Y:-16.49, Z:0.78 [[ 9.44002153e-01 3.29638465e-01 1.40860668e-02 1.57031009e+02] [-3.29608722e-01 9.44107138e-01 -4.45005438e-03 -1.64859198e+01] [-1.47656653e-02 -4.42029566e-04 9.99890884e-01 7.84063013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.06, Y:-16.49, Z:0.78 [[ 9.44075058e-01 3.29384155e-01 1.51117071e-02 1.57063119e+02] [-3.29349757e-01 9.44195883e-01 -4.78246746e-03 -1.64933951e+01] [-1.58436806e-02 -4.62028828e-04 9.99874374e-01 7.82816638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.09, Y:-16.50, Z:0.78 [[ 9.44498147e-01 3.28188170e-01 1.46893227e-02 1.57094538e+02] [-3.28155421e-01 9.44612273e-01 -4.65548237e-03 -1.65007331e+01] [-1.54035887e-02 -4.23286404e-04 9.99881268e-01 7.83199451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.13, Y:-16.51, Z:0.78 [[ 9.45381130e-01 3.25661343e-01 1.41141224e-02 1.57125377e+02] [-3.25630725e-01 9.45486414e-01 -4.48008329e-03 -1.65085356e+01] [-1.48037009e-02 -3.60605706e-04 9.99890354e-01 7.81646769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.16, Y:-16.52, Z:0.78 [[ 9.46441559e-01 3.22590967e-01 1.35441692e-02 1.57157099e+02] [-3.22562363e-01 9.46538421e-01 -4.30577262e-03 -1.65158259e+01] [-1.42090799e-02 -2.93677081e-04 9.99899003e-01 7.80974568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.19, Y:-16.52, Z:0.78 [[ 9.48827241e-01 3.15426698e-01 1.52599282e-02 1.57189968e+02] [-3.15389416e-01 9.48949922e-01 -4.85400965e-03 -1.65185778e+01] [-1.60119919e-02 -2.07203269e-04 9.99871778e-01 7.81050063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.22, Y:-16.52, Z:0.78 [[ 9.49846265e-01 3.12407560e-01 1.39136329e-02 1.57221307e+02] [-3.12376123e-01 9.49948155e-01 -4.43392742e-03 -1.65245840e+01] [-1.46024223e-02 -1.34737297e-04 9.99893370e-01 7.81881321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.25, Y:-16.53, Z:0.78 [[ 9.50756791e-01 3.09660173e-01 1.31187836e-02 1.57252631e+02] [-3.09631871e-01 9.50847291e-01 -4.18733338e-03 -1.65314356e+01] [-1.37706102e-02 -8.08578614e-05 9.99905177e-01 7.81710140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.28, Y:-16.54, Z:0.78 [[ 9.51452356e-01 3.07572102e-01 1.17394733e-02 1.57283803e+02] [-3.07549204e-01 9.51524777e-01 -3.75328223e-03 -1.65404346e+01] [-1.23248046e-02 -3.93964324e-05 9.99924046e-01 7.81407380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77232058799999 meters Centerline goodness [0,1] 0.9999508478741705 Centerline is valid? [True, True] Translation: X:157.31, Y:-16.55, Z:0.78 [[ 9.52890859e-01 3.03002665e-01 1.37257176e-02 1.57313553e+02] [-3.02970791e-01 9.52989708e-01 -4.39494120e-03 -1.65513124e+01] [-1.44121465e-02 2.94077964e-05 9.99896139e-01 7.80194253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.34, Y:-16.56, Z:0.78 [[ 9.53138732e-01 3.02124397e-01 1.57291291e-02 1.57343330e+02] [-3.02082290e-01 9.53268506e-01 -5.04425121e-03 -1.65622834e+01] [-1.65180747e-02 5.63798738e-05 9.99863566e-01 7.80380256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.37, Y:-16.57, Z:0.78 [[ 9.53786884e-01 2.99991879e-01 1.71887357e-02 1.57373513e+02] [-2.99941094e-01 9.53941749e-01 -5.52082766e-03 -1.65741400e+01] [-1.80532561e-02 1.10084806e-04 9.99837021e-01 7.82347255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.862320588 meters Centerline goodness [0,1] 0.9999508864986985 Centerline is valid? [True, True] Translation: X:157.40, Y:-16.58, Z:0.78 [[ 9.54013748e-01 2.99374189e-01 1.52598617e-02 1.57403999e+02] [-2.99333956e-01 9.54135777e-01 -4.90934420e-03 -1.65834835e+01] [-1.60297109e-02 1.15787102e-04 9.99871509e-01 7.82784195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.44, Y:-16.59, Z:0.78 [[ 9.54126485e-01 2.99134603e-01 1.26940580e-02 1.57435028e+02] [-2.99106718e-01 9.54210919e-01 -4.08567376e-03 -1.65936337e+01] [-1.33349751e-02 1.01371538e-04 9.99911080e-01 7.82839523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.922320588 meters Centerline goodness [0,1] 0.9999017005799665 Centerline is valid? [True, True] Translation: X:157.47, Y:-16.60, Z:0.78 [[ 9.54099772e-01 2.99263291e-01 1.16235960e-02 1.57465830e+02] [-2.99239812e-01 9.54170568e-01 -3.74989849e-03 -1.66045072e+01] [-1.22131002e-02 9.95346005e-05 9.99925412e-01 7.82090391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.50, Y:-16.62, Z:0.78 [[ 9.53748650e-01 3.00245411e-01 1.47039663e-02 1.57495048e+02] [-3.00207856e-01 9.53861982e-01 -4.75008623e-03 -1.66193970e+01] [-1.54517460e-02 1.16142143e-04 9.99880608e-01 7.82606797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.982320588 meters Centerline goodness [0,1] 0.9999508382085444 Centerline is valid? [True, True] Translation: X:157.53, Y:-16.63, Z:0.78 [[ 9.53732439e-01 3.00283228e-01 1.49806151e-02 1.57526177e+02] [-3.00244108e-01 9.53850076e-01 -4.84851860e-03 -1.66314696e+01] [-1.57451897e-02 1.26348040e-04 9.99876029e-01 7.83888670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.012320588 meters Centerline goodness [0,1] 0.9998526522593321 Centerline is valid? [True, True] Translation: X:157.56, Y:-16.64, Z:0.78 [[ 9.53783640e-01 3.00138105e-01 1.46248639e-02 1.57557356e+02] [-3.00100671e-01 9.53895749e-01 -4.74208302e-03 -1.66421016e+01] [-1.53738753e-02 1.33989718e-04 9.99881806e-01 7.84564613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.59, Y:-16.65, Z:0.78 [[ 9.53296305e-01 3.01683434e-01 1.46034412e-02 1.57588620e+02] [-3.01646159e-01 9.53408145e-01 -4.74376071e-03 -1.66519193e+01] [-1.53541538e-02 1.17137610e-04 9.99882111e-01 7.83720753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.072320588 meters Centerline goodness [0,1] 0.9999507437690868 Centerline is valid? [True, True] Translation: X:157.62, Y:-16.66, Z:0.78 [[ 9.53011825e-01 3.02591549e-01 1.43810980e-02 1.57619940e+02] [-3.02555374e-01 9.53120319e-01 -4.68006709e-03 -1.66619567e+01] [-1.51230655e-02 1.09080782e-04 9.99885634e-01 7.83202669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.102320588 meters Centerline goodness [0,1] 0.9998525798525798 Centerline is valid? [True, True] Translation: X:157.65, Y:-16.67, Z:0.78 [[ 9.52175722e-01 3.05245106e-01 1.36681884e-02 1.57649611e+02] [-3.05212604e-01 9.52273816e-01 -4.45494473e-03 -1.66748116e+01] [-1.43757080e-02 7.01868313e-05 9.99896662e-01 7.83220873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.68, Y:-16.69, Z:0.78 [[ 9.51331668e-01 3.07900163e-01 1.28665125e-02 1.57679719e+02] [-3.07871512e-01 9.51418671e-01 -4.20043332e-03 -1.66873579e+01] [-1.35347543e-02 3.47725871e-05 9.99908400e-01 7.83910868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.71, Y:-16.70, Z:0.78 [[ 9.50648569e-01 3.10010546e-01 1.26791187e-02 1.57711062e+02] [-3.09982807e-01 9.50733118e-01 -4.14708151e-03 -1.66987660e+01] [-1.33400971e-02 1.21082995e-05 9.99911017e-01 7.83697814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.74, Y:-16.71, Z:0.78 [[ 9.49925327e-01 3.12227612e-01 1.24816939e-02 1.57742385e+02] [-3.12200823e-01 9.50007325e-01 -4.08993058e-03 -1.67092438e+01] [-1.31346899e-02 -1.16664762e-05 9.99913736e-01 7.83748382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.222320588 meters Centerline goodness [0,1] 0.9999508140278393 Centerline is valid? [True, True] Translation: X:157.77, Y:-16.72, Z:0.78 [[ 9.49241192e-01 3.14260106e-01 1.34812934e-02 1.57773668e+02] [-3.14228951e-01 9.49336918e-01 -4.42516048e-03 -1.67201207e+01] [-1.41889409e-02 -3.56680680e-05 9.99899331e-01 7.82903617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.252320588 meters Centerline goodness [0,1] 0.9999509081983309 Centerline is valid? [True, True] Translation: X:157.80, Y:-16.73, Z:0.78 [[ 9.48269556e-01 3.17232581e-01 1.21794780e-02 1.57804308e+02] [-3.17207303e-01 9.48347766e-01 -4.00515367e-03 -1.67339212e+01] [-1.28209460e-02 -6.54540837e-05 9.99917806e-01 7.83082132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.83, Y:-16.74, Z:0.78 [[ 9.47906856e-01 3.18382299e-01 1.02617632e-02 1.57834839e+02] [-3.18364366e-01 9.47962398e-01 -3.37980397e-03 -1.67449280e+01] [-1.08038355e-02 -6.32403913e-05 9.99941635e-01 7.84182304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.87, Y:-16.75, Z:0.79 [[ 9.47788528e-01 3.18746163e-01 9.88888527e-03 1.57866220e+02] [-3.18729465e-01 9.47840113e-01 -3.26319531e-03 -1.67540738e+01] [-1.04132131e-02 -5.90600290e-05 9.99945779e-01 7.85557137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.342320588 meters Centerline goodness [0,1] 0.9999016474059503 Centerline is valid? [True, True] Translation: X:157.90, Y:-16.76, Z:0.78 [[ 9.47701411e-01 3.18971647e-01 1.09144310e-02 1.57897605e+02] [-3.18951250e-01 9.47764256e-01 -3.60775739e-03 -1.67626075e+01] [-1.14950799e-02 -6.20946379e-05 9.99933927e-01 7.84474336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.372320588 meters Centerline goodness [0,1] 0.9999508816739525 Centerline is valid? [True, True] Translation: X:157.93, Y:-16.77, Z:0.78 [[ 9.47849871e-01 3.18498521e-01 1.18031564e-02 1.57928255e+02] [-3.18474547e-01 9.47923356e-01 -3.90819244e-03 -1.67732862e+01] [-1.24332411e-02 -5.46251718e-05 9.99922703e-01 7.84929831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.402320588 meters Centerline goodness [0,1] 0.9999017874680809 Centerline is valid? [True, True] Translation: X:157.96, Y:-16.78, Z:0.79 [[ 9.47858153e-01 3.18534560e-01 1.00327227e-02 1.57958116e+02] [-3.18517186e-01 9.47911247e-01 -3.32714589e-03 -1.67841210e+01] [-1.05699416e-02 -4.19322417e-05 9.99944136e-01 7.85192238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.99, Y:-16.79, Z:0.79 [[ 9.47990473e-01 3.18168737e-01 9.09497216e-03 1.57989291e+02] [-3.18154396e-01 9.48034099e-01 -3.02103546e-03 -1.67933767e+01] [-9.58354278e-03 -2.96925383e-05 9.99954076e-01 7.86547454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.02, Y:-16.80, Z:0.79 [[ 9.47469919e-01 3.19685207e-01 1.01054690e-02 1.58020455e+02] [-3.19667524e-01 9.47523808e-01 -3.36266298e-03 -1.68036679e+01] [-1.06501661e-02 -4.43682273e-05 9.99943284e-01 7.86959096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.05, Y:-16.81, Z:0.79 [[ 9.47557843e-01 3.19450327e-01 9.25320518e-03 1.58052089e+02] [-3.19435435e-01 9.47603022e-01 -3.08468386e-03 -1.68143437e+01] [-9.75376846e-03 -3.28852423e-05 9.99952430e-01 7.88645494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52232058799999 meters Centerline goodness [0,1] 0.9999016232169208 Centerline is valid? [True, True] Translation: X:158.08, Y:-16.83, Z:0.79 [[ 9.47578697e-01 3.19380818e-01 9.51343418e-03 1.58083094e+02] [-3.19365018e-01 9.47626452e-01 -3.17689894e-03 -1.68254082e+01] [-1.00298225e-02 -2.78963266e-05 9.99949700e-01 7.89425677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.11, Y:-16.83, Z:0.79 [[ 9.48173401e-01 3.17604829e-01 9.71465075e-03 1.58114798e+02] [-3.17588202e-01 9.48223166e-01 -3.24983826e-03 -1.68343347e+01] [-1.02438212e-02 -3.84826636e-06 9.99947531e-01 7.88220748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.15, Y:-16.84, Z:0.79 [[ 9.48223006e-01 3.17390692e-01 1.16738805e-02 1.58145733e+02] [-3.17366603e-01 9.48294864e-01 -3.91034297e-03 -1.68434707e+01] [-1.23113874e-02 2.97736756e-06 9.99924212e-01 7.87430176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.18, Y:-16.85, Z:0.79 [[ 9.48350780e-01 3.16971370e-01 1.26470638e-02 1.58176529e+02] [-3.16942966e-01 9.48435106e-01 -4.24335766e-03 -1.68536323e+01] [-1.33399422e-02 1.57936305e-05 9.99911019e-01 7.87921093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.21, Y:-16.86, Z:0.79 [[ 9.48707406e-01 3.15855721e-01 1.37630573e-02 1.58206709e+02] [-3.15821868e-01 9.48807231e-01 -4.62446885e-03 -1.68646323e+01] [-1.45191532e-02 4.05933939e-05 9.99894591e-01 7.88258133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.24, Y:-16.88, Z:0.79 [[ 9.49371770e-01 3.14009708e-01 9.54704024e-03 1.58236245e+02] [-3.13993268e-01 9.49419770e-01 -3.21356774e-03 -1.68773359e+01] [-1.00732402e-02 5.31641259e-05 9.99949262e-01 7.89427452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.27, Y:-16.89, Z:0.79 [[ 9.49698785e-01 3.12975734e-01 1.08815168e-02 1.58266594e+02] [-3.12954249e-01 9.49761119e-01 -3.66798595e-03 -1.68892136e+01] [-1.14828322e-02 7.80648684e-05 9.99934067e-01 7.88344138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.30, Y:-16.90, Z:0.79 [[ 9.49654150e-01 3.13088488e-01 1.15149475e-02 1.58296588e+02] [-3.13064351e-01 9.49723955e-01 -3.88853086e-03 -1.69025582e+01] [-1.21534757e-02 8.78399067e-05 9.99926140e-01 7.89138972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.33, Y:-16.92, Z:0.79 [[ 9.49766880e-01 3.12736677e-01 1.17747869e-02 1.58326701e+02] [-3.12711326e-01 9.49839861e-01 -3.98318126e-03 -1.69159933e+01] [-1.24298489e-02 1.00984398e-04 9.99922741e-01 7.89535386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.36, Y:-16.93, Z:0.79 [[ 9.49571304e-01 3.13299194e-01 1.25679969e-02 1.58357420e+02] [-3.13270266e-01 9.49654466e-01 -4.25868273e-03 -1.69291291e+01] [-1.32694963e-02 1.06743174e-04 9.99911951e-01 7.89632843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.39, Y:-16.94, Z:0.79 [[ 9.48952358e-01 3.15252071e-01 1.02739376e-02 1.58386806e+02] [-3.15232796e-01 9.49007970e-01 -3.48676654e-03 -1.69431362e+01] [-1.08492590e-02 7.00932662e-05 9.99941143e-01 7.90131200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.42, Y:-16.96, Z:0.79 [[ 9.48441912e-01 3.16781389e-01 1.03677888e-02 1.58416988e+02] [-3.16761781e-01 9.48498576e-01 -3.52512070e-03 -1.69562890e+01] [-1.09505256e-02 5.92529667e-05 9.99940039e-01 7.88894954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.45, Y:-16.97, Z:0.79 [[ 9.47747797e-01 3.18851711e-01 1.03778368e-02 1.58446426e+02] [-3.18832121e-01 9.47804613e-01 -3.53475152e-03 -1.69706571e+01] [-1.09632232e-02 4.12652537e-05 9.99939901e-01 7.87842616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.48, Y:-16.99, Z:0.79 [[ 9.47224184e-01 3.20397723e-01 1.05661963e-02 1.58476030e+02] [-3.20377442e-01 9.47283114e-01 -3.60504028e-03 -1.69855629e+01] [-1.11642260e-02 2.96103936e-05 9.99937678e-01 7.87977581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.50, Y:-17.00, Z:0.79 [[ 9.45994450e-01 3.24008918e-01 1.06170296e-02 1.58504475e+02] [-3.23988600e-01 9.46054026e-01 -3.62855851e-03 -1.70030393e+01] [-1.12199690e-02 -7.20036058e-06 9.99937054e-01 7.87643133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.53, Y:-17.02, Z:0.79 [[ 9.45197440e-01 3.26344275e-01 1.00605390e-02 1.58534651e+02] [-3.26326098e-01 9.45250979e-01 -3.44442976e-03 -1.70160497e+01] [-1.06338043e-02 -2.73502573e-05 9.99943459e-01 7.87611832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.56, Y:-17.03, Z:0.79 [[ 9.44376749e-01 3.28716518e-01 9.89980218e-03 1.58564832e+02] [-3.28698986e-01 9.44428636e-01 -3.39527049e-03 -1.70285367e+01] [-1.04657382e-02 -4.76404360e-05 9.99945232e-01 7.88995907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.59, Y:-17.04, Z:0.79 [[ 9.43345684e-01 3.31609489e-01 1.15787841e-02 1.58594848e+02] [-3.31585661e-01 9.43416737e-01 -3.97621492e-03 -1.70409639e+01] [-1.22421693e-02 -8.84136039e-05 9.99925058e-01 7.88116761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.062320588 meters Centerline goodness [0,1] 0.9999018838304553 Centerline is valid? [True, True] Translation: X:158.62, Y:-17.05, Z:0.79 [[ 9.41368420e-01 3.37195432e-01 1.11686413e-02 1.58624488e+02] [-3.37173589e-01 9.41434659e-01 -3.84098126e-03 -1.70545225e+01] [-1.18097074e-02 -1.49992418e-04 9.99930252e-01 7.90190970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.65, Y:-17.07, Z:0.79 [[ 9.40480596e-01 3.39668015e-01 1.10403481e-02 1.58654155e+02] [-3.39646777e-01 9.40545379e-01 -3.80231515e-03 -1.70654962e+01] [-1.16754733e-02 -1.73815037e-04 9.99931824e-01 7.90884874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.69, Y:-17.08, Z:0.79 [[ 9.39441121e-01 3.42592817e-01 8.97445924e-03 1.58685505e+02] [-3.42578861e-01 9.39483972e-01 -3.09668301e-03 -1.70770176e+01] [-9.49226197e-03 -1.65308667e-04 9.99954934e-01 7.91616844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.72, Y:-17.09, Z:0.79 [[ 9.38251356e-01 3.45882883e-01 7.03023780e-03 1.58716636e+02] [-3.45874384e-01 9.38277682e-01 -2.42948621e-03 -1.70859881e+01] [-7.43663292e-03 -1.52110442e-04 9.99972336e-01 7.91881281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.75, Y:-17.10, Z:0.79 [[ 9.38008841e-01 3.46519396e-01 7.98259704e-03 1.58747763e+02] [-3.46508423e-01 9.38042791e-01 -2.76315159e-03 -1.70960259e+01] [-8.44550323e-03 -1.74176487e-04 9.99964321e-01 7.91544127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.78, Y:-17.11, Z:0.79 [[ 9.37789823e-01 3.47075384e-01 9.43007041e-03 1.58778173e+02] [-3.47060061e-01 9.37837211e-01 -3.26797808e-03 -1.71070654e+01] [-9.97810568e-03 -2.08124223e-04 9.99950196e-01 7.91896202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.81, Y:-17.12, Z:0.79 [[ 9.37616087e-01 3.47544500e-01 9.42833295e-03 1.58808914e+02] [-3.47529150e-01 9.37663467e-01 -3.27298956e-03 -1.71173850e+01] [-9.97811288e-03 -2.07812875e-04 9.99950196e-01 7.92060067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.84, Y:-17.13, Z:0.79 [[ 9.37463478e-01 3.47936669e-01 1.01144830e-02 1.58840089e+02] [-3.47918968e-01 9.37518013e-01 -3.51665470e-03 -1.71285014e+01] [-1.07060831e-02 -2.22285146e-04 9.99942664e-01 7.92872351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.87, Y:-17.14, Z:0.79 [[ 9.37165870e-01 3.48696512e-01 1.14400014e-02 1.58871945e+02] [-3.48673863e-01 9.37235657e-01 -3.98252294e-03 -1.71357878e+01] [-1.21106691e-02 -2.56544923e-04 9.99926630e-01 7.94534715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.90, Y:-17.14, Z:0.79 [[ 9.36510156e-01 3.50459730e-01 1.12563378e-02 1.58902572e+02] [-3.50437862e-01 9.36577762e-01 -3.92424446e-03 -1.71442712e+01] [-1.19177253e-02 -2.69552158e-04 9.99928945e-01 7.93029204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.93, Y:-17.15, Z:0.79 [[ 9.36004461e-01 3.51845393e-01 1.00234087e-02 1.58934332e+02] [-3.51828067e-01 9.36058095e-01 -3.50066044e-03 -1.71542846e+01] [-1.06141841e-02 -2.49882735e-04 9.99943637e-01 7.91909520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.97, Y:-17.16, Z:0.79 [[ 9.35508474e-01 3.53182652e-01 9.26871207e-03 1.58965346e+02] [-3.53167849e-01 9.35554358e-01 -3.24243469e-03 -1.71649831e+01] [-9.81655565e-03 -2.40085979e-04 9.99951788e-01 7.91359099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.00, Y:-17.18, Z:0.79 [[ 9.35547692e-01 3.53039964e-01 1.06442477e-02 1.58996096e+02] [-3.53020370e-01 9.35608204e-01 -3.72921335e-03 -1.71755153e+01] [-1.12754068e-02 -2.68779328e-04 9.99936394e-01 7.91676772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.452320588 meters Centerline goodness [0,1] 0.9999017054111171 Centerline is valid? [True, True] Translation: X:159.03, Y:-17.18, Z:0.79 [[ 9.36148179e-01 3.51339682e-01 1.36753371e-02 1.59028313e+02] [-3.51307059e-01 9.36248007e-01 -4.79797509e-03 -1.71839913e+01] [-1.44892262e-02 -3.12626820e-04 9.99894977e-01 7.92062256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.06, Y:-17.20, Z:0.79 [[ 9.36632346e-01 3.49985429e-01 1.51673081e-02 1.59059300e+02] [-3.49944989e-01 9.36755091e-01 -5.32964446e-03 -1.71957294e+01] [-1.60733510e-02 -3.15806068e-04 9.99870765e-01 7.92765088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.09, Y:-17.21, Z:0.79 [[ 9.37083539e-01 3.48812380e-01 1.42956068e-02 1.59088597e+02] [-3.48776214e-01 9.37192536e-01 -5.03015465e-03 -1.72093473e+01] [-1.51523162e-02 -2.72292516e-04 9.99885160e-01 7.93396855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.12, Y:-17.22, Z:0.79 [[ 9.37402068e-01 3.48013573e-01 1.28029828e-02 1.59117780e+02] [-3.47984403e-01 9.37489468e-01 -4.51148542e-03 -1.72233305e+01] [-1.35727197e-02 -2.26162571e-04 9.99907861e-01 7.92232837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.15, Y:-17.23, Z:0.79 [[ 9.38093642e-01 3.46260790e-01 9.15340061e-03 1.59147797e+02] [-3.46245746e-01 9.38138287e-01 -3.23065388e-03 -1.72341238e+01] [-9.70580433e-03 -1.38670159e-04 9.99952888e-01 7.91490291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.18, Y:-17.24, Z:0.79 [[ 9.37889951e-01 3.46795597e-01 9.75979102e-03 1.59179188e+02] [-3.46778462e-01 9.37940719e-01 -3.45048964e-03 -1.72442781e+01] [-1.03507200e-02 -1.48305761e-04 9.99946419e-01 7.91554178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.632320588 meters Centerline goodness [0,1] 0.9999019127023051 Centerline is valid? [True, True] Translation: X:159.21, Y:-17.26, Z:0.79 [[ 9.37482897e-01 3.47890506e-01 9.90018413e-03 1.59210456e+02] [-3.47872877e-01 9.37535157e-01 -3.50575171e-03 -1.72556593e+01] [-1.05013884e-02 -1.57423271e-04 9.99944847e-01 7.92603763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.24, Y:-17.27, Z:0.80 [[ 9.36576152e-01 3.50285934e-01 1.11747743e-02 1.59238473e+02] [-3.50263586e-01 9.36642794e-01 -3.96198510e-03 -1.72713921e+01] [-1.18545995e-02 -2.03415762e-04 9.99929711e-01 7.96731108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.27, Y:-17.28, Z:0.80 [[ 9.35607202e-01 3.52888837e-01 1.04226985e-02 1.59268112e+02] [-3.52869498e-01 9.35665230e-01 -3.70063700e-03 -1.72846723e+01] [-1.10580700e-02 -2.15509743e-04 9.99938834e-01 7.97129427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.30, Y:-17.30, Z:0.80 [[ 9.34899656e-01 3.54728702e-01 1.14096645e-02 1.59297648e+02] [-3.54705606e-01 9.34969242e-01 -4.05587536e-03 -1.72959685e+01] [-1.21064207e-02 -2.55235475e-04 9.99926682e-01 7.96014484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.752320588 meters Centerline goodness [0,1] 0.9999015408851475 Centerline is valid? [True, True] Translation: X:159.33, Y:-17.31, Z:0.80 [[ 9.33904040e-01 3.57338495e-01 1.15084406e-02 1.59327372e+02] [-3.57315187e-01 9.33974901e-01 -4.09163850e-03 -1.73070733e+01] [-1.22106946e-02 -2.90942871e-04 9.99925404e-01 7.95762092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.782320588 meters Centerline goodness [0,1] 0.9999509081983309 Centerline is valid? [True, True] Translation: X:159.36, Y:-17.32, Z:0.80 [[ 9.31871307e-01 3.62554555e-01 1.30407812e-02 1.59357129e+02] [-3.62525115e-01 9.31962462e-01 -4.63801335e-03 -1.73198932e+01] [-1.38350515e-02 -4.05579154e-04 9.99904209e-01 7.95327676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.812320588 meters Centerline goodness [0,1] 0.9999018934562935 Centerline is valid? [True, True] Translation: X:159.39, Y:-17.33, Z:0.80 [[ 9.30540597e-01 3.66001383e-01 1.17126194e-02 1.59387823e+02] [-3.65977816e-01 9.30614219e-01 -4.17297501e-03 -1.73305053e+01] [-1.24272448e-02 -4.03436224e-04 9.99922697e-01 7.96362529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.842320588 meters Centerline goodness [0,1] 0.9997543359701273 Centerline is valid? [True, True] Translation: X:159.42, Y:-17.34, Z:0.80 [[ 9.29638986e-01 3.68304966e-01 1.10818548e-02 1.59419299e+02] [-3.68283968e-01 9.29704947e-01 -3.95364063e-03 -1.73389211e+01] [-1.17590007e-02 -4.05810990e-04 9.99930778e-01 7.95846687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.45, Y:-17.35, Z:0.80 [[ 9.28591975e-01 3.70968632e-01 9.96076942e-03 1.59450716e+02] [-3.70951769e-01 9.28645315e-01 -3.55864606e-03 -1.73473644e+01] [-1.05701679e-02 -3.90434858e-04 9.99944058e-01 7.95477820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.902320588 meters Centerline goodness [0,1] 0.9998029071199803 Centerline is valid? [True, True] Translation: X:159.48, Y:-17.35, Z:0.79 [[ 9.27199826e-01 3.74395242e-01 1.13439612e-02 1.59482570e+02] [-3.74373629e-01 9.27269089e-01 -4.05242163e-03 -1.73538483e+01] [-1.20361119e-02 -4.89475298e-04 9.99927444e-01 7.93940636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.932320588 meters Centerline goodness [0,1] 0.9997541547841479 Centerline is valid? [True, True] Translation: X:159.51, Y:-17.36, Z:0.80 [[ 9.26097479e-01 3.77128722e-01 1.08345330e-02 1.59512811e+02] [-3.77109116e-01 9.26160722e-01 -3.87721371e-03 -1.73637906e+01] [-1.14967276e-02 -4.95123320e-04 9.99933788e-01 7.95343910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.962320588 meters Centerline goodness [0,1] 0.9998524565976491 Centerline is valid? [True, True] Translation: X:159.54, Y:-17.37, Z:0.79 [[ 9.25201685e-01 3.79268021e-01 1.25543046e-02 1.59543476e+02] [-3.79241820e-01 9.25286663e-01 -4.49811383e-03 -1.73733363e+01] [-1.33223213e-02 -5.99454837e-04 9.99911074e-01 7.94886695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99232058799998 meters Centerline goodness [0,1] 0.9999016570782318 Centerline is valid? [True, True] Translation: X:159.57, Y:-17.38, Z:0.80 [[ 9.24183772e-01 3.81755811e-01 1.21184447e-02 1.59574518e+02] [-3.81731538e-01 9.24263020e-01 -4.34761178e-03 -1.73819784e+01] [-1.28603564e-02 -6.08000296e-04 9.99917117e-01 7.96253165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02232058799999 meters Centerline goodness [0,1] 0.9998523912615627 Centerline is valid? [True, True] Translation: X:159.61, Y:-17.39, Z:0.80 [[ 9.23103316e-01 3.84378238e-01 1.15602164e-02 1.59607264e+02] [-3.84356287e-01 9.23175497e-01 -4.15283570e-03 -1.73867914e+01] [-1.22683682e-02 -6.09745457e-04 9.99924555e-01 7.95784350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.052320588 meters Centerline goodness [0,1] 0.999653996342247 Centerline is valid? [True, True] Translation: X:159.64, Y:-17.39, Z:0.80 [[ 9.23054558e-01 3.84535766e-01 1.01256341e-02 1.59638739e+02] [-3.84518929e-01 9.23109938e-01 -3.63802078e-03 -1.73930082e+01] [-1.07460225e-02 -5.35406296e-04 9.99942116e-01 7.95848165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.082320588 meters Centerline goodness [0,1] 0.9995572826995918 Centerline is valid? [True, True] Translation: X:159.67, Y:-17.40, Z:0.80 [[ 9.23015738e-01 3.84681878e-01 7.86125908e-03 1.59670159e+02] [-3.84671690e-01 9.23049123e-01 -2.82977151e-03 -1.74011304e+01] [-8.34489012e-03 -4.12080174e-04 9.99965096e-01 7.96073018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.112320588 meters Centerline goodness [0,1] 0.9996065509270644 Centerline is valid? [True, True] Translation: X:159.70, Y:-17.41, Z:0.80 [[ 9.22811713e-01 3.85149250e-01 8.86552511e-03 1.59702057e+02] [-3.85136270e-01 9.22854181e-01 -3.19606186e-03 -1.74108227e+01] [-9.41254774e-03 -4.65071952e-04 9.99955593e-01 7.95535957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.142320588 meters Centerline goodness [0,1] 0.9995576960880677 Centerline is valid? [True, True] Translation: X:159.74, Y:-17.42, Z:0.80 [[ 9.22842251e-01 3.85032407e-01 1.05936071e-02 1.59735059e+02] [-3.85013808e-01 9.22902889e-01 -3.82414762e-03 -1.74159330e+01] [-1.12492914e-02 -5.49600038e-04 9.99936574e-01 7.97372712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.172320588 meters Centerline goodness [0,1] 0.999557609123083 Centerline is valid? [True, True] Translation: X:159.77, Y:-17.42, Z:0.80 [[ 9.23029598e-01 3.84565702e-01 1.12063552e-02 1.59766712e+02] [-3.84544798e-01 9.23097446e-01 -4.05010049e-03 -1.74219730e+01] [-1.19020876e-02 -5.70982992e-04 9.99929005e-01 7.99018890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.202320588 meters Centerline goodness [0,1] 0.9993119378778198 Centerline is valid? [True, True] Translation: X:159.80, Y:-17.43, Z:0.80 [[ 9.23131516e-01 3.84319951e-01 1.12418206e-02 1.59798944e+02] [-3.84298834e-01 9.23199792e-01 -4.06817706e-03 -1.74282839e+01] [-1.19419281e-02 -5.64756104e-04 9.99928533e-01 8.00435728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.232320588 meters Centerline goodness [0,1] 0.9994589809167814 Centerline is valid? [True, True] Translation: X:159.83, Y:-17.44, Z:0.80 [[ 9.23124364e-01 3.84336466e-01 1.12645542e-02 1.59830818e+02] [-3.84315202e-01 9.23192919e-01 -4.08165993e-03 -1.74354588e+01] [-1.19680874e-02 -5.61259696e-04 9.99928222e-01 8.00940462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.86, Y:-17.44, Z:0.80 [[ 9.23502616e-01 3.83442936e-01 1.06973377e-02 1.59862847e+02] [-3.83423641e-01 9.23564425e-01 -3.88131106e-03 -1.74412524e+01] [-1.13679419e-02 -5.17211260e-04 9.99935249e-01 8.00409837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.292320588 meters Centerline goodness [0,1] 0.9999508140278393 Centerline is valid? [True, True] Translation: X:159.89, Y:-17.45, Z:0.80 [[ 9.23196989e-01 3.84157006e-01 1.14330558e-02 1.59894607e+02] [-3.84134956e-01 9.23267612e-01 -4.15345589e-03 -1.74477517e+01] [-1.21513493e-02 -5.57378420e-04 9.99926014e-01 7.99400643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.93, Y:-17.45, Z:0.80 [[ 9.23512568e-01 3.83420337e-01 1.06481396e-02 1.59926680e+02] [-3.83401103e-01 9.23573814e-01 -3.87353706e-03 -1.74526598e+01] [-1.13195358e-02 -5.05248300e-04 9.99935804e-01 7.98578340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.96, Y:-17.46, Z:0.80 [[ 9.23988362e-01 3.82272485e-01 1.06421208e-02 1.59958805e+02] [-3.82253140e-01 9.24049517e-01 -3.87643479e-03 -1.74583052e+01] [-1.13157010e-02 -4.86203479e-04 9.99935857e-01 7.98190107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.99, Y:-17.46, Z:0.80 [[ 9.25649921e-01 3.78268960e-01 9.20968027e-03 1.59991511e+02] [-3.78254278e-01 9.25695658e-01 -3.35413914e-03 -1.74612072e+01] [-9.79412775e-03 -3.78842336e-04 9.99951965e-01 7.97937308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.02, Y:-17.47, Z:0.80 [[ 9.25996747e-01 3.77407079e-01 9.69124694e-03 1.60023124e+02] [-3.77390709e-01 9.26047380e-01 -3.53592176e-03 -1.74695297e+01] [-1.03090357e-02 -3.83134506e-04 9.99946787e-01 7.98707578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.442320588 meters Centerline goodness [0,1] 0.9999508140278393 Centerline is valid? [True, True] Translation: X:160.05, Y:-17.48, Z:0.80 [[ 9.26348329e-01 3.76488075e-01 1.16405205e-02 1.60054473e+02] [-3.76464322e-01 9.26421358e-01 -4.25227936e-03 -1.74762540e+01] [-1.23849593e-02 -4.43148764e-04 9.99923205e-01 7.99548120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.09, Y:-17.48, Z:0.80 [[ 9.26586940e-01 3.75866246e-01 1.26967957e-02 1.60086933e+02] [-3.75837847e-01 9.26673807e-01 -4.64409350e-03 -1.74818488e+01] [-1.35113460e-02 -4.68779981e-04 9.99908608e-01 7.99989245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.12, Y:-17.48, Z:0.80 [[ 9.27877457e-01 3.72633323e-01 1.37051840e-02 1.60120979e+02] [-3.72599870e-01 9.27978556e-01 -5.01365825e-03 -1.74835441e+01] [-1.45863730e-02 -4.54489304e-04 9.99893510e-01 7.97636955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.15, Y:-17.49, Z:0.80 [[ 9.28575678e-01 3.70946523e-01 1.20783856e-02 1.60152457e+02] [-3.70920369e-01 9.28654153e-01 -4.42076446e-03 -1.74927141e+01] [-1.28565102e-02 -3.75104895e-04 9.99917281e-01 7.97113970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.18, Y:-17.50, Z:0.80 [[ 9.29068284e-01 3.69752846e-01 1.07217503e-02 1.60183207e+02] [-3.69732079e-01 9.29130096e-01 -3.93116259e-03 -1.75021761e+01] [-1.14154594e-02 -3.11856536e-04 9.99934793e-01 7.97196980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.22, Y:-17.51, Z:0.80 [[ 9.29798558e-01 3.67881930e-01 1.17271771e-02 1.60215944e+02] [-3.67856932e-01 9.29872457e-01 -4.30015962e-03 -1.75050938e+01] [-1.24867300e-02 -3.15641154e-04 9.99921988e-01 7.99764184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.25, Y:-17.51, Z:0.80 [[ 9.29333169e-01 3.69003519e-01 1.32764144e-02 1.60248262e+02] [-3.68971480e-01 9.29427925e-01 -4.87635033e-03 -1.75111197e+01] [-1.41388607e-02 -3.66864156e-04 9.99899974e-01 8.00650115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.28, Y:-17.52, Z:0.80 [[ 9.28769641e-01 3.70387972e-01 1.41316533e-02 1.60280502e+02] [-3.70351728e-01 9.28877056e-01 -5.19738284e-03 -1.75178341e+01] [-1.50516166e-02 -4.06510836e-04 9.99886635e-01 8.01768776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.31, Y:-17.53, Z:0.80 [[ 9.28276262e-01 3.71607106e-01 1.45375602e-02 1.60311844e+02] [-3.71568787e-01 9.28389989e-01 -5.35391220e-03 -1.75258365e+01] [-1.54860771e-02 -4.31793991e-04 9.99879990e-01 8.02400874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.34, Y:-17.53, Z:0.80 [[ 9.27658554e-01 3.73136516e-01 1.47901293e-02 1.60343231e+02] [-3.73096934e-01 9.27776336e-01 -5.45413867e-03 -1.75338035e+01] [-1.57570703e-02 -4.58573518e-04 9.99875745e-01 8.02525258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.38, Y:-17.54, Z:0.80 [[ 9.27873308e-01 3.72678513e-01 1.27220804e-02 1.60376019e+02] [-3.72649093e-01 9.27960441e-01 -4.69813404e-03 -1.75387458e+01] [-1.35564809e-02 -3.81598553e-04 9.99908034e-01 8.01660850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.41, Y:-17.55, Z:0.80 [[ 9.28101593e-01 3.72194433e-01 9.93661147e-03 1.60407185e+02] [-3.72176401e-01 9.28154740e-01 -3.67499478e-03 -1.75478195e+01] [-1.05905256e-02 -2.87403783e-04 9.99943878e-01 8.00334798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.44, Y:-17.56, Z:0.80 [[ 9.28446083e-01 3.71379245e-01 8.08257306e-03 1.60438034e+02] [-3.71367244e-01 9.28481237e-01 -2.99376705e-03 -1.75571646e+01] [-8.61634038e-03 -2.22051601e-04 9.99962854e-01 7.98685821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.47, Y:-17.57, Z:0.80 [[ 9.28805410e-01 3.70471208e-01 8.46130795e-03 1.60469193e+02] [-3.70457981e-01 9.28843924e-01 -3.13821601e-03 -1.75661541e+01] [-9.02185316e-03 -2.19767055e-04 9.99959278e-01 7.99241685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.50, Y:-17.57, Z:0.80 [[ 9.29360052e-01 3.68984886e-01 1.18341286e-02 1.60501027e+02] [-3.68958813e-01 9.29435353e-01 -4.39546933e-03 -1.75739522e+01] [-1.26209192e-02 -2.81332435e-04 9.99920313e-01 7.99824951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.53, Y:-17.58, Z:0.80 [[ 9.29783484e-01 3.67779133e-01 1.55300362e-02 1.60533541e+02] [-3.67733950e-01 9.29913110e-01 -5.77491434e-03 -1.75784332e+01] [-1.65654772e-02 -3.41501569e-04 9.99862725e-01 8.01521448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.56, Y:-17.59, Z:0.80 [[ 9.29677975e-01 3.68135893e-01 1.32222327e-02 1.60564070e+02] [-3.68103077e-01 9.29771951e-01 -4.92384323e-03 -1.75879385e+01] [-1.41063045e-02 -2.89555939e-04 9.99900459e-01 8.01217325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.952320588 meters Centerline goodness [0,1] 0.9999506830398974 Centerline is valid? [True, True] Translation: X:160.59, Y:-17.60, Z:0.80 [[ 9.29129464e-01 3.69612777e-01 1.02388504e-02 1.60594022e+02] [-3.69593126e-01 9.29185848e-01 -3.81866329e-03 -1.75985455e+01] [-1.09252216e-02 -2.36176139e-04 9.99940290e-01 7.99695207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.62, Y:-17.61, Z:0.80 [[ 9.28174779e-01 3.72037097e-01 8.94306090e-03 1.60624725e+02] [-3.72022171e-01 9.28217834e-01 -3.34029168e-03 -1.76082741e+01] [-9.54382103e-03 -2.26642441e-04 9.99954431e-01 7.96870234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.66, Y:-17.62, Z:0.80 [[ 9.27669197e-01 3.73221962e-01 1.16287714e-02 1.60655581e+02] [-3.73196753e-01 9.27742030e-01 -4.34857657e-03 -1.76170412e+01] [-1.24114843e-02 -3.05779193e-04 9.99922928e-01 7.97568841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.69, Y:-17.63, Z:0.80 [[ 9.27435740e-01 3.73698496e-01 1.45733742e-02 1.60686457e+02] [-3.73658856e-01 9.27550153e-01 -5.45646709e-03 -1.76259958e+01] [-1.55566090e-02 -3.84947725e-04 9.99878915e-01 8.00052118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.72, Y:-17.64, Z:0.80 [[ 9.27137164e-01 3.74379640e-01 1.60175965e-02 1.60716812e+02] [-3.74331721e-01 9.27275418e-01 -6.00506681e-03 -1.76353572e+01] [-1.71008982e-02 -4.28373840e-04 9.99853677e-01 8.02090862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.75, Y:-17.65, Z:0.80 [[ 9.26947354e-01 3.74849490e-01 1.60144401e-02 1.60747353e+02] [-3.74801496e-01 9.27085582e-01 -6.01348116e-03 -1.76464844e+01] [-1.71009069e-02 -4.28055658e-04 9.99853677e-01 8.02254806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.78, Y:-17.65, Z:0.80 [[ 9.26838680e-01 3.75193735e-01 1.41322913e-02 1.60779052e+02] [-3.75156293e-01 9.26946341e-01 -5.31383093e-03 -1.76530480e+01] [-1.50935918e-02 -3.76753983e-04 9.99886014e-01 8.02378786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.81, Y:-17.66, Z:0.80 [[ 9.26650506e-01 3.75688705e-01 1.32980095e-02 1.60811566e+02] [-3.75655488e-01 9.26745850e-01 -5.00833197e-03 -1.76612325e+01] [-1.42054488e-02 -3.54496878e-04 9.99899035e-01 8.00589162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.84, Y:-17.67, Z:0.80 [[ 9.26807435e-01 3.75241545e-01 1.48916506e-02 1.60843411e+02] [-3.75199698e-01 9.26926986e-01 -5.61689751e-03 -1.76698897e+01] [-1.59111661e-02 -3.81560435e-04 9.99873337e-01 7.99021394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.222320588 meters Centerline goodness [0,1] 0.999950821284548 Centerline is valid? [True, True] Translation: X:160.87, Y:-17.68, Z:0.80 [[ 9.27128605e-01 3.74278530e-01 1.86582668e-02 1.60874983e+02] [-3.74212470e-01 9.27316224e-01 -7.04607921e-03 -1.76769252e+01] [-1.99393097e-02 -4.49534516e-04 9.99801091e-01 7.99556630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.91, Y:-17.69, Z:0.80 [[ 9.27121547e-01 3.74323631e-01 1.80957752e-02 1.60906420e+02] [-3.74261324e-01 9.27298030e-01 -6.84292444e-03 -1.76856965e+01] [-1.93416451e-02 -4.28326107e-04 9.99812841e-01 8.01633727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.94, Y:-17.69, Z:0.80 [[ 9.27099525e-01 3.74404489e-01 1.75427926e-02 1.60937533e+02] [-3.74345777e-01 9.27265394e-01 -6.64287697e-03 -1.76938494e+01] [-1.87539475e-02 -4.08462255e-04 9.99824046e-01 8.02532314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.97, Y:-17.70, Z:0.80 [[ 9.26922128e-01 3.74951248e-01 1.50641842e-02 1.60968554e+02] [-3.74907897e-01 9.27044463e-01 -5.71243085e-03 -1.77021945e+01] [-1.61070516e-02 -3.52703030e-04 9.99870211e-01 8.01744143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.00, Y:-17.71, Z:0.80 [[ 9.27528818e-01 3.73497172e-01 1.37896350e-02 1.61001177e+02] [-3.73460578e-01 9.27631272e-01 -5.23643261e-03 -1.77061219e+01] [-1.47474895e-02 -2.92942919e-04 9.99891207e-01 8.01479297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.03, Y:-17.71, Z:0.80 [[ 9.27791282e-01 3.72863286e-01 1.32780726e-02 1.61033318e+02] [-3.72829252e-01 9.27886252e-01 -5.04498206e-03 -1.77135404e+01] [-1.42016296e-02 -2.69763505e-04 9.99899115e-01 8.02062359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.07, Y:-17.72, Z:0.80 [[ 9.28005897e-01 3.72294354e-01 1.42115658e-02 1.61065592e+02] [-3.72255147e-01 9.28114670e-01 -5.40962410e-03 -1.77212301e+01] [-1.52039352e-02 -2.70165462e-04 9.99884377e-01 8.01018588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.10, Y:-17.73, Z:0.80 [[ 9.27832569e-01 3.72743369e-01 1.37515378e-02 1.61097311e+02] [-3.72706586e-01 9.27934433e-01 -5.24289980e-03 -1.77311102e+01] [-1.47147816e-02 -2.60755521e-04 9.99891698e-01 8.00942683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.13, Y:-17.74, Z:0.80 [[ 9.28106923e-01 3.71974048e-01 1.59011420e-02 1.61128358e+02] [-3.71924624e-01 9.28243087e-01 -6.07002002e-03 -1.77406363e+01] [-1.70180151e-02 -2.80398673e-04 9.99855144e-01 7.99158684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.16, Y:-17.75, Z:0.80 [[ 9.28454234e-01 3.71069847e-01 1.67303550e-02 1.61160210e+02] [-3.71014803e-01 9.28604920e-01 -6.39682462e-03 -1.77488298e+01] [-1.79095587e-02 -2.68050455e-04 9.99839575e-01 8.00223679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.19, Y:-17.76, Z:0.80 [[ 9.28361064e-01 3.71251083e-01 1.78428786e-02 1.61192619e+02] [-3.71188305e-01 9.28532474e-01 -6.83279280e-03 -1.77565615e+01] [-1.91043739e-02 -2.79769064e-04 9.99817456e-01 8.01164032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.22, Y:-17.76, Z:0.80 [[ 9.28512033e-01 3.70931084e-01 1.65992778e-02 1.61224690e+02] [-3.70876550e-01 9.28660363e-01 -6.36513051e-03 -1.77631826e+01] [-1.77761161e-02 -2.46182598e-04 9.99841962e-01 8.01946586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.26, Y:-17.77, Z:0.80 [[ 9.28559196e-01 3.70929956e-01 1.37399668e-02 1.61256414e+02] [-3.70892543e-01 9.28660825e-01 -5.27201085e-03 -1.77704966e+01] [-1.47153156e-02 -2.00677041e-04 9.99891704e-01 8.03810273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.29, Y:-17.78, Z:0.80 [[ 9.28256609e-01 3.71675856e-01 1.40259373e-02 1.61288817e+02] [-3.71636801e-01 9.28362545e-01 -5.39190478e-03 -1.77775208e+01] [-1.50251957e-02 -2.07483235e-04 9.99887094e-01 8.02797582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.32, Y:-17.79, Z:0.80 [[ 9.28492334e-01 3.70990245e-01 1.63775368e-02 1.61319345e+02] [-3.70936752e-01 9.28636737e-01 -6.30373314e-03 -1.77870599e+01] [-1.75474058e-02 -2.22062392e-04 9.99846008e-01 8.02098842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.35, Y:-17.80, Z:0.80 [[ 9.29096823e-01 3.69373976e-01 1.84921323e-02 1.61350330e+02] [-3.69305267e-01 9.29280809e-01 -7.12721905e-03 -1.77960793e+01] [-1.98169929e-02 -2.07365273e-04 9.99803603e-01 8.02102239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.38, Y:-17.81, Z:0.80 [[ 9.29317619e-01 3.68743750e-01 1.99200813e-02 1.61381265e+02] [-3.68663650e-01 9.29531068e-01 -7.68805345e-03 -1.78057766e+01] [-2.13512561e-02 -1.99166361e-04 9.99772016e-01 8.00741137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.41, Y:-17.81, Z:0.80 [[ 9.30701029e-01 3.65338475e-01 1.79831357e-02 1.61412800e+02] [-3.65272371e-01 9.30874744e-01 -6.95026471e-03 -1.78137880e+01] [-1.92792459e-02 -1.00124086e-04 9.99814133e-01 8.00330187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.44, Y:-17.82, Z:0.80 [[ 9.30809761e-01 3.65192385e-01 1.50901082e-02 1.61443809e+02] [-3.65145686e-01 9.30932069e-01 -5.84051344e-03 -1.78227443e+01] [-1.61807767e-02 -7.36809830e-05 9.99869080e-01 8.00970698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.48, Y:-17.83, Z:0.80 [[ 9.30555021e-01 3.65901849e-01 1.35347968e-02 1.61475467e+02] [-3.65864311e-01 9.30653443e-01 -5.24160313e-03 -1.78314203e+01] [-1.45141175e-02 -7.42989909e-05 9.99894662e-01 8.00865289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.51, Y:-17.84, Z:0.80 [[ 9.30561385e-01 3.65937295e-01 1.20584269e-02 1.61507139e+02] [-3.65907486e-01 9.30639507e-01 -4.67119559e-03 -1.78397913e+01] [-1.29314131e-02 -6.54344114e-05 9.99916384e-01 8.02222797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.54, Y:-17.85, Z:0.80 [[ 9.30219484e-01 3.66724501e-01 1.43126578e-02 1.61538859e+02] [-3.66682566e-01 9.30329583e-01 -5.54650190e-03 -1.78479174e+01] [-1.53495271e-02 -8.87379359e-05 9.99882185e-01 8.03960859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.57, Y:-17.86, Z:0.80 [[ 9.30107954e-01 3.66901727e-01 1.68023034e-02 1.61568491e+02] [-3.66843785e-01 9.30259702e-01 -6.52104869e-03 -1.78591851e+01] [-1.80230898e-02 -9.85413178e-05 9.99837566e-01 8.02968992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.60, Y:-17.87, Z:0.80 [[ 9.30152254e-01 3.66664413e-01 1.93388971e-02 1.61598312e+02] [-3.66587582e-01 9.30353264e-01 -7.50652287e-03 -1.78715473e+01] [-2.07443809e-02 -1.07190377e-04 9.99784806e-01 8.01520066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.63, Y:-17.88, Z:0.80 [[ 9.31875626e-01 3.62196630e-01 2.05284941e-02 1.61628503e+02] [-3.62108900e-01 9.32101712e-01 -7.97142535e-03 -1.78826343e+01] [-2.20218679e-02 -5.17341172e-06 9.99757489e-01 7.99067272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.66, Y:-17.89, Z:0.80 [[ 9.32956902e-01 3.59576162e-01 1.72163401e-02 1.61658994e+02] [-3.59513811e-01 9.33115738e-01 -6.69620250e-03 -1.78923386e+01] [-1.84726327e-02 5.77562999e-05 9.99829365e-01 7.99272808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.69, Y:-17.90, Z:0.80 [[ 9.33774564e-01 3.57553101e-01 1.48608215e-02 1.61689329e+02] [-3.57506377e-01 9.33892806e-01 -5.78083366e-03 -1.79030030e+01] [-1.59453693e-02 8.51569849e-05 9.99872861e-01 7.99880154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.72, Y:-17.91, Z:0.80 [[ 9.34496945e-01 3.55719593e-01 1.33802619e-02 1.61719625e+02] [-3.55681498e-01 9.34592724e-01 -5.20698029e-03 -1.79142878e+01] [-1.43573203e-02 1.06795586e-04 9.99896923e-01 7.99954151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.75, Y:-17.93, Z:0.80 [[ 9.34516043e-01 3.55655717e-01 1.37395732e-02 1.61750040e+02] [-3.55615491e-01 9.34617033e-01 -5.35024743e-03 -1.79273345e+01] [-1.47440852e-02 1.13886998e-04 9.99891294e-01 8.00328855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.78, Y:-17.94, Z:0.80 [[ 9.34451314e-01 3.55817650e-01 1.39477965e-02 1.61781009e+02] [-3.55776165e-01 9.34555395e-01 -5.43449167e-03 -1.79397300e+01] [-1.49686765e-02 1.15974346e-04 9.99887956e-01 8.01658266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.81, Y:-17.95, Z:0.80 [[ 9.34198745e-01 3.56405110e-01 1.57512990e-02 1.61811122e+02] [-3.56352254e-01 9.34331517e-01 -6.13904924e-03 -1.79505686e+01] [-1.69049236e-02 1.22081172e-04 9.99857094e-01 8.02394859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.84, Y:-17.96, Z:0.80 [[ 9.33776555e-01 3.57423813e-01 1.75944151e-02 1.61840984e+02] [-3.57357996e-01 9.33942292e-01 -6.85996001e-03 -1.79615138e+01] [-1.88840814e-02 1.18164903e-04 9.99821673e-01 8.02519598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.87, Y:-17.97, Z:0.80 [[ 9.33291441e-01 3.58689827e-01 1.75696935e-02 1.61870254e+02] [-3.58624369e-01 9.33456801e-01 -6.85295094e-03 -1.79747636e+01] [-1.88586336e-02 9.48802305e-05 9.99822156e-01 8.00944878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.90, Y:-17.99, Z:0.80 [[ 9.33052327e-01 3.59365669e-01 1.64216591e-02 1.61899061e+02] [-3.59308547e-01 9.33196823e-01 -6.40767909e-03 -1.79890469e+01] [-1.76273400e-02 7.82574203e-05 9.99844623e-01 7.99403179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24232058799998 meters Centerline goodness [0,1] 0.9999017005799665 Centerline is valid? [True, True] Translation: X:161.93, Y:-18.00, Z:0.80 [[ 9.33115173e-01 3.59356726e-01 1.26023181e-02 1.61928009e+02] [-3.59322969e-01 9.33200267e-01 -4.92596530e-03 -1.80038920e+01] [-1.35306654e-02 6.81906035e-05 9.99908454e-01 8.00381466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27232058799999 meters Centerline goodness [0,1] 0.9999017102417928 Centerline is valid? [True, True] Translation: X:161.96, Y:-18.02, Z:0.80 [[ 9.32966497e-01 3.59710476e-01 1.34866253e-02 1.61957699e+02] [-3.59671851e-01 9.33063968e-01 -5.27171787e-03 -1.80165778e+01] [-1.44801762e-02 6.75766845e-05 9.99895154e-01 8.00090763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.99, Y:-18.03, Z:0.80 [[ 9.33292734e-01 3.58890905e-01 1.27276045e-02 1.61987765e+02] [-3.58856393e-01 9.33379512e-01 -4.97762877e-03 -1.80293808e+01] [-1.36661110e-02 7.82025229e-05 9.99906611e-01 8.01823655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.02, Y:-18.04, Z:0.80 [[ 9.33243415e-01 3.59013897e-01 1.28743937e-02 1.62017521e+02] [-3.58978553e-01 9.33332211e-01 -5.03817474e-03 -1.80439103e+01] [-1.38248611e-02 8.02121755e-05 9.99904429e-01 8.00846122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.05, Y:-18.06, Z:0.80 [[ 9.33580460e-01 3.58199106e-01 1.09966156e-02 1.62045780e+02] [-3.58173247e-01 9.33645219e-01 -4.30477578e-03 -1.80600605e+01] [-1.18089044e-02 8.01610470e-05 9.99930269e-01 8.00448729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.392320588 meters Centerline goodness [0,1] 0.9999507558969813 Centerline is valid? [True, True] Translation: X:162.07, Y:-18.08, Z:0.80 [[ 9.33347496e-01 3.58812554e-01 1.07704647e-02 1.62072418e+02] [-3.58787769e-01 9.33409635e-01 -4.21790785e-03 -1.80790705e+01] [-1.15666938e-02 7.24627405e-05 9.99933101e-01 7.99504665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.10, Y:-18.09, Z:0.80 [[ 9.32757536e-01 3.60301862e-01 1.20809026e-02 1.62102474e+02] [-3.60270781e-01 9.32835765e-01 -4.73286309e-03 -1.80917711e+01] [-1.29747574e-02 6.22175142e-05 9.99915822e-01 7.99317097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.13, Y:-18.10, Z:0.80 [[ 9.31174220e-01 3.64390666e-01 1.15764946e-02 1.62132273e+02] [-3.64362343e-01 9.31246177e-01 -4.54321979e-03 -1.81040121e+01] [-1.24360733e-02 1.24904370e-05 9.99922669e-01 8.01070001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.16, Y:-18.12, Z:0.80 [[ 9.29471903e-01 3.68673144e-01 1.27316460e-02 1.62161840e+02] [-3.68639197e-01 9.29559095e-01 -5.00311862e-03 -1.81168128e+01] [-1.36793328e-02 -4.31255799e-05 9.99906433e-01 8.00816707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.19, Y:-18.13, Z:0.80 [[ 9.26883492e-01 3.75188882e-01 1.09678915e-02 1.62190411e+02] [-3.75164135e-01 9.26948374e-01 -4.31084105e-03 -1.81331745e+01] [-1.17840488e-02 -1.19112108e-04 9.99930559e-01 8.01342397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.22, Y:-18.15, Z:0.80 [[ 9.25771405e-01 3.77890353e-01 1.20907549e-02 1.62220224e+02] [-3.77860405e-01 9.25850341e-01 -4.76022210e-03 -1.81462521e+01] [-1.29930716e-02 -1.61740037e-04 9.99915573e-01 8.01465151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.25, Y:-18.16, Z:0.80 [[ 9.24989611e-01 3.79805461e-01 1.19176936e-02 1.62250674e+02] [-3.79776424e-01 9.25066365e-01 -4.69978268e-03 -1.81589899e+01] [-1.28096606e-02 -1.78808913e-04 9.99917937e-01 8.01690023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.28, Y:-18.17, Z:0.80 [[ 9.24536989e-01 3.80926424e-01 1.12434721e-02 1.62280994e+02] [-3.80900577e-01 9.24605336e-01 -4.44099195e-03 -1.81725539e+01] [-1.20874655e-02 -1.76783678e-04 9.99926928e-01 8.01923677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.31, Y:-18.19, Z:0.80 [[ 9.23520071e-01 3.83443149e-01 9.05704215e-03 1.62310264e+02] [-3.83426439e-01 9.23564467e-01 -3.58345264e-03 -1.81871739e+01] [-9.73881267e-03 -1.63318981e-04 9.99952563e-01 8.04153984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.34, Y:-18.20, Z:0.80 [[ 9.23142863e-01 3.84333983e-01 9.72852029e-03 1.62342263e+02] [-3.84314693e-01 9.23194106e-01 -3.85480655e-03 -1.81960394e+01] [-1.04628457e-02 -1.80276136e-04 9.99945247e-01 8.03982849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.37, Y:-18.20, Z:0.80 [[ 9.22038717e-01 3.86957640e-01 1.04110399e-02 1.62373981e+02] [-3.86935660e-01 9.22097466e-01 -4.13026088e-03 -1.82035678e+01] [-1.11982295e-02 -2.20142163e-04 9.99937274e-01 8.04294475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.40, Y:-18.21, Z:0.80 [[ 9.21464375e-01 3.88296277e-01 1.13757216e-02 1.62404901e+02] [-3.88270064e-01 9.21534556e-01 -4.51880586e-03 -1.82118413e+01] [-1.22377560e-02 -2.52933516e-04 9.99925084e-01 8.02619346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.43, Y:-18.23, Z:0.80 [[ 9.20863417e-01 3.89602651e-01 1.48438892e-02 1.62433985e+02] [-3.89558074e-01 9.20982983e-01 -5.90361100e-03 -1.82264078e+01] [-1.59710319e-02 -3.46137503e-04 9.99872395e-01 8.02032863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.46, Y:-18.24, Z:0.80 [[ 9.20984878e-01 3.89270964e-01 1.59677897e-02 1.62463850e+02] [-3.89219162e-01 9.21123221e-01 -6.36039031e-03 -1.82404098e+01] [-1.71842171e-02 -3.57146418e-04 9.99852277e-01 8.02465903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.49, Y:-18.25, Z:0.80 [[ 9.21655003e-01 3.87709560e-01 1.52759038e-02 1.62493867e+02] [-3.87661807e-01 9.21781538e-01 -6.09263601e-03 -1.82507910e+01] [-1.64432194e-02 -3.06576022e-04 9.99864754e-01 8.03395261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.53, Y:-18.26, Z:0.80 [[ 9.23270659e-01 3.83913575e-01 1.34780274e-02 1.62526221e+02] [-3.83875888e-01 9.23369008e-01 -5.38306125e-03 -1.82566870e+01] [-1.45118231e-02 -2.03867238e-04 9.99894677e-01 8.02103233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.56, Y:-18.27, Z:0.80 [[ 9.23952928e-01 3.82265623e-01 1.35639174e-02 1.62556941e+02] [-3.82227169e-01 9.24052468e-01 -5.42465129e-03 -1.82672000e+01] [-1.46074291e-02 -1.72375314e-04 9.99893291e-01 8.01546999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.59, Y:-18.28, Z:0.80 [[ 9.24307824e-01 3.81401637e-01 1.37054148e-02 1.62587605e+02] [-3.81362152e-01 9.24409416e-01 -5.49004825e-03 -1.82784607e+01] [-1.47633279e-02 -1.52231947e-04 9.99891005e-01 8.02350505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.62, Y:-18.29, Z:0.80 [[ 9.24782118e-01 3.80192863e-01 1.52125293e-02 1.62618901e+02] [-3.80143903e-01 9.24907221e-01 -6.10289361e-03 -1.82900259e+01] [-1.63904548e-02 -1.39103366e-04 9.99865658e-01 8.03116579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.65, Y:-18.30, Z:0.80 [[ 9.25377019e-01 3.78673709e-01 1.68402531e-02 1.62649893e+02] [-3.78613275e-01 9.25530231e-01 -6.76600777e-03 -1.83015628e+01] [-1.81482726e-02 -1.14835297e-04 9.99835300e-01 8.04005689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.68, Y:-18.31, Z:0.80 [[ 9.25805239e-01 3.77688423e-01 1.53659982e-02 1.62679251e+02] [-3.77637835e-01 9.25932745e-01 -6.18192915e-03 -1.83142328e+01] [-1.65627239e-02 -7.95198861e-05 9.99862826e-01 8.03945276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.71, Y:-18.33, Z:0.80 [[ 9.25604799e-01 3.78179516e-01 1.53625992e-02 1.62709543e+02] [-3.78128856e-01 9.25732276e-01 -6.19037313e-03 -1.83260851e+01] [-1.65627262e-02 -7.92029679e-05 9.99862826e-01 8.04109191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.74, Y:-18.34, Z:0.80 [[ 9.26597516e-01 3.75709392e-01 1.61088626e-02 1.62740054e+02] [-3.75653146e-01 9.26737531e-01 -6.50091869e-03 -1.83393016e+01] [-1.73711438e-02 -2.76098184e-05 9.99849110e-01 8.04031601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.77, Y:-18.35, Z:0.80 [[ 9.27343842e-01 3.73799979e-01 1.75207070e-02 1.62769814e+02] [-3.73732932e-01 9.27509340e-01 -7.07953002e-03 -1.83520115e+01] [-1.88969475e-02 1.70933665e-05 9.99821437e-01 8.03719815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.80, Y:-18.36, Z:0.80 [[ 9.30102669e-01 3.66863328e-01 1.78975980e-02 1.62800182e+02] [-3.66791894e-01 9.30274836e-01 -7.24130088e-03 -1.83626097e+01] [-1.93062528e-02 1.70459402e-04 9.99813602e-01 8.03798967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.83, Y:-18.38, Z:0.80 [[ 9.31049049e-01 3.64461570e-01 1.77604231e-02 1.62829199e+02] [-3.64390611e-01 9.31218402e-01 -7.19514153e-03 -1.83758343e+01] [-1.91611854e-02 2.27298254e-04 9.99816382e-01 8.03626129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.172320588 meters Centerline goodness [0,1] 0.999950760746467 Centerline is valid? [True, True] Translation: X:162.86, Y:-18.39, Z:0.80 [[ 9.31876581e-01 3.62347383e-01 1.76184999e-02 1.62858186e+02] [-3.62277001e-01 9.32043077e-01 -7.14684604e-03 -1.83904387e+01] [-1.90108419e-02 2.77201124e-04 9.99819239e-01 8.03718724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.202320588 meters Centerline goodness [0,1] 0.9999508357915438 Centerline is valid? [True, True] Translation: X:162.89, Y:-18.41, Z:0.80 [[ 9.32951087e-01 3.59582193e-01 1.74044625e-02 1.62886311e+02] [-3.59512860e-01 9.33113355e-01 -7.06903078e-03 -1.84068723e+01] [-1.87822340e-02 3.37931866e-04 9.99823541e-01 8.04345718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.92, Y:-18.42, Z:0.81 [[ 9.33458445e-01 3.58356362e-01 1.53639036e-02 1.62915923e+02] [-3.58302033e-01 9.33584817e-01 -6.24844174e-03 -1.84192104e+01] [-1.65826760e-02 3.27742825e-04 9.99862444e-01 8.05094531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.262320588 meters Centerline goodness [0,1] 0.9999508261211645 Centerline is valid? [True, True] Translation: X:162.95, Y:-18.43, Z:0.80 [[ 9.33570508e-01 3.58117672e-01 1.40655427e-02 1.62946222e+02] [-3.58071976e-01 9.33676408e-01 -5.72928341e-03 -1.84332576e+01] [-1.51844230e-02 3.12213358e-04 9.99884661e-01 8.04505502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.292320588 meters Centerline goodness [0,1] 0.9998034591194969 Centerline is valid? [True, True] Translation: X:162.97, Y:-18.45, Z:0.80 [[ 9.33477504e-01 3.58403698e-01 1.29049968e-02 1.62974812e+02] [-3.58365168e-01 9.33566659e-01 -5.26307840e-03 -1.84490473e+01] [-1.39339815e-02 2.88263956e-04 9.99902876e-01 8.04015766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.00, Y:-18.47, Z:0.80 [[ 9.33416181e-01 3.58384880e-01 1.71613443e-02 1.63001017e+02] [-3.58316587e-01 9.33573845e-01 -7.00704276e-03 -1.84693787e+01] [-1.85326004e-02 3.91292772e-04 9.99828180e-01 8.04374930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.03, Y:-18.49, Z:0.80 [[ 9.33149533e-01 3.59073926e-01 1.72587861e-02 1.63030782e+02] [-3.59004777e-01 9.33309040e-01 -7.05735480e-03 -1.84850737e+01] [-1.86418931e-02 3.89580701e-04 9.99826149e-01 8.04384760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.06, Y:-18.50, Z:0.80 [[ 9.32884926e-01 3.59801894e-01 1.63802499e-02 1.63059694e+02] [-3.59739570e-01 9.33028652e-01 -6.70647898e-03 -1.84998212e+01] [-1.76962463e-02 3.63749078e-04 9.99843343e-01 8.04941566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.09, Y:-18.52, Z:0.80 [[ 9.32392557e-01 3.61140979e-01 1.48766114e-02 1.63085171e+02] [-3.61089615e-01 9.32511177e-01 -6.09879113e-03 -1.85215772e+01] [-1.60751298e-02 3.14677552e-04 9.99870737e-01 8.02848357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.11, Y:-18.54, Z:0.80 [[ 9.31884366e-01 3.62483105e-01 1.40544086e-02 1.63112942e+02] [-3.62437301e-01 9.31990300e-01 -5.76926321e-03 -1.85379737e+01] [-1.51898330e-02 2.82444258e-04 9.99884588e-01 8.03121586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.472320588 meters Centerline goodness [0,1] 0.9999015990159902 Centerline is valid? [True, True] Translation: X:163.14, Y:-18.55, Z:0.80 [[ 9.31308339e-01 3.63959718e-01 1.40748616e-02 1.63141318e+02] [-3.63913836e-01 9.31414652e-01 -5.78500618e-03 -1.85525999e+01] [-1.52150415e-02 2.65587618e-04 9.99884209e-01 8.03620008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.17, Y:-18.57, Z:0.80 [[ 9.30605782e-01 3.65800401e-01 1.27650018e-02 1.63170538e+02] [-3.65762740e-01 9.30693300e-01 -5.25357497e-03 -1.85667149e+01] [-1.38020615e-02 2.20045202e-04 9.99904723e-01 8.04698298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.20, Y:-18.58, Z:0.81 [[ 9.28732523e-01 3.70588797e-01 1.09473453e-02 1.63198495e+02] [-3.70561356e-01 9.28797032e-01 -4.51174091e-03 -1.85823147e+01] [-1.18398625e-02 1.33537398e-04 9.99929897e-01 8.05450163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.23, Y:-18.60, Z:0.81 [[ 9.27630243e-01 3.73365618e-01 1.00123700e-02 1.63226954e+02] [-3.73342820e-01 9.27684271e-01 -4.12694566e-03 -1.85983922e+01] [-1.08291778e-02 9.02331702e-05 9.99941359e-01 8.06195142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.25, Y:-18.61, Z:0.81 [[ 9.26505619e-01 3.76175450e-01 8.90898192e-03 1.63254979e+02] [-3.76157466e-01 9.26548449e-01 -3.67874440e-03 -1.86142983e+01] [-9.63845670e-03 5.71972950e-05 9.99953547e-01 8.07358394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.622320588 meters Centerline goodness [0,1] 0.999950821284548 Centerline is valid? [True, True] Translation: X:163.28, Y:-18.63, Z:0.81 [[ 9.25116663e-01 3.79514739e-01 1.13014181e-02 1.63282955e+02] [-3.79485980e-01 9.25185691e-01 -4.67218856e-03 -1.86296627e+01] [-1.22290747e-02 3.35897818e-05 9.99925222e-01 8.07096042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.652320588 meters Centerline goodness [0,1] 0.9999508067689886 Centerline is valid? [True, True] Translation: X:163.31, Y:-18.64, Z:0.81 [[ 9.22540830e-01 3.85669559e-01 1.33195039e-02 1.63311716e+02] [-3.85630152e-01 9.22636976e-01 -5.51338247e-03 -1.86448756e+01] [-1.44154106e-02 -5.00818855e-05 9.99896091e-01 8.07238250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.34, Y:-18.66, Z:0.81 [[ 9.21042490e-01 3.89221707e-01 1.36819413e-02 1.63341421e+02] [-3.89180408e-01 9.21144100e-01 -5.67075235e-03 -1.86574355e+01] [-1.48102195e-02 -1.01739651e-04 9.99890318e-01 8.06821948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.37, Y:-18.67, Z:0.81 [[ 9.19787193e-01 3.92240124e-01 1.17985583e-02 1.63372009e+02] [-3.92209558e-01 9.19862854e-01 -4.89813806e-03 -1.86690814e+01] [-1.27743017e-02 -1.22262671e-04 9.99918398e-01 8.07273583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.40, Y:-18.68, Z:0.81 [[ 9.17630006e-01 3.97370092e-01 7.22369162e-03 1.63404148e+02] [-3.97358750e-01 9.17658432e-01 -3.00439705e-03 -1.86780403e+01] [-7.82273906e-03 -1.13472184e-04 9.99969395e-01 8.09466294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.43, Y:-18.69, Z:0.81 [[ 9.16203773e-01 4.00654927e-01 6.80264848e-03 1.63434228e+02] [-4.00644934e-01 9.16229018e-01 -2.83273939e-03 -1.86888467e+01] [-7.36773493e-03 -1.30080128e-04 9.99972849e-01 8.10067533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.47, Y:-18.70, Z:0.81 [[ 9.15270096e-01 4.02798055e-01 5.86325639e-03 1.63465173e+02] [-4.02790648e-01 9.15288868e-01 -2.44581864e-03 -1.87002298e+01] [-6.35174430e-03 -1.23080181e-04 9.99979820e-01 8.11730335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.49, Y:-18.71, Z:0.81 [[ 9.14570641e-01 4.04344210e-01 8.14260569e-03 1.63494918e+02] [-4.04329961e-01 9.14606870e-01 -3.39947945e-03 -1.87124526e+01] [-8.82184293e-03 -1.83235342e-04 9.99961070e-01 8.11020701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.53, Y:-18.72, Z:0.81 [[ 9.15239589e-01 4.02731787e-01 1.19834157e-02 1.63525576e+02] [-4.02700702e-01 9.15318005e-01 -5.00945505e-03 -1.87241907e+01] [-1.29861029e-02 -2.40878337e-04 9.99915648e-01 8.11736824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.56, Y:-18.74, Z:0.81 [[ 9.16089884e-01 4.00760338e-01 1.30566368e-02 1.63556303e+02] [-4.00723146e-01 9.16182897e-01 -5.46443440e-03 -1.87351561e+01] [-1.41521959e-02 -2.26183477e-04 9.99899827e-01 8.11717645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.59, Y:-18.75, Z:0.81 [[ 9.17057346e-01 3.98568457e-01 1.22069557e-02 1.63587097e+02] [-3.98535665e-01 9.17138569e-01 -5.11556683e-03 -1.87459424e+01] [-1.32343734e-02 -1.73639057e-04 9.99912407e-01 8.13650254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.62, Y:-18.76, Z:0.81 [[ 9.17742816e-01 3.97023471e-01 1.09767064e-02 1.63617270e+02] [-3.96996770e-01 9.17808448e-01 -4.60624593e-03 -1.87569359e+01] [-1.19033016e-02 -1.30367876e-04 9.99929145e-01 8.13490413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.65, Y:-18.77, Z:0.81 [[ 9.19200234e-01 3.93678211e-01 9.40193380e-03 1.63647914e+02] [-3.93658391e-01 9.19248313e-01 -3.95087438e-03 -1.87673737e+01] [-1.01980849e-02 -6.95054756e-05 9.99947996e-01 8.13459590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.68, Y:-18.78, Z:0.81 [[ 9.19520445e-01 3.92899965e-01 1.05721271e-02 1.63678342e+02] [-3.92874775e-01 9.19581217e-01 -4.44936690e-03 -1.87790406e+01] [-1.14700856e-02 -6.22382115e-05 9.99934214e-01 8.12482418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.71, Y:-18.79, Z:0.81 [[ 9.20150183e-01 3.91459299e-01 9.12456891e-03 1.63707845e+02] [-3.91440463e-01 9.20195423e-01 -3.84032476e-03 -1.87910569e+01] [-9.89971738e-03 -3.80499482e-05 9.99950996e-01 8.14023710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.74, Y:-18.81, Z:0.82 [[ 9.20105457e-01 3.91585436e-01 8.17274774e-03 1.63737117e+02] [-3.91570264e-01 9.20141753e-01 -3.44708600e-03 -1.88056647e+01] [-8.86991511e-03 -2.85223538e-05 9.99960661e-01 8.15710033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.77, Y:-18.82, Z:0.82 [[ 9.21031453e-01 3.89414974e-01 7.55257736e-03 1.63765126e+02] [-3.89401904e-01 9.21062418e-01 -3.19052165e-03 -1.88229454e+01] [-8.19883207e-03 -2.41721127e-06 9.99966389e-01 8.17427152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.79, Y:-18.84, Z:0.82 [[ 9.21498294e-01 3.88319924e-01 6.96637991e-03 1.63794245e+02] [-3.88308776e-01 9.21524626e-01 -2.94246589e-03 -1.88360866e+01] [-7.56230877e-03 6.37084541e-06 9.99971405e-01 8.17448415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.82, Y:-18.85, Z:0.82 [[ 9.22079195e-01 3.86940126e-01 6.87731127e-03 1.63824338e+02] [-3.86929174e-01 9.22104841e-01 -2.91133272e-03 -1.88484755e+01] [-7.46811346e-03 2.34469671e-05 9.99972113e-01 8.16497361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.85, Y:-18.86, Z:0.81 [[ 9.22867117e-01 3.85025845e-01 8.44881487e-03 1.63853098e+02] [-3.85009202e-01 9.22905790e-01 -3.58020799e-03 -1.88624798e+01] [-9.17593277e-03 5.11847544e-05 9.99957899e-01 8.13072312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.88, Y:-18.88, Z:0.81 [[ 9.22684979e-01 3.85427126e-01 9.91763491e-03 1.63881635e+02] [-3.85404163e-01 9.22738276e-01 -4.20760884e-03 -1.88784721e+01] [-1.07731079e-02 5.99996870e-05 9.99941967e-01 8.13942373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.91, Y:-18.90, Z:0.82 [[ 9.22277378e-01 3.86392727e-01 1.02517569e-02 1.63910362e+02] [-3.86368175e-01 9.22334352e-01 -4.35613293e-03 -1.88950026e+01] [-1.11387256e-02 5.66102519e-05 9.99937961e-01 8.16563420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.94, Y:-18.91, Z:0.82 [[ 9.21967636e-01 3.87106249e-01 1.11548025e-02 1.63939156e+02] [-3.87077151e-01 9.22035112e-01 -4.74670792e-03 -1.89115347e+01] [-1.21225998e-02 5.85419233e-05 9.99926517e-01 8.19316195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.97, Y:-18.93, Z:0.82 [[ 9.20608602e-01 3.90387388e-01 8.80277812e-03 1.63966792e+02] [-3.90369367e-01 9.20650687e-01 -3.75103905e-03 -1.89288438e+01] [-9.56864206e-03 1.69039006e-05 9.99954219e-01 8.19632374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.00, Y:-18.94, Z:0.82 [[ 9.19615115e-01 3.92735863e-01 8.15986267e-03 1.63996871e+02] [-3.92720419e-01 9.19651316e-01 -3.48283097e-03 -1.89432973e+01] [-8.87206107e-03 -1.68068634e-06 9.99960642e-01 8.18301730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.03, Y:-18.96, Z:0.82 [[ 9.18499183e-01 3.95307067e-01 9.56940756e-03 1.64026321e+02] [-3.95285920e-01 9.18549031e-01 -4.08887175e-03 -1.89566550e+01] [-1.04063299e-02 -2.70267181e-05 9.99945852e-01 8.16157334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.06, Y:-18.97, Z:0.82 [[ 9.17508051e-01 3.97601081e-01 9.61019560e-03 1.64057060e+02] [-3.97579813e-01 9.17558379e-01 -4.11270359e-03 -1.89697952e+01] [-1.04531309e-02 -4.73811161e-05 9.99945363e-01 8.15928067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.09, Y:-18.98, Z:0.82 [[ 9.15893021e-01 4.01311111e-01 9.45332748e-03 1.64086850e+02] [-4.01290668e-01 9.15941802e-01 -4.05156310e-03 -1.89833932e+01] [-1.02846351e-02 -8.27337312e-05 9.99947108e-01 8.15140170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.462320588 meters Centerline goodness [0,1] 0.9999508478741705 Centerline is valid? [True, True] Translation: X:164.11, Y:-19.00, Z:0.82 [[ 9.14816082e-01 4.03746139e-01 1.00294841e-02 1.64114855e+02] [-4.03723220e-01 9.14871052e-01 -4.30343344e-03 -1.89986383e+01] [-1.09131793e-02 -1.12285482e-04 9.99940443e-01 8.15310224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.14, Y:-19.01, Z:0.82 [[ 9.13949570e-01 4.05743749e-01 8.25790236e-03 1.64144225e+02] [-4.05728240e-01 9.13986870e-01 -3.54915541e-03 -1.90145758e+01] [-8.98766196e-03 -1.06715128e-04 9.99959604e-01 8.16240243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.17, Y:-19.03, Z:0.82 [[ 9.12497978e-01 4.09020645e-01 7.03938842e-03 1.64174407e+02] [-4.09009443e-01 9.12525122e-01 -3.02927508e-03 -1.90268570e+01] [-7.66265482e-03 -1.14968950e-04 9.99970635e-01 8.16982775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.21, Y:-19.04, Z:0.82 [[ 9.11926591e-01 4.10268902e-01 8.32590210e-03 1.64205483e+02] [-4.10253247e-01 9.11964587e-01 -3.58693867e-03 -1.90367641e+01] [-9.06453726e-03 -1.44703623e-04 9.99958906e-01 8.16301600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.24, Y:-19.05, Z:0.82 [[ 9.11440909e-01 4.11310342e-01 9.96350373e-03 1.64236227e+02] [-4.11287932e-01 9.11495348e-01 -4.29731748e-03 -1.90473830e+01] [-1.08492184e-02 -1.81117897e-04 9.99941129e-01 8.16977986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.27, Y:-19.06, Z:0.82 [[ 9.10862010e-01 4.12558296e-01 1.12272040e-02 1.64266435e+02] [-4.12529867e-01 9.10931175e-01 -4.84799838e-03 -1.90587843e+01] [-1.22272920e-02 -2.15699409e-04 9.99925221e-01 8.17060056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.30, Y:-19.07, Z:0.82 [[ 9.09878722e-01 4.14733141e-01 1.08227663e-02 1.64297357e+02] [-4.14706808e-01 9.09943058e-01 -4.67921653e-03 -1.90676090e+01] [-1.17887272e-02 -2.30755298e-04 9.99930484e-01 8.15826344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.33, Y:-19.08, Z:0.81 [[ 9.08942620e-01 4.16771614e-01 1.11685160e-02 1.64328166e+02] [-4.16743654e-01 9.09011196e-01 -4.83451636e-03 -1.90776003e+01] [-1.21671953e-02 -2.60110213e-04 9.99925943e-01 8.13777573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.36, Y:-19.09, Z:0.81 [[ 9.08219284e-01 4.18350842e-01 1.09683615e-02 1.64359492e+02] [-4.18323906e-01 9.08285473e-01 -4.75491389e-03 -1.90886949e+01] [-1.19516257e-02 -2.69823342e-04 9.99928540e-01 8.12389200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.39, Y:-19.10, Z:0.81 [[ 9.07761332e-01 4.19391243e-01 8.96374561e-03 1.64391597e+02] [-4.19373257e-01 9.07805559e-01 -3.89072890e-03 -1.90961863e+01] [-9.76907572e-03 -2.27301941e-04 9.99952256e-01 8.14054231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.42, Y:-19.10, Z:0.82 [[ 9.07660718e-01 4.19635861e-01 7.60037323e-03 1.64423126e+02] [-4.19622903e-01 9.07692518e-01 -3.30334940e-03 -1.91041280e+01] [-8.28500578e-03 -1.90970188e-04 9.99965661e-01 8.15500215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.46, Y:-19.11, Z:0.82 [[ 9.08331988e-01 4.18169296e-01 8.21217286e-03 1.64455901e+02] [-4.18154070e-01 9.08369090e-01 -3.57343999e-03 -1.91100699e+01] [-8.95398688e-03 -1.88083654e-04 9.99959895e-01 8.17870244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.49, Y:-19.12, Z:0.82 [[ 9.09037638e-01 4.16601954e-01 9.66360496e-03 1.64486498e+02] [-4.16580731e-01 9.09088979e-01 -4.20974702e-03 -1.91208926e+01] [-1.05388656e-02 -1.98853135e-04 9.99944445e-01 8.18017166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.52, Y:-19.13, Z:0.82 [[ 9.09922486e-01 4.14687463e-01 8.68198137e-03 1.64516667e+02] [-4.14670199e-01 9.09963892e-01 -3.78705539e-03 -1.91314700e+01] [-9.47073395e-03 -1.54232090e-04 9.99955140e-01 8.16735808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.55, Y:-19.14, Z:0.81 [[ 9.11100696e-01 4.12134146e-01 6.40049537e-03 1.64549114e+02] [-4.12124672e-01 9.11123173e-01 -2.79602507e-03 -1.91380228e+01] [-6.98397706e-03 -9.03416591e-05 9.99975608e-01 8.11400387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.58, Y:-19.15, Z:0.81 [[ 9.10884159e-01 4.12612533e-01 6.39888685e-03 1.64579017e+02] [-4.12603044e-01 9.10906631e-01 -2.79970636e-03 -1.91507473e+01] [-6.98398239e-03 -8.99920209e-05 9.99975608e-01 8.11564268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.62, Y:-19.14, Z:0.80 [[ 9.17460811e-01 3.97795812e-01 -4.91457652e-03 1.64620206e+02] [-3.97790012e-01 9.17473973e-01 2.14822148e-03 -1.91375081e+01] [ 5.36354956e-03 -1.59395734e-05 9.99985616e-01 7.99043763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.65, Y:-19.15, Z:0.80 [[ 9.15931085e-01 4.01245833e-01 -8.48695970e-03 1.64650685e+02] [-4.01228620e-01 9.15970404e-01 3.71661019e-03 -1.91508232e+01] [ 9.26507826e-03 1.05232662e-06 9.99957078e-01 7.98473061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.68, Y:-19.16, Z:0.80 [[ 9.15848900e-01 4.01433416e-01 -8.48553107e-03 1.64680473e+02] [-4.01416181e-01 9.15888210e-01 3.71986971e-03 -1.91638255e+01] [ 9.26507786e-03 -6.09114990e-07 9.99957078e-01 7.98636918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.71, Y:-19.18, Z:0.80 [[ 9.15766674e-01 4.01620974e-01 -8.48476899e-03 1.64710259e+02] [-4.01603731e-01 9.15805980e-01 3.72160736e-03 -1.91768324e+01] [ 9.26507776e-03 -6.09114949e-07 9.99957078e-01 7.98800732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.74, Y:-19.19, Z:0.80 [[ 9.15684410e-01 4.01808516e-01 -8.48400656e-03 1.64740042e+02] [-4.01791264e-01 9.15723712e-01 3.72334486e-03 -1.91898454e+01] [ 9.26507765e-03 -6.09114998e-07 9.99957078e-01 7.98964546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.77, Y:-19.20, Z:0.80 [[ 9.14755222e-01 4.03861344e-01 -1.09040297e-02 1.64769109e+02] [-4.03832963e-01 9.14820209e-01 4.78787353e-03 -1.92040245e+01] [ 1.19088637e-02 2.36742959e-05 9.99929087e-01 7.96642638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.80, Y:-19.22, Z:0.80 [[ 9.14672132e-01 4.04049515e-01 -1.09031876e-02 1.64798887e+02] [-4.04021125e-01 9.14737114e-01 4.78979057e-03 -1.92170499e+01] [ 1.19088629e-02 2.40301663e-05 9.99929087e-01 7.96806446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.83, Y:-19.23, Z:0.80 [[ 9.14589005e-01 4.04237671e-01 -1.09022020e-02 1.64828662e+02] [-4.04209267e-01 9.14653981e-01 4.79203324e-03 -1.92300817e+01] [ 1.19088628e-02 2.40301661e-05 9.99929087e-01 7.96970264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.86, Y:-19.25, Z:0.80 [[ 9.13783511e-01 4.06020828e-01 -1.21153979e-02 1.64856731e+02] [-4.05985874e-01 9.13863822e-01 5.32776544e-03 -1.92460586e+01] [ 1.32350076e-02 5.02561997e-05 9.99912412e-01 7.95993615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.89, Y:-19.26, Z:0.80 [[ 9.13700413e-01 4.06207822e-01 -1.21144468e-02 1.64886502e+02] [-4.06172857e-01 9.13780719e-01 5.32992756e-03 -1.92591007e+01] [ 1.32350062e-02 5.06024452e-05 9.99912412e-01 7.96157425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.92, Y:-19.27, Z:0.80 [[ 9.13617279e-01 4.06394802e-01 -1.21133558e-02 1.64916270e+02] [-4.06359820e-01 9.13697577e-01 5.33240640e-03 -1.92721491e+01] [ 1.32350061e-02 5.06024447e-05 9.99912412e-01 7.96321245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27232058799999 meters Centerline goodness [0,1] 0.9999507461951436 Centerline is valid? [True, True] Translation: X:164.95, Y:-19.29, Z:0.80 [[ 9.13673615e-01 4.06252944e-01 -1.26122799e-02 1.64945205e+02] [-4.06214964e-01 9.13760659e-01 5.55516608e-03 -1.92886145e+01] [ 1.37814078e-02 4.76881662e-05 9.99905031e-01 7.95422275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.302320588 meters Centerline goodness [0,1] 0.9999507461951436 Centerline is valid? [True, True] Translation: X:164.97, Y:-19.30, Z:0.80 [[ 9.13590558e-01 4.06439727e-01 -1.26111433e-02 1.64974966e+02] [-4.06401729e-01 9.13677594e-01 5.55774561e-03 -1.93016749e+01] [ 1.37814077e-02 4.76865442e-05 9.99905031e-01 7.95586093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.332320588 meters Centerline goodness [0,1] 0.9999507461951436 Centerline is valid? [True, True] Translation: X:165.00, Y:-19.31, Z:0.80 [[ 9.13507462e-01 4.06626493e-01 -1.26100069e-02 1.65004725e+02] [-4.06588477e-01 9.13594490e-01 5.56032343e-03 -1.93147413e+01] [ 1.37814076e-02 4.76865439e-05 9.99905031e-01 7.95749912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.362320588 meters Centerline goodness [0,1] 0.9999507461951436 Centerline is valid? [True, True] Translation: X:165.03, Y:-19.33, Z:0.80 [[ 9.13424328e-01 4.06813242e-01 -1.26088698e-02 1.65034481e+02] [-4.06775208e-01 9.13511349e-01 5.56290101e-03 -1.93278138e+01] [ 1.37814075e-02 4.76865435e-05 9.99905031e-01 7.95913730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.06, Y:-19.34, Z:0.80 [[ 9.13718005e-01 4.06181674e-01 -1.16556465e-02 1.65063339e+02] [-4.06149091e-01 9.13792343e-01 5.14481473e-03 -1.93433124e+01] [ 1.27405700e-02 3.30203964e-05 9.99918835e-01 7.96433741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.09, Y:-19.36, Z:0.80 [[ 9.13634744e-01 4.06368950e-01 -1.16546644e-02 1.65093089e+02] [-4.06336354e-01 9.13709076e-01 5.14703903e-03 -1.93563951e+01] [ 1.27405695e-02 3.32001417e-05 9.99918835e-01 7.96597551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.452320588 meters Centerline goodness [0,1] 0.9999506903353057 Centerline is valid? [True, True] Translation: X:165.12, Y:-19.37, Z:0.80 [[ 9.14662766e-01 4.04082991e-01 -1.04384818e-02 1.65122745e+02] [-4.04056672e-01 9.14722328e-01 4.61189784e-03 -1.93687242e+01] [ 1.14119019e-02 -5.93006871e-07 9.99934882e-01 7.97917307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.482320588 meters Centerline goodness [0,1] 0.9999506903353057 Centerline is valid? [True, True] Translation: X:165.15, Y:-19.38, Z:0.80 [[ 9.14579059e-01 4.04272433e-01 -1.04376707e-02 1.65152491e+02] [-4.04246106e-01 9.14638617e-01 4.61373303e-03 -1.93818168e+01] [ 1.14119018e-02 -2.35872246e-07 9.99934882e-01 7.98081108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.512320588 meters Centerline goodness [0,1] 0.9999506903353057 Centerline is valid? [True, True] Translation: X:165.18, Y:-19.39, Z:0.80 [[ 9.14495314e-01 4.04461860e-01 -1.04367148e-02 1.65182234e+02] [-4.04435520e-01 9.14554866e-01 4.61589469e-03 -1.93949158e+01] [ 1.14119017e-02 -2.35872205e-07 9.99934882e-01 7.98244923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.542320588 meters Centerline goodness [0,1] 0.9999506903353057 Centerline is valid? [True, True] Translation: X:165.21, Y:-19.41, Z:0.80 [[ 9.14411529e-01 4.04651270e-01 -1.04357585e-02 1.65211975e+02] [-4.04624918e-01 9.14471076e-01 4.61805615e-03 -1.94080210e+01] [ 1.14119016e-02 -2.35872190e-07 9.99934882e-01 7.98408737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.572320588 meters Centerline goodness [0,1] 0.9999015554242962 Centerline is valid? [True, True] Translation: X:165.24, Y:-19.42, Z:0.80 [[ 9.15230755e-01 4.02807513e-01 -9.93842687e-03 1.65243512e+02] [-4.02783478e-01 9.15284714e-01 4.40038427e-03 -1.94192098e+01] [ 1.08689980e-02 -2.43328834e-05 9.99940930e-01 8.00489422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.602320588 meters Centerline goodness [0,1] 0.9999015554242962 Centerline is valid? [True, True] Translation: X:165.27, Y:-19.43, Z:0.80 [[ 9.15148889e-01 4.02993493e-01 -9.93752407e-03 1.65273248e+02] [-4.02969447e-01 9.15202843e-01 4.40242244e-03 -1.94323257e+01] [ 1.08689979e-02 -2.43534296e-05 9.99940930e-01 8.00653238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.30, Y:-19.44, Z:0.80 [[ 9.15606736e-01 4.01940993e-01 -1.03799300e-02 1.65304676e+02] [-4.01914661e-01 9.15665570e-01 4.60098574e-03 -1.94435321e+01] [ 1.13538693e-02 -4.08474862e-05 9.99935542e-01 8.02069464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.662320588 meters Centerline goodness [0,1] 0.9999507267799951 Centerline is valid? [True, True] Translation: X:165.33, Y:-19.45, Z:0.81 [[ 9.14197915e-01 4.05152256e-01 -9.68611960e-03 1.65334283e+02] [-4.05129487e-01 9.14249227e-01 4.29530982e-03 -1.94549647e+01] [ 1.05957818e-02 -2.63061724e-06 9.99943863e-01 8.05405051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.692320588 meters Centerline goodness [0,1] 0.9999507267799951 Centerline is valid? [True, True] Translation: X:165.36, Y:-19.47, Z:0.81 [[ 9.14114948e-01 4.05339432e-01 -9.68538395e-03 1.65364013e+02] [-4.05316655e-01 9.14166257e-01 4.29696818e-03 -1.94680965e+01] [ 1.05957818e-02 -2.27541627e-06 9.99943863e-01 8.05568852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.722320588 meters Centerline goodness [0,1] 0.9999507267799951 Centerline is valid? [True, True] Translation: X:165.39, Y:-19.48, Z:0.81 [[ 9.14031944e-01 4.05526591e-01 -9.68450388e-03 1.65393740e+02] [-4.05503804e-01 9.14083248e-01 4.29895105e-03 -1.94812346e+01] [ 1.05957817e-02 -2.27541629e-06 9.99943863e-01 8.05732663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.752320588 meters Centerline goodness [0,1] 0.9999507267799951 Centerline is valid? [True, True] Translation: X:165.42, Y:-19.49, Z:0.81 [[ 9.13948901e-01 4.05713734e-01 -9.68362341e-03 1.65423464e+02] [-4.05690937e-01 9.14000200e-01 4.30093374e-03 -1.94943788e+01] [ 1.05957816e-02 -2.27541627e-06 9.99943863e-01 8.05896475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.782320588 meters Centerline goodness [0,1] 0.9999507849795758 Centerline is valid? [True, True] Translation: X:165.45, Y:-19.51, Z:0.81 [[ 9.13885763e-01 4.05920349e-01 -6.44069710e-03 1.65452187e+02] [-4.05910262e-01 9.13908458e-01 2.86165436e-03 -1.95083651e+01] [ 7.04781130e-03 -8.80131327e-07 9.99975164e-01 8.06412209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.812320588 meters Centerline goodness [0,1] 0.9999507849795758 Centerline is valid? [True, True] Translation: X:165.48, Y:-19.52, Z:0.81 [[ 9.13666536e-01 4.06413568e-01 -6.43997765e-03 1.65482011e+02] [-4.06403481e-01 9.13689232e-01 2.86327248e-03 -1.95212884e+01] [ 7.04781101e-03 1.15308618e-06 9.99975164e-01 8.06576021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.842320588 meters Centerline goodness [0,1] 0.9999507849795758 Centerline is valid? [True, True] Translation: X:165.51, Y:-19.53, Z:0.81 [[ 9.13447044e-01 4.06906677e-01 -6.43843057e-03 1.65511828e+02] [-4.06896578e-01 9.13469735e-01 2.86674778e-03 -1.95342295e+01] [ 7.04781028e-03 1.15308597e-06 9.99975164e-01 8.06739896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.54, Y:-19.55, Z:0.81 [[ 9.12392526e-01 4.09294051e-01 -4.27302945e-03 1.65541751e+02] [-4.09289621e-01 9.12402532e-01 1.90435332e-03 -1.95486473e+01] [ 4.67816337e-03 1.13888678e-05 9.99989057e-01 8.06532406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.57, Y:-19.56, Z:0.81 [[ 9.12169648e-01 4.09790537e-01 -4.27199936e-03 1.65571552e+02] [-4.09786101e-01 9.12179651e-01 1.90666117e-03 -1.95616214e+01] [ 4.67816259e-03 1.14075150e-05 9.99989057e-01 8.06696280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.60, Y:-19.57, Z:0.81 [[ 9.11946499e-01 4.10286901e-01 -4.27096040e-03 1.65601347e+02] [-4.10282461e-01 9.11956500e-01 1.90898548e-03 -1.95746117e+01] [ 4.67816184e-03 1.14075133e-05 9.99989057e-01 8.06860154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.63, Y:-19.59, Z:0.81 [[ 9.11723081e-01 4.10783145e-01 -4.26992018e-03 1.65631134e+02] [-4.10778698e-01 9.11733079e-01 1.91130923e-03 -1.95876182e+01] [ 4.67816110e-03 1.14075114e-05 9.99989057e-01 8.07024028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.66, Y:-19.60, Z:0.81 [[ 9.10454035e-01 4.13595891e-01 -3.44799804e-03 1.65661723e+02] [-4.13593006e-01 9.10460564e-01 1.54507586e-03 -1.96006637e+01] [ 3.77830327e-03 1.93473190e-05 9.99992862e-01 8.07543374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.69, Y:-19.61, Z:0.81 [[ 9.10230242e-01 4.14088183e-01 -3.44715713e-03 1.65691495e+02] [-4.14085294e-01 9.10236769e-01 1.54694928e-03 -1.96137039e+01] [ 3.77830258e-03 1.93370581e-05 9.99992862e-01 8.07707247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.72, Y:-19.63, Z:0.81 [[ 9.10006183e-01 4.14580354e-01 -3.44631940e-03 1.65721261e+02] [-4.14577461e-01 9.10012709e-01 1.54881288e-03 -1.96267601e+01] [ 3.77830184e-03 1.93370545e-05 9.99992862e-01 8.07871119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.75, Y:-19.64, Z:0.81 [[ 9.09781858e-01 4.15072403e-01 -3.44548067e-03 1.65751019e+02] [-4.15069507e-01 9.09788382e-01 1.55067602e-03 -1.96398325e+01] [ 3.77830111e-03 1.93370509e-05 9.99992862e-01 8.08034991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.78, Y:-19.65, Z:0.81 [[ 9.09557266e-01 4.15564332e-01 -3.44464093e-03 1.65780770e+02] [-4.15561432e-01 9.09563789e-01 1.55253872e-03 -1.96529209e+01] [ 3.77830037e-03 1.93370472e-05 9.99992862e-01 8.08198863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.81, Y:-19.66, Z:0.81 [[ 9.08150951e-01 4.18635421e-01 -2.49693405e-03 1.65811463e+02] [-4.18633906e-01 9.08154383e-01 1.12620266e-03 -1.96645149e+01] [ 2.73906992e-03 2.25392401e-05 9.99996248e-01 8.09883773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.84, Y:-19.68, Z:0.81 [[ 9.07923256e-01 4.19129013e-01 -2.49632955e-03 1.65841200e+02] [-4.19127497e-01 9.07926687e-01 1.12754019e-03 -1.96776401e+01] [ 2.73906903e-03 2.25603972e-05 9.99996248e-01 8.10047647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.87, Y:-19.69, Z:0.81 [[ 9.07695292e-01 4.19622482e-01 -2.49571559e-03 1.65870929e+02] [-4.19620964e-01 9.07698723e-01 1.12889667e-03 -1.96907814e+01] [ 2.73906828e-03 2.25603914e-05 9.99996248e-01 8.10211522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.90, Y:-19.70, Z:0.81 [[ 9.07467061e-01 4.20115827e-01 -2.49510090e-03 1.65900652e+02] [-4.20114307e-01 9.07470491e-01 1.13025282e-03 -1.97039389e+01] [ 2.73906754e-03 2.25603856e-05 9.99996248e-01 8.10375398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.93, Y:-19.72, Z:0.81 [[ 9.07238561e-01 4.20609048e-01 -2.49448547e-03 1.65930367e+02] [-4.20607526e-01 9.07241990e-01 1.13160863e-03 -1.97171126e+01] [ 2.73906679e-03 2.25603798e-05 9.99996248e-01 8.10539273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.96, Y:-19.73, Z:0.81 [[ 9.05493103e-01 4.24345029e-01 -3.67934973e-03 1.65960615e+02] [-4.24341733e-01 9.05500577e-01 1.67303662e-03 -1.97275903e+01] [ 4.04159807e-03 4.63785246e-05 9.99991832e-01 8.13307924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.99, Y:-19.74, Z:0.81 [[ 9.05264090e-01 4.24833374e-01 -3.67858668e-03 1.65990318e+02] [-4.24830076e-01 9.05271562e-01 1.67471245e-03 -1.97407973e+01] [ 4.04159365e-03 4.67172156e-05 9.99991832e-01 8.13471795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.02, Y:-19.75, Z:0.81 [[ 9.05034813e-01 4.25321598e-01 -3.67768217e-03 1.66020014e+02] [-4.25318296e-01 9.05042284e-01 1.67669606e-03 -1.97540206e+01] [ 4.04159292e-03 4.67172073e-05 9.99991832e-01 8.13635675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.05, Y:-19.77, Z:0.81 [[ 9.04805273e-01 4.25809698e-01 -3.67677659e-03 1.66049703e+02] [-4.25806392e-01 9.04812742e-01 1.67867918e-03 -1.97672599e+01] [ 4.04159219e-03 4.67171989e-05 9.99991832e-01 8.13799555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.08, Y:-19.78, Z:0.81 [[ 9.02731568e-01 4.30180533e-01 -4.51940830e-03 1.66079970e+02] [-4.30175574e-01 9.02742877e-01 2.06703148e-03 -1.97775887e+01] [ 4.96906035e-03 7.81644942e-05 9.99987651e-01 8.14618946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.11, Y:-19.79, Z:0.81 [[ 9.02501884e-01 4.30662203e-01 -4.51844196e-03 1.66109648e+02] [-4.30657239e-01 9.02513191e-01 2.06914167e-03 -1.97908615e+01] [ 4.96905459e-03 7.84954829e-05 9.99987651e-01 8.14782828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.14, Y:-19.80, Z:0.81 [[ 9.02271943e-01 4.31143752e-01 -4.51733651e-03 1.66139319e+02] [-4.31138782e-01 9.02283248e-01 2.07155227e-03 -1.98041505e+01] [ 4.96905387e-03 7.84954716e-05 9.99987651e-01 8.14946718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.17, Y:-19.81, Z:0.82 [[ 9.00416555e-01 4.34996566e-01 -5.29289788e-03 1.66170112e+02] [-4.34989787e-01 9.00432105e-01 2.43107541e-03 -1.98136490e+01] [ 5.82340463e-03 1.13375972e-04 9.99983037e-01 8.16048558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.20, Y:-19.83, Z:0.82 [[ 9.00186647e-01 4.35472155e-01 -5.29174896e-03 1.66199773e+02] [-4.35465370e-01 9.00202194e-01 2.43357392e-03 -1.98269706e+01] [ 5.82339770e-03 1.13702672e-04 9.99983037e-01 8.16212452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.23, Y:-19.84, Z:0.82 [[ 8.97850458e-01 4.40273537e-01 -4.87522187e-03 1.66230755e+02] [-4.40267833e-01 8.97863684e-01 2.24488653e-03 -1.98361116e+01] [ 5.36564880e-03 1.30830970e-04 9.99985596e-01 8.15186838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.26, Y:-19.85, Z:0.82 [[ 8.97620766e-01 4.40741650e-01 -4.87418320e-03 1.66260407e+02] [-4.40735941e-01 8.97633990e-01 2.24713956e-03 -1.98494666e+01] [ 5.36564051e-03 1.31148586e-04 9.99985596e-01 8.15350752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.31, Y:-19.83, Z:0.82 [[ 8.99966989e-01 4.35899184e-01 7.16375426e-03 1.66306124e+02] [-4.35886646e-01 8.99995489e-01 -3.30929573e-03 -1.98283092e+01] [-7.88986583e-03 -1.44327909e-04 9.99968864e-01 8.18938166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.34, Y:-19.84, Z:0.82 [[ 9.02477710e-01 4.30682119e-01 6.84798343e-03 1.66338273e+02] [-4.30670503e-01 9.02503686e-01 -3.16441615e-03 -1.98359697e+01] [-7.54318775e-03 -9.34094291e-05 9.99971545e-01 8.18384651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.37, Y:-19.85, Z:0.82 [[ 9.02390495e-01 4.30864840e-01 6.84719897e-03 1.66367813e+02] [-4.30853217e-01 9.02416468e-01 -3.16611358e-03 -1.98495626e+01] [-7.54319212e-03 -9.30669051e-05 9.99971545e-01 8.18548496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.40, Y:-19.86, Z:0.82 [[ 9.02303241e-01 4.31047545e-01 6.84655787e-03 1.66397350e+02] [-4.31035917e-01 9.02329211e-01 -3.16749992e-03 -1.98631617e+01] [-7.54319223e-03 -9.30669063e-05 9.99971545e-01 8.18712331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.43, Y:-19.88, Z:0.82 [[ 9.02215950e-01 4.31230232e-01 6.84591649e-03 1.66426884e+02] [-4.31218599e-01 9.02241918e-01 -3.16888613e-03 -1.98767668e+01] [-7.54319233e-03 -9.30669077e-05 9.99971545e-01 8.18876166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.46, Y:-19.88, Z:0.82 [[ 9.04582958e-01 4.26200296e-01 9.10929456e-03 1.66459131e+02] [-4.26179435e-01 9.04628821e-01 -4.21732104e-03 -1.98845317e+01] [-1.00379539e-02 -6.72772654e-05 9.99949616e-01 8.17683471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.49, Y:-19.90, Z:0.82 [[ 9.04497295e-01 4.26382085e-01 9.10830719e-03 1.66488664e+02] [-4.26361212e-01 9.04543151e-01 -4.21945337e-03 -1.98981441e+01] [-1.00379562e-02 -6.69447366e-05 9.99949616e-01 8.17847318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.52, Y:-19.91, Z:0.82 [[ 9.04411592e-01 4.26563859e-01 9.10745914e-03 1.66518193e+02] [-4.26542977e-01 9.04457445e-01 -4.22128379e-03 -1.99117627e+01] [-1.00379563e-02 -6.69447374e-05 9.99949616e-01 8.18011153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.55, Y:-19.93, Z:0.82 [[ 9.04325853e-01 4.26745616e-01 9.10661071e-03 1.66547720e+02] [-4.26724725e-01 9.04371702e-01 -4.22311404e-03 -1.99253872e+01] [-1.00379564e-02 -6.69447381e-05 9.99949616e-01 8.18174988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.58, Y:-19.94, Z:0.82 [[ 9.04240078e-01 4.26927356e-01 9.10576191e-03 1.66577244e+02] [-4.26906455e-01 9.04285922e-01 -4.22494412e-03 -1.99390177e+01] [-1.00379565e-02 -6.69447388e-05 9.99949616e-01 8.18338823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.61, Y:-19.95, Z:0.82 [[ 9.04154266e-01 4.27109078e-01 9.10491275e-03 1.66606765e+02] [-4.27088168e-01 9.04200106e-01 -4.22677403e-03 -1.99526541e+01] [-1.00379566e-02 -6.69447395e-05 9.99949616e-01 8.18502657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.64, Y:-19.96, Z:0.82 [[ 9.06100221e-01 4.22897473e-01 1.18371042e-02 1.66638532e+02] [-4.22861755e-01 9.06177536e-01 -5.49635918e-03 -1.99609360e+01] [-1.30509144e-02 -2.52064034e-05 9.99914833e-01 8.18085627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.67, Y:-19.97, Z:0.82 [[ 9.06015872e-01 4.23078187e-01 1.18358689e-02 1.66668052e+02] [-4.23042449e-01 9.06093178e-01 -5.49901913e-03 -1.99745802e+01] [-1.30509151e-02 -2.48763612e-05 9.99914833e-01 8.18249480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.70, Y:-19.99, Z:0.82 [[ 9.05931484e-01 4.23258886e-01 1.18347721e-02 1.66697569e+02] [-4.23223133e-01 9.06008783e-01 -5.50137956e-03 -1.99882306e+01] [-1.30509152e-02 -2.48763614e-05 9.99914833e-01 8.18413320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.73, Y:-20.00, Z:0.82 [[ 9.08091110e-01 4.18516315e-01 1.46502376e-02 1.66728623e+02] [-4.18460879e-01 9.08209277e-01 -6.81186390e-03 -1.99974565e+01] [-1.61563579e-02 5.52417248e-05 9.99869476e-01 8.18637088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.76, Y:-20.01, Z:0.82 [[ 9.08008207e-01 4.18696202e-01 1.46487482e-02 1.66758138e+02] [-4.18640738e-01 9.08126361e-01 -6.81506656e-03 -2.00111171e+01] [-1.61563569e-02 5.55735953e-05 9.99869476e-01 8.18800952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.79, Y:-20.02, Z:0.82 [[ 9.07925266e-01 4.18876075e-01 1.46473981e-02 1.66787651e+02] [-4.18820587e-01 9.08043408e-01 -6.81796807e-03 -2.00247838e+01] [-1.61563570e-02 5.55735956e-05 9.99869476e-01 8.18964801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.82, Y:-20.04, Z:0.82 [[ 9.07842288e-01 4.19055931e-01 1.46460474e-02 1.66817161e+02] [-4.19000420e-01 9.07960420e-01 -6.82086932e-03 -2.00384564e+01] [-1.61563571e-02 5.55735959e-05 9.99869476e-01 8.19128651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.85, Y:-20.05, Z:0.82 [[ 9.07759275e-01 4.19235770e-01 1.46446961e-02 1.66846668e+02] [-4.19180236e-01 9.07877396e-01 -6.82377030e-03 -2.00521349e+01] [-1.61563572e-02 5.55735963e-05 9.99869476e-01 8.19292500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.88, Y:-20.06, Z:0.82 [[ 9.09288137e-01 4.15872389e-01 1.56601514e-02 1.66876543e+02] [-4.15808351e-01 9.09422971e-01 -7.29896958e-03 -2.00641324e+01] [-1.72771413e-02 1.25244746e-04 9.99850731e-01 8.20020181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.91, Y:-20.08, Z:0.82 [[ 9.09206926e-01 4.16049965e-01 1.56585886e-02 1.66906047e+02] [-4.15985896e-01 9.09341746e-01 -7.30232189e-03 -2.00778209e+01] [-1.72771390e-02 1.25569638e-04 9.99850731e-01 8.20184052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.94, Y:-20.09, Z:0.82 [[ 9.09125678e-01 4.16227527e-01 1.56571624e-02 1.66935548e+02] [-4.16163432e-01 9.09260485e-01 -7.30537949e-03 -2.00915155e+01] [-1.72771391e-02 1.25569638e-04 9.99850731e-01 8.20347908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.97, Y:-20.11, Z:0.82 [[ 9.10633657e-01 4.12961264e-01 1.44685072e-02 1.66965938e+02] [-4.12906063e-01 9.10748573e-01 -6.75427956e-03 -2.01050936e+01] [-1.59664281e-02 1.76539937e-04 9.99872513e-01 8.21905636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.00, Y:-20.12, Z:0.82 [[ 9.12216032e-01 4.09474395e-01 1.38791279e-02 1.66995618e+02] [-4.09423167e-01 9.12321581e-01 -6.48098245e-03 -2.01174276e+01] [-1.53160242e-02 2.29619602e-04 9.99882676e-01 8.22963615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.03, Y:-20.12, Z:0.83 [[ 9.14347798e-01 4.04751113e-01 1.20266923e-02 1.67027651e+02] [-4.04712213e-01 9.14426850e-01 -5.61789799e-03 -2.01243423e+01] [-1.32713808e-02 2.69363409e-04 9.99911895e-01 8.26676241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.06, Y:-20.13, Z:0.83 [[ 9.14751290e-01 4.03848591e-01 1.16786982e-02 1.67058351e+02] [-4.03811813e-01 9.14825797e-01 -5.45717882e-03 -2.01341474e+01] [-1.28878483e-02 2.75965093e-04 9.99916910e-01 8.27239504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.09, Y:-20.15, Z:0.83 [[ 9.15036393e-01 4.03223163e-01 1.09307263e-02 1.67087940e+02] [-4.03190880e-01 9.15101639e-01 -5.10937127e-03 -2.01473575e+01] [-1.20629424e-02 2.68091495e-04 9.99927204e-01 8.26199871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.432320588 meters Centerline goodness [0,1] 0.9999507946661418 Centerline is valid? [True, True] Translation: X:167.12, Y:-20.16, Z:0.83 [[ 9.14847129e-01 4.03644696e-01 1.12111448e-02 1.67116094e+02] [-4.03610746e-01 9.14915781e-01 -5.24213233e-03 -2.01637818e+01] [-1.23732122e-02 2.70811187e-04 9.99923412e-01 8.26623565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.14, Y:-20.18, Z:0.83 [[ 9.15244806e-01 4.02720027e-01 1.19802305e-02 1.67144350e+02] [-4.02681156e-01 9.15323160e-01 -5.60352937e-03 -2.01800653e+01] [-1.32224360e-02 3.04388078e-04 9.99912533e-01 8.27341888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.17, Y:-20.20, Z:0.83 [[ 9.11123303e-01 4.12052233e-01 8.20271872e-03 1.67171335e+02] [-4.12034378e-01 9.11160219e-01 -3.83766529e-03 -2.01969683e+01] [-9.05530953e-03 1.16784173e-04 9.99958993e-01 8.33199758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.20, Y:-20.22, Z:0.83 [[ 9.09753002e-01 4.15057552e-01 8.75802927e-03 1.67198694e+02] [-4.15037322e-01 9.09795153e-01 -4.09899012e-03 -2.02150947e+01] [-9.66932938e-03 9.41595503e-05 9.99953247e-01 8.32140102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.23, Y:-20.23, Z:0.83 [[ 9.08475421e-01 4.17852099e-01 8.48724336e-03 1.67226062e+02] [-4.17833210e-01 9.08515063e-01 -3.97361198e-03 -2.02335617e+01] [-9.37117054e-03 6.36766826e-05 9.99956088e-01 8.32903714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.25, Y:-20.25, Z:0.83 [[ 9.06988016e-01 4.21057771e-01 9.11552894e-03 1.67253952e+02] [-4.21036118e-01 9.07033821e-01 -4.27025725e-03 -2.02515349e+01] [-1.00661180e-02 3.51052295e-05 9.99949335e-01 8.32964065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.28, Y:-20.27, Z:0.83 [[ 9.05617492e-01 4.23982374e-01 9.79309520e-03 1.67282887e+02] [-4.23957528e-01 9.05670440e-01 -4.58998574e-03 -2.02679444e+01] [-1.08153899e-02 4.91493374e-06 9.99941512e-01 8.34868105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.31, Y:-20.29, Z:0.84 [[ 9.01535509e-01 4.32484597e-01 1.38130002e-02 1.67310529e+02] [-4.32436126e-01 9.01641312e-01 -6.47622647e-03 -2.02855660e+01] [-1.52552398e-02 -1.34692182e-04 9.99883623e-01 8.37081075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.37, Y:-20.22, Z:0.84 [[ 8.92201048e-01 4.51334392e-01 1.65697631e-02 1.67373315e+02] [-4.51267898e-01 8.92354731e-01 -7.76646600e-03 -2.02212566e+01] [-1.82913797e-02 -5.48153049e-04 9.99832548e-01 8.43629935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.40, Y:-20.23, Z:0.84 [[ 8.93339231e-01 4.49099182e-01 1.59669281e-02 1.67399395e+02] [-4.49037278e-01 8.93481774e-01 -7.47277079e-03 -2.02326575e+01] [-1.76221745e-02 -4.94026645e-04 9.99844595e-01 8.43445332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.732320588 meters Centerline goodness [0,1] 0.9999508840864441 Centerline is valid? [True, True] Translation: X:167.43, Y:-20.24, Z:0.84 [[ 8.94600855e-01 4.46607583e-01 1.51979336e-02 1.67426063e+02] [-4.46551282e-01 8.94729837e-01 -7.10436145e-03 -2.02435008e+01] [-1.67709063e-02 -4.31088880e-04 9.99859266e-01 8.42749933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.45, Y:-20.26, Z:0.84 [[ 8.95428706e-01 4.44971494e-01 1.44153610e-02 1.67452531e+02] [-4.44920759e-01 8.95544650e-01 -6.73045483e-03 -2.02557600e+01] [-1.59044600e-02 -3.87050919e-04 9.99873441e-01 8.42043438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.792320588 meters Centerline goodness [0,1] 0.9999015796466709 Centerline is valid? [True, True] Translation: X:167.50, Y:-20.22, Z:0.84 [[ 9.14989996e-01 4.03280035e-01 1.25905197e-02 1.67501338e+02] [-4.03237403e-01 9.15076569e-01 -5.87114349e-03 -2.02190904e+01] [-1.38890045e-02 2.95069085e-04 9.99903500e-01 8.36580156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.48, Y:-20.34, Z:0.83 [[ 8.97824327e-01 4.40091245e-01 1.52044210e-02 1.67480376e+02] [-4.40034121e-01 8.97953003e-01 -7.09768341e-03 -2.03404290e+01] [-1.67764838e-02 -3.17991214e-04 9.99859214e-01 8.32064579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.51, Y:-20.35, Z:0.83 [[ 8.96292294e-01 4.43204891e-01 1.51508289e-02 1.67511736e+02] [-4.43148578e-01 8.96420262e-01 -7.07477256e-03 -2.03494604e+01] [-1.67170838e-02 -3.73004181e-04 9.99860190e-01 8.31798079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.54, Y:-20.36, Z:0.83 [[ 8.95764135e-01 4.44249397e-01 1.57825060e-02 1.67542841e+02] [-4.44188409e-01 8.95903068e-01 -7.37222773e-03 -2.03596689e+01] [-1.74147033e-02 -4.06629035e-04 9.99848270e-01 8.31847724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.57, Y:-20.37, Z:0.83 [[ 8.95346025e-01 4.45042030e-01 1.71197765e-02 1.67573570e+02] [-4.44970362e-01 8.95509567e-01 -7.99955240e-03 -2.03704085e+01] [-1.88910606e-02 -4.55425682e-04 9.99821444e-01 8.32322272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.60, Y:-20.38, Z:0.83 [[ 8.96274286e-01 4.43186325e-01 1.66818872e-02 1.67604133e+02] [-4.43117905e-01 8.96429428e-01 -7.79762822e-03 -2.03804475e+01] [-1.84099368e-02 -4.03229233e-04 9.99830441e-01 8.31348606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.63, Y:-20.39, Z:0.83 [[ 8.98169658e-01 4.39424345e-01 1.40538350e-02 1.67634903e+02] [-4.39375311e-01 8.98279561e-01 -6.57007924e-03 -2.03879853e+01] [-1.55113255e-02 -2.73862295e-04 9.99879655e-01 8.32003139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.67, Y:-20.40, Z:0.83 [[ 8.98951043e-01 4.37804049e-01 1.46505284e-02 1.67665318e+02] [-4.37750529e-01 8.99070381e-01 -6.85017243e-03 -2.03980239e+01] [-1.61708893e-02 -2.55306883e-04 9.99869210e-01 8.33176281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.70, Y:-20.41, Z:0.83 [[ 9.00629648e-01 4.34238136e-01 1.74206531e-02 1.67695678e+02] [-4.34161802e-01 9.00798085e-01 -8.14497341e-03 -2.04056178e+01] [-1.92293490e-02 -2.27777589e-04 9.99815073e-01 8.34188450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.73, Y:-20.42, Z:0.83 [[ 9.01365585e-01 4.32645422e-01 1.89214587e-02 1.67725439e+02] [-4.32554978e-01 9.01564138e-01 -8.84851569e-03 -2.04165937e+01] [-2.08871784e-02 -2.08823617e-04 9.99781817e-01 8.34510355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.76, Y:-20.43, Z:0.83 [[ 9.03202198e-01 4.28819586e-01 1.84269276e-02 1.67755080e+02] [-4.28733017e-01 9.03390142e-01 -8.61690179e-03 -2.04254142e+01] [-2.03418010e-02 -1.17427618e-04 9.99793077e-01 8.33025055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.78, Y:-20.44, Z:0.83 [[ 9.03987349e-01 4.27181840e-01 1.79596556e-02 1.67784146e+02] [-4.27099247e-01 9.04165732e-01 -8.40017503e-03 -2.04377800e+01] [-1.98269074e-02 -7.69034554e-05 9.99803425e-01 8.32726495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.81, Y:-20.45, Z:0.83 [[ 9.05611229e-01 4.23674169e-01 1.91963512e-02 1.67812196e+02] [-4.23579029e-01 9.05814660e-01 -8.97822231e-03 -2.04491595e+01] [-2.11921772e-02 -3.92852509e-07 9.99775421e-01 8.32753047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.84, Y:-20.46, Z:0.83 [[ 9.06552289e-01 4.21723999e-01 1.76582973e-02 1.67840849e+02] [-4.21643124e-01 9.06724251e-01 -8.25886736e-03 -2.04607617e+01] [-1.94941689e-02 4.15954960e-05 9.99809970e-01 8.33319596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.87, Y:-20.47, Z:0.83 [[ 9.07374610e-01 4.19896299e-01 1.89318652e-02 1.67868470e+02] [-4.19802976e-01 9.07572086e-01 -8.85269310e-03 -2.04716318e+01] [-2.08992454e-02 8.50556023e-05 9.99781583e-01 8.32567099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.90, Y:-20.48, Z:0.83 [[ 9.08721459e-01 4.16948197e-01 1.94810133e-02 1.67896357e+02] [-4.16848736e-01 9.08930237e-01 -9.10797574e-03 -2.04817535e+01] [-2.15044361e-02 1.55977262e-04 9.99768741e-01 8.31269777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.92, Y:-20.49, Z:0.83 [[ 9.10260213e-01 4.13467534e-01 2.17012253e-02 1.67923408e+02] [-4.13343154e-01 9.10518824e-01 -1.01443569e-02 -2.04940624e+01] [-2.39537363e-02 2.63951588e-04 9.99713033e-01 8.31997390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.302320588 meters Centerline goodness [0,1] 0.99995085995086 Centerline is valid? [True, True] Translation: X:167.95, Y:-20.51, Z:0.83 [[ 9.11592568e-01 4.10524896e-01 2.16402421e-02 1.67951640e+02] [-4.10400329e-01 9.11849325e-01 -1.01182034e-02 -2.05074771e+01] [-2.38864145e-02 3.42516507e-04 9.99714620e-01 8.32948957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.332320588 meters Centerline goodness [0,1] 0.9999012638230648 Centerline is valid? [True, True] Translation: X:167.98, Y:-20.52, Z:0.83 [[ 9.13615016e-01 4.06210275e-01 1.73439900e-02 1.67977905e+02] [-4.06129459e-01 9.13779557e-01 -8.11078942e-03 -2.05246124e+01] [-1.91432695e-02 3.66233759e-04 9.99816684e-01 8.33372410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.362320588 meters Centerline goodness [0,1] 0.9999016328939603 Centerline is valid? [True, True] Translation: X:168.00, Y:-20.54, Z:0.83 [[ 9.14281961e-01 4.04713767e-01 1.71831980e-02 1.68004941e+02] [-4.04634184e-01 9.14443334e-01 -8.03525795e-03 -2.05387569e+01] [-1.89650404e-02 3.93582083e-04 9.99820070e-01 8.32967892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.392320588 meters Centerline goodness [0,1] 0.999852514625633 Centerline is valid? [True, True] Translation: X:168.03, Y:-20.55, Z:0.83 [[ 9.14858830e-01 4.03406297e-01 1.72244416e-02 1.68033170e+02] [-4.03326100e-01 9.15020864e-01 -8.05454437e-03 -2.05512200e+01] [-1.90099773e-02 4.21704200e-04 9.99819205e-01 8.33215326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.422320588 meters Centerline goodness [0,1] 0.9999507922448578 Centerline is valid? [True, True] Translation: X:168.06, Y:-20.56, Z:0.83 [[ 9.15426967e-01 4.01992543e-01 1.98862622e-02 1.68061106e+02] [-4.01885346e-01 9.15642794e-01 -9.29743958e-03 -2.05622054e+01] [-2.19462141e-02 5.19129555e-04 9.99759018e-01 8.34203313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.452320588 meters Centerline goodness [0,1] 0.9998522604156407 Centerline is valid? [True, True] Translation: X:168.09, Y:-20.58, Z:0.83 [[ 9.15508813e-01 4.01860489e-01 1.87552768e-02 1.68088306e+02] [-4.01765070e-01 9.15700772e-01 -8.77071243e-03 -2.05781152e+01] [-2.06988242e-02 4.94449430e-04 9.99785634e-01 8.34075949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.11, Y:-20.60, Z:0.83 [[ 9.14517444e-01 4.04255337e-01 1.53449631e-02 1.68111752e+02] [-4.04191770e-01 9.14646102e-01 -7.17787635e-03 -2.06012627e+01] [-1.69369055e-02 3.61985331e-04 9.99856495e-01 8.33319664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.512320588 meters Centerline goodness [0,1] 0.9998030429858683 Centerline is valid? [True, True] Translation: X:168.14, Y:-20.62, Z:0.83 [[ 9.14219542e-01 4.04954419e-01 1.46474149e-02 1.68139108e+02] [-4.04896574e-01 9.14336813e-01 -6.85254738e-03 -2.06173311e+01] [-1.61676400e-02 3.34044593e-04 9.99869239e-01 8.33567460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.542320588 meters Centerline goodness [0,1] 0.9999508261211645 Centerline is valid? [True, True] Translation: X:168.17, Y:-20.63, Z:0.83 [[ 9.12903645e-01 4.07787778e-01 1.77781861e-02 1.68167480e+02] [-4.07703037e-01 9.13076671e-01 -8.32023029e-03 -2.06325259e+01] [-1.96257352e-02 3.47348084e-04 9.99807336e-01 8.34031810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.572320588 meters Centerline goodness [0,1] 0.9999507946661418 Centerline is valid? [True, True] Translation: X:168.20, Y:-20.65, Z:0.83 [[ 9.12222919e-01 4.09222726e-01 1.96495980e-02 1.68195752e+02] [-4.09119472e-01 9.12434456e-01 -9.19896826e-03 -2.06474185e+01] [-2.16933971e-02 3.52476536e-04 9.99764608e-01 8.34083362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.22, Y:-20.67, Z:0.83 [[ 9.11171610e-01 4.11610477e-01 1.85232919e-02 1.68222084e+02] [-4.11519157e-01 9.11359828e-01 -8.67455587e-03 -2.06664793e+01] [-2.04519222e-02 2.81319599e-04 9.99790798e-01 8.32679770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.25, Y:-20.68, Z:0.83 [[ 9.10631738e-01 4.12882142e-01 1.66785774e-02 1.68250374e+02] [-4.12808271e-01 9.10784433e-01 -7.81331018e-03 -2.06827919e+01] [-1.84165649e-02 2.29993544e-04 9.99830374e-01 8.32737995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.662320588 meters Centerline goodness [0,1] 0.9999508357915438 Centerline is valid? [True, True] Translation: X:168.28, Y:-20.70, Z:0.83 [[ 9.09071227e-01 4.16324319e-01 1.62346919e-02 1.68277787e+02] [-4.16254829e-01 9.09216166e-01 -7.60792637e-03 -2.07007571e+01] [-1.79282091e-02 1.58378044e-04 9.99839264e-01 8.33888628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.31, Y:-20.71, Z:0.83 [[ 9.08610727e-01 4.17334635e-01 1.60732385e-02 1.68306738e+02] [-4.17266634e-01 9.08752872e-01 -7.53481000e-03 -2.07142365e+01] [-1.77511388e-02 1.39383071e-04 9.99842426e-01 8.33978178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.34, Y:-20.73, Z:0.83 [[ 9.08529974e-01 4.17510464e-01 1.60716426e-02 1.68336216e+02] [-4.17442430e-01 9.08672104e-01 -7.53821376e-03 -2.07279903e+01] [-1.77511364e-02 1.39707619e-04 9.99842426e-01 8.34142056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.752320588 meters Centerline goodness [0,1] 0.9999507898233355 Centerline is valid? [True, True] Translation: X:168.37, Y:-20.74, Z:0.83 [[ 9.07049434e-01 4.20749393e-01 1.52076398e-02 1.68366468e+02] [-4.20688898e-01 9.07176908e-01 -7.13503812e-03 -2.07399541e+01] [-1.67980826e-02 7.41470783e-05 9.99858900e-01 8.33833208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.40, Y:-20.75, Z:0.83 [[ 9.06382469e-01 4.22138104e-01 1.64390187e-02 1.68396320e+02] [-4.22067596e-01 9.06531532e-01 -7.71531910e-03 -2.07523308e+01] [-1.81594190e-02 5.46528534e-05 9.99835103e-01 8.33124953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.43, Y:-20.77, Z:0.83 [[ 9.05135936e-01 4.24749940e-01 1.77883813e-02 1.68425251e+02] [-4.24667830e-01 9.05310714e-01 -8.35138132e-03 -2.07665779e+01] [-1.96512609e-02 4.98203752e-06 9.99806895e-01 8.33090851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.45, Y:-20.78, Z:0.83 [[ 9.03777189e-01 4.27608002e-01 1.83899297e-02 1.68454003e+02] [-4.27520776e-01 9.03964265e-01 -8.63671549e-03 -2.07812905e+01] [-2.03169680e-02 -5.64105728e-05 9.99793588e-01 8.33381295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.49, Y:-20.79, Z:0.83 [[ 9.01701068e-01 4.32076865e-01 1.56450324e-02 1.68486040e+02] [-4.32014363e-01 9.01836773e-01 -7.35016852e-03 -2.07895915e+01] [-1.72851033e-02 -1.31223888e-04 9.99850593e-01 8.33574280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.52, Y:-20.80, Z:0.83 [[ 9.00475183e-01 4.34627020e-01 1.56140400e-02 1.68517167e+02] [-4.34565105e-01 9.00610528e-01 -7.33809083e-03 -2.07980923e+01] [-1.72515013e-02 -1.77548222e-04 9.99851166e-01 8.33034538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.55, Y:-20.81, Z:0.83 [[ 8.99843878e-01 4.35960131e-01 1.48242809e-02 1.68547891e+02] [-4.35904463e-01 8.99965959e-01 -6.96932550e-03 -2.08074532e+01] [-1.63796962e-02 -1.90665301e-04 9.99865826e-01 8.33938633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.58, Y:-20.82, Z:0.83 [[ 8.99075603e-01 4.37539129e-01 1.49187752e-02 1.68576049e+02] [-4.37482953e-01 8.99199345e-01 -7.01457149e-03 -2.08201895e+01] [-1.64841024e-02 -2.20079746e-04 9.99864104e-01 8.33748838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.60, Y:-20.83, Z:0.83 [[ 8.98814566e-01 4.38062535e-01 1.52836954e-02 1.68603757e+02] [-4.38003632e-01 8.98944470e-01 -7.18735053e-03 -2.08345049e+01] [-1.68877024e-02 -2.34218724e-04 9.99857365e-01 8.34117331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02232058799999 meters Centerline goodness [0,1] 0.9999014778325123 Centerline is valid? [True, True] Translation: X:168.63, Y:-20.84, Z:0.84 [[ 8.98547262e-01 4.38644155e-01 1.42871531e-02 1.68633577e+02] [-4.38592739e-01 8.98660811e-01 -6.71987018e-03 -2.08446684e+01] [-1.57869364e-02 -2.28120669e-04 9.99875353e-01 8.35610140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.052320588 meters Centerline goodness [0,1] 0.9999507704425737 Centerline is valid? [True, True] Translation: X:168.66, Y:-20.85, Z:0.83 [[ 8.98177788e-01 4.39341572e-01 1.59888553e-02 1.68662855e+02] [-4.39277496e-01 8.98320046e-01 -7.50844386e-03 -2.08496635e+01] [-1.76618807e-02 -2.79626797e-04 9.99843978e-01 8.34915135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.69, Y:-20.86, Z:0.83 [[ 8.98144676e-01 4.39347292e-01 1.76096287e-02 1.68690072e+02] [-4.39269751e-01 8.98317236e-01 -8.26007317e-03 -2.08585486e+01] [-1.94480738e-02 -3.16636497e-04 9.99810818e-01 8.34212713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.72, Y:-20.87, Z:0.84 [[ 8.98219135e-01 4.39248436e-01 1.62233248e-02 1.68718211e+02] [-4.39182596e-01 8.98365587e-01 -7.61048561e-03 -2.08685476e+01] [-1.79173706e-02 -2.89118092e-04 9.99839429e-01 8.35107101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.75, Y:-20.88, Z:0.84 [[ 8.99463212e-01 4.36722100e-01 1.54834553e-02 1.68745431e+02] [-4.36661938e-01 8.99596438e-01 -7.25263053e-03 -2.08780027e+01] [-1.70962452e-02 -2.37561244e-04 9.99853820e-01 8.35198404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.172320588 meters Centerline goodness [0,1] 0.9999508527055586 Centerline is valid? [True, True] Translation: X:168.77, Y:-20.89, Z:0.83 [[ 9.01132591e-01 4.33307351e-01 1.43105949e-02 1.68771703e+02] [-4.33255656e-01 9.01246199e-01 -6.69512541e-03 -2.08900622e+01] [-1.57984163e-02 -1.66950492e-04 9.99875183e-01 8.33657811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.80, Y:-20.90, Z:0.83 [[ 9.05735950e-01 4.23574156e-01 1.50772703e-02 1.68797792e+02] [-4.23515557e-01 9.05861432e-01 -7.04544508e-03 -2.09020887e+01] [-1.66421861e-02 -4.14562454e-06 9.99861509e-01 8.31415578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.82, Y:-20.91, Z:0.83 [[ 9.08414195e-01 4.17750894e-01 1.63658488e-02 1.68823814e+02] [-4.17681059e-01 9.08561599e-01 -7.63894226e-03 -2.09136392e+01] [-1.80605567e-02 1.03618531e-04 9.99836889e-01 8.32508287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.262320588 meters Centerline goodness [0,1] 0.9999507849795758 Centerline is valid? [True, True] Translation: X:168.85, Y:-20.92, Z:0.83 [[ 9.12745420e-01 4.08133142e-01 1.79760055e-02 1.68851210e+02] [-4.08047201e-01 9.12922362e-01 -8.38103817e-03 -2.09237851e+01] [-1.98312768e-02 3.14695483e-04 9.99803291e-01 8.33329341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.292320588 meters Centerline goodness [0,1] 0.9999507655949977 Centerline is valid? [True, True] Translation: X:168.88, Y:-20.93, Z:0.83 [[ 9.14217424e-01 4.04899777e-01 1.62071495e-02 1.68876528e+02] [-4.04829595e-01 9.14361010e-01 -7.54597796e-03 -2.09347832e+01] [-1.78745504e-02 3.37530772e-04 9.99840180e-01 8.33267531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.322320588 meters Centerline goodness [0,1] 0.9998524420835178 Centerline is valid? [True, True] Translation: X:168.90, Y:-20.95, Z:0.83 [[ 9.16437027e-01 3.99822942e-01 1.68757123e-02 1.68902812e+02] [-3.99746143e-01 9.16592284e-01 -7.84896482e-03 -2.09470270e+01] [-1.86063439e-02 4.47081074e-04 9.99826787e-01 8.32004381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.352320588 meters Centerline goodness [0,1] 0.9999013466186554 Centerline is valid? [True, True] Translation: X:168.93, Y:-20.96, Z:0.83 [[ 9.17613460e-01 3.97076534e-01 1.77697535e-02 1.68926061e+02] [-3.96990897e-01 9.17785349e-01 -8.26319561e-03 -2.09641161e+01] [-1.95899405e-02 5.27989154e-04 9.99807959e-01 8.31636944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.382320588 meters Centerline goodness [0,1] 0.9998522604156407 Centerline is valid? [True, True] Translation: X:168.95, Y:-20.98, Z:0.83 [[ 9.18195288e-01 3.95687830e-01 1.86696128e-02 1.68952269e+02] [-3.95592994e-01 9.18384885e-01 -8.68252361e-03 -2.09810534e+01] [-2.05814591e-02 5.86684244e-04 9.99788007e-01 8.33134730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.412320588 meters Centerline goodness [0,1] 0.9999508140278393 Centerline is valid? [True, True] Translation: X:168.98, Y:-21.00, Z:0.83 [[ 9.19124882e-01 3.93543677e-01 1.82434996e-02 1.68979814e+02] [-3.93452665e-01 9.19305710e-01 -8.48602691e-03 -2.09968701e+01] [-2.01109756e-02 6.21764946e-04 9.99797561e-01 8.33067914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.442320588 meters Centerline goodness [0,1] 0.9997540217444778 Centerline is valid? [True, True] Translation: X:169.01, Y:-21.01, Z:0.83 [[ 9.20586348e-01 3.90178815e-01 1.67710613e-02 1.69006940e+02] [-3.90101322e-01 9.20738878e-01 -7.80236297e-03 -2.10121632e+01] [-1.84860849e-02 6.40335667e-04 9.99828913e-01 8.34901465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.472320588 meters Centerline goodness [0,1] 0.9999016280556785 Centerline is valid? [True, True] Translation: X:169.03, Y:-21.03, Z:0.84 [[ 9.20877379e-01 3.89494763e-01 1.66937884e-02 1.69034154e+02] [-3.89417848e-01 9.21028449e-01 -7.76761652e-03 -2.10282669e+01] [-1.84009000e-02 6.52163204e-04 9.99830476e-01 8.35127061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.502320588 meters Centerline goodness [0,1] 0.9999507801348624 Centerline is valid? [True, True] Translation: X:169.06, Y:-21.05, Z:0.84 [[ 9.20711755e-01 3.89811802e-01 1.83472795e-02 1.69059811e+02] [-3.89718895e-01 9.20894267e-01 -8.53997884e-03 -2.10495693e+01] [-2.02248890e-02 7.12577421e-04 9.99795202e-01 8.35322047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.532320588 meters Centerline goodness [0,1] 0.999852267690944 Centerline is valid? [True, True] Translation: X:169.09, Y:-21.07, Z:0.84 [[ 9.20432904e-01 3.90503275e-01 1.76199128e-02 1.69088031e+02] [-3.90417666e-01 9.20601293e-01 -8.20402193e-03 -2.10657880e+01] [-1.94246120e-02 6.72126488e-04 9.99811099e-01 8.35862464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.562320588 meters Centerline goodness [0,1] 0.9998523912615627 Centerline is valid? [True, True] Translation: X:169.11, Y:-21.09, Z:0.84 [[ 9.19492426e-01 3.92779991e-01 1.60485734e-02 1.69114390e+02] [-3.92709275e-01 9.19632292e-01 -7.47480047e-03 -2.10850829e+01] [-1.76947384e-02 5.70598781e-04 9.99843273e-01 8.36334930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.592320588 meters Centerline goodness [0,1] 0.9999508406253073 Centerline is valid? [True, True] Translation: X:169.14, Y:-21.10, Z:0.84 [[ 9.19102500e-01 3.93724973e-01 1.52065517e-02 1.69141462e+02] [-3.93661574e-01 9.19228138e-01 -7.08489801e-03 -2.11037235e+01] [-1.67677914e-02 5.25512416e-04 9.99859273e-01 8.36144383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.622320588 meters Centerline goodness [0,1] 0.9999014584154513 Centerline is valid? [True, True] Translation: X:169.17, Y:-21.13, Z:0.84 [[ 9.18538317e-01 3.95005778e-01 1.60560137e-02 1.69166050e+02] [-3.94935252e-01 9.18678481e-01 -7.48301768e-03 -2.11279665e+01] [-1.77061495e-02 5.32352660e-04 9.99843092e-01 8.36819540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.19, Y:-21.14, Z:0.84 [[ 9.18074927e-01 3.96101879e-01 1.55476527e-02 1.69194319e+02] [-3.96035864e-01 9.18206433e-01 -7.24845625e-03 -2.11441772e+01] [-1.71470819e-02 4.97197867e-04 9.99852854e-01 8.38513410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.682320588 meters Centerline goodness [0,1] 0.9999011369253584 Centerline is valid? [True, True] Translation: X:169.22, Y:-21.16, Z:0.84 [[ 9.16513056e-01 3.99774356e-01 1.35750791e-02 1.69221108e+02] [-3.99724410e-01 9.16613508e-01 -6.33026758e-03 -2.11618820e+01] [-1.49737795e-02 3.75482413e-04 9.99887816e-01 8.38620966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.25, Y:-21.18, Z:0.84 [[ 9.13852511e-01 4.05865781e-01 1.21060271e-02 1.69247342e+02] [-4.05826583e-01 9.13932660e-01 -5.64604148e-03 -2.11797125e+01] [-1.33556286e-02 2.46701557e-04 9.99910779e-01 8.39006272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74232058799998 meters Centerline goodness [0,1] 0.9999507558969813 Centerline is valid? [True, True] Translation: X:169.28, Y:-21.19, Z:0.84 [[ 9.12929728e-01 4.07902257e-01 1.32310213e-02 1.69275557e+02] [-4.07855614e-01 9.13025570e-01 -6.17306994e-03 -2.11946300e+01] [-1.45982699e-02 2.39232758e-04 9.99893411e-01 8.39292823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.30, Y:-21.21, Z:0.84 [[ 9.11825219e-01 4.10265032e-01 1.60428413e-02 1.69303331e+02] [-4.10196780e-01 9.11966306e-01 -7.48728527e-03 -2.12101802e+01] [-1.77023020e-02 2.46373707e-04 9.99843272e-01 8.38908453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.33, Y:-21.23, Z:0.84 [[ 9.09877250e-01 4.14374918e-01 2.04161166e-02 1.69329637e+02] [-4.14265125e-01 9.10106245e-01 -9.54090156e-03 -2.12299791e+01] [-2.25343455e-02 2.23364194e-04 9.99746044e-01 8.39130783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.36, Y:-21.25, Z:0.84 [[ 9.08717788e-01 4.16982823e-01 1.89025650e-02 1.69357521e+02] [-4.16889052e-01 9.08914353e-01 -8.84406109e-03 -2.12465335e+01] [-2.08686342e-02 1.56483251e-04 9.99782214e-01 8.39700934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.862320588 meters Centerline goodness [0,1] 0.9999507146377525 Centerline is valid? [True, True] Translation: X:169.39, Y:-21.26, Z:0.84 [[ 9.06614974e-01 4.21800427e-01 1.15623457e-02 1.69385980e+02] [-4.21765731e-01 9.06688700e-01 -5.41014069e-03 -2.12591107e+01] [-1.27654479e-02 2.83133803e-05 9.99918518e-01 8.39591353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.42, Y:-21.27, Z:0.84 [[ 9.05829110e-01 4.23518318e-01 1.02887371e-02 1.69416754e+02] [-4.23490933e-01 9.05887540e-01 -4.81611252e-03 -2.12702956e+01] [-1.13601506e-02 5.38805654e-06 9.99935471e-01 8.39433372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.45, Y:-21.28, Z:0.84 [[ 9.03710484e-01 4.27947170e-01 1.29838530e-02 1.69445637e+02] [-4.27903988e-01 9.03803748e-01 -6.07955171e-03 -2.12838735e+01] [-1.43365819e-02 -6.16878492e-05 9.99897224e-01 8.38995992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.47, Y:-21.30, Z:0.84 [[ 9.03198886e-01 4.28968922e-01 1.47457134e-02 1.69473974e+02] [-4.28913324e-01 9.03319244e-01 -6.90680418e-03 -2.12997017e+01] [-1.62828910e-02 -8.64151069e-05 9.99867421e-01 8.39746051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.50, Y:-21.31, Z:0.84 [[ 9.02453673e-01 4.30496685e-01 1.58105010e-02 1.69502041e+02] [-4.30432815e-01 9.02592151e-01 -7.41617554e-03 -2.13147745e+01] [-1.74630731e-02 -1.12603583e-04 9.99847503e-01 8.40396912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.53, Y:-21.33, Z:0.84 [[ 9.02333981e-01 4.30788384e-01 1.46545304e-02 1.69532282e+02] [-4.30733417e-01 9.02452967e-01 -6.88232133e-03 -2.13267444e+01] [-1.61898485e-02 -1.02043543e-04 9.99868931e-01 8.39735741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.56, Y:-21.34, Z:0.84 [[ 9.03240174e-01 4.28967969e-01 1.19862430e-02 1.69562895e+02] [-4.28931029e-01 9.03319699e-01 -5.62979071e-03 -2.13366151e+01] [-1.32424093e-02 -5.62184188e-05 9.99912314e-01 8.36974921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.59, Y:-21.35, Z:0.84 [[ 9.04153495e-01 4.27015244e-01 1.28233438e-02 1.69592252e+02] [-4.26972738e-01 9.04244425e-01 -6.02498578e-03 -2.13488609e+01] [-1.41681979e-02 -2.77062706e-05 9.99899626e-01 8.35795308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.62, Y:-21.36, Z:0.84 [[ 9.05309513e-01 4.24492303e-01 1.48650876e-02 1.69621791e+02] [-4.24434805e-01 9.05431546e-01 -6.98656987e-03 -2.13616731e+01] [-1.64250643e-02 1.57476282e-05 9.99865099e-01 8.37783654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.65, Y:-21.38, Z:0.84 [[ 9.06431604e-01 4.22068893e-01 1.54789215e-02 1.69650291e+02] [-4.22006153e-01 9.06563757e-01 -7.27750700e-03 -2.13757891e+01] [-1.71042385e-02 6.43622481e-05 9.99853710e-01 8.37954479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.68, Y:-21.39, Z:0.84 [[ 9.07852845e-01 4.19082586e-01 1.31528558e-02 1.69678693e+02] [-4.19036940e-01 9.07948113e-01 -6.18606822e-03 -2.13903122e+01] [-1.45345840e-02 1.04507195e-04 9.99894362e-01 8.38008181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.192320588 meters Centerline goodness [0,1] 0.999950741342791 Centerline is valid? [True, True] Translation: X:169.71, Y:-21.40, Z:0.84 [[ 9.08968292e-01 4.16717853e-01 1.10849022e-02 1.69708217e+02] [-4.16685234e-01 9.09035872e-01 -5.21532757e-03 -2.14039628e+01] [-1.22498939e-02 1.21652316e-04 9.99924960e-01 8.36955129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.74, Y:-21.42, Z:0.84 [[ 9.09452512e-01 4.15661981e-01 1.10112161e-02 1.69737328e+02] [-4.15629696e-01 9.09519158e-01 -5.18240126e-03 -2.14179642e+01] [-1.21690392e-02 1.36559431e-04 9.99925945e-01 8.35598099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.252320588 meters Centerline goodness [0,1] 0.9999507752891952 Centerline is valid? [True, True] Translation: X:169.77, Y:-21.43, Z:0.84 [[ 9.09987372e-01 4.14339154e-01 1.56859076e-02 1.69765455e+02] [-4.14273400e-01 9.10122528e-01 -7.38468179e-03 -2.14338918e+01] [-1.73358607e-02 2.21712922e-04 9.99849698e-01 8.35788358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.79, Y:-21.45, Z:0.84 [[ 9.09075175e-01 4.16211721e-01 1.87117823e-02 1.69793118e+02] [-4.16118301e-01 9.09267700e-01 -8.82101200e-03 -2.14509008e+01] [-2.06854278e-02 2.32647986e-04 9.99786007e-01 8.39262409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.82, Y:-21.47, Z:0.84 [[ 9.08422479e-01 4.17750512e-01 1.59094364e-02 1.69821138e+02] [-4.17683057e-01 9.08561764e-01 -7.50903509e-03 -2.14667753e+01] [-1.75916089e-02 1.76274235e-04 9.99845240e-01 8.39538376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.85, Y:-21.49, Z:0.84 [[ 9.07377890e-01 4.20038483e-01 1.52655745e-02 1.69847582e+02] [-4.19976555e-01 9.07506283e-01 -7.21377268e-03 -2.14863027e+01] [-1.68836669e-02 1.34434454e-04 9.99857452e-01 8.35784350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.88, Y:-21.50, Z:0.83 [[ 9.07014010e-01 4.20827022e-01 1.51724188e-02 1.69875905e+02] [-4.20765789e-01 9.07140894e-01 -7.17981858e-03 -2.15034457e+01] [-1.67849833e-02 1.28161256e-04 9.99859114e-01 8.34875106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.402320588 meters Centerline goodness [0,1] 0.9999505660190815 Centerline is valid? [True, True] Translation: X:169.90, Y:-21.52, Z:0.84 [[ 9.06385951e-01 4.22175437e-01 1.52449541e-02 1.69904009e+02] [-4.22113644e-01 9.06514141e-01 -7.22381762e-03 -2.15204777e+01] [-1.68694848e-02 1.12463670e-04 9.99857694e-01 8.36599946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.93, Y:-21.54, Z:0.84 [[ 9.05828899e-01 4.23262140e-01 1.79768127e-02 1.69930721e+02] [-4.23176245e-01 9.06007255e-01 -8.52754940e-03 -2.15395407e+01] [-1.98965116e-02 1.17140581e-04 9.99802038e-01 8.40349931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.96, Y:-21.56, Z:0.84 [[ 9.05066465e-01 4.24982236e-01 1.56458730e-02 1.69956655e+02] [-4.24917272e-01 9.05201687e-01 -7.43089156e-03 -2.15599715e+01] [-1.73206675e-02 7.72490862e-05 9.99849983e-01 8.40184655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.98, Y:-21.58, Z:0.84 [[ 9.03962340e-01 4.27329259e-01 1.55496744e-02 1.69984768e+02] [-4.27265260e-01 9.04096069e-01 -7.39558708e-03 -2.15777197e+01] [-1.72187502e-02 4.14965294e-05 9.99851745e-01 8.38585918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.01, Y:-21.60, Z:0.84 [[ 9.01355282e-01 4.32825427e-01 1.48595290e-02 1.70011565e+02] [-4.32767567e-01 9.01477757e-01 -7.07715868e-03 -2.15984078e+01] [-1.64587091e-02 -5.16878400e-05 9.99864545e-01 8.36915734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.04, Y:-21.61, Z:0.84 [[ 8.99448054e-01 4.36776533e-01 1.48141107e-02 1.70040434e+02] [-4.36719402e-01 8.99570034e-01 -7.06522099e-03 -2.16140556e+01] [-1.64122528e-02 -1.14810274e-04 9.99865303e-01 8.38092606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.07, Y:-21.63, Z:0.84 [[ 8.95373737e-01 4.45096392e-01 1.39668272e-02 1.70068745e+02] [-4.45046497e-01 8.95482631e-01 -6.66884939e-03 -2.16295442e+01] [-1.54753320e-02 -2.44774913e-04 9.99880220e-01 8.41013976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.10, Y:-21.64, Z:0.84 [[ 8.93483790e-01 4.48908231e-01 1.29660152e-02 1.70097330e+02] [-4.48865526e-01 8.93577820e-01 -6.19832997e-03 -2.16434931e+01] [-1.43686249e-02 -2.81889862e-04 9.99896726e-01 8.42012476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.13, Y:-21.66, Z:0.84 [[ 8.93251928e-01 4.49369516e-01 1.29626765e-02 1.70126801e+02] [-4.49326758e-01 8.93345935e-01 -6.20531090e-03 -2.16572460e+01] [-1.43686319e-02 -2.81571460e-04 9.99896726e-01 8.42176404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.16, Y:-21.67, Z:0.84 [[ 8.91821440e-01 4.52239434e-01 1.15764529e-02 1.70156124e+02] [-4.52205492e-01 8.91896525e-01 -5.54804745e-03 -2.16714014e+01] [-1.28340440e-02 -2.87067925e-04 9.99917599e-01 8.42803706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.18, Y:-21.69, Z:0.84 [[ 8.89170016e-01 4.57431831e-01 1.15240464e-02 1.70184389e+02] [-4.57398629e-01 8.89244618e-01 -5.52298697e-03 -2.16868018e+01] [-1.27740863e-02 -3.60208641e-04 9.99918343e-01 8.42344279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.21, Y:-21.70, Z:0.84 [[ 8.88258246e-01 4.59211652e-01 1.10429887e-02 1.70213025e+02] [-4.59181213e-01 8.88326813e-01 -5.29968628e-03 -2.17003223e+01] [-1.22434607e-02 -3.63242906e-04 9.99924980e-01 8.42734182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.24, Y:-21.71, Z:0.84 [[ 8.87049971e-01 4.61541172e-01 1.10496886e-02 1.70243815e+02] [-4.61510801e-01 8.87118704e-01 -5.30904723e-03 -2.17114217e+01] [-1.22527293e-02 -3.90160454e-04 9.99924856e-01 8.44129402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.27, Y:-21.72, Z:0.84 [[ 8.86003699e-01 4.63577209e-01 9.67553983e-03 1.70273846e+02] [-4.63553984e-01 8.86056454e-01 -4.65437625e-03 -2.17226798e+01] [-1.07307373e-02 -3.61340459e-04 9.99942359e-01 8.43890780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.31, Y:-21.73, Z:0.84 [[ 8.85428667e-01 4.64682225e-01 9.30083551e-03 1.70306920e+02] [-4.64660761e-01 8.85477444e-01 -4.48034650e-03 -2.17301249e+01] [-1.03176174e-02 -3.54706079e-04 9.99946709e-01 8.43837223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.34, Y:-21.74, Z:0.84 [[ 8.85339997e-01 4.64775944e-01 1.25064516e-02 1.70338018e+02] [-4.64737067e-01 8.85428200e-01 -6.02998868e-03 -2.17393769e+01] [-1.38761586e-02 -4.73621480e-04 9.99903609e-01 8.41820580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.37, Y:-21.75, Z:0.84 [[ 8.85425990e-01 4.64564897e-01 1.41517981e-02 1.70368477e+02] [-4.64514951e-01 8.85538921e-01 -6.83217196e-03 -2.17518502e+01] [-1.57059553e-02 -5.24339191e-04 9.99876516e-01 8.41593293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.40, Y:-21.76, Z:0.84 [[ 8.85573788e-01 4.64265868e-01 1.47061207e-02 1.70399228e+02] [-4.64211744e-01 8.85695727e-01 -7.10883456e-03 -2.17648589e+01] [-1.63255375e-02 -5.31356387e-04 9.99866588e-01 8.42427212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.43, Y:-21.78, Z:0.84 [[ 8.86016153e-01 4.63429706e-01 1.44320612e-02 1.70430351e+02] [-4.63377348e-01 8.86133544e-01 -6.98393732e-03 -2.17753671e+01] [-1.60252976e-02 -4.99608999e-04 9.99871462e-01 8.44050280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.46, Y:-21.79, Z:0.84 [[ 8.86536839e-01 4.62452444e-01 1.37902392e-02 1.70461350e+02] [-4.62404405e-01 8.86643971e-01 -6.68099470e-03 -2.17855357e+01] [-1.53166747e-02 -4.53719406e-04 9.99882590e-01 8.43847404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.49, Y:-21.79, Z:0.84 [[ 8.87033578e-01 4.61537316e-01 1.24393699e-02 1.70494139e+02] [-4.61498039e-01 8.87120710e-01 -6.03368832e-03 -2.17914532e+01] [-1.38199950e-02 -3.88660695e-04 9.99904424e-01 8.41534252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.53, Y:-21.80, Z:0.84 [[ 8.87063087e-01 4.61471122e-01 1.27860470e-02 1.70525624e+02] [-4.61429498e-01 8.87155145e-01 -6.21027991e-03 -2.18026894e+01] [-1.42090722e-02 -3.90949202e-04 9.99898970e-01 8.41110943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.062320588 meters Centerline goodness [0,1] 0.9999508116084604 Centerline is valid? [True, True] Translation: X:170.56, Y:-21.82, Z:0.84 [[ 8.88420188e-01 4.58828910e-01 1.36235875e-02 1.70555487e+02] [-4.58781334e-01 8.88524560e-01 -6.61764238e-03 -2.18159499e+01] [-1.51412577e-02 -3.71000567e-04 9.99885296e-01 8.41204155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.58, Y:-21.83, Z:0.84 [[ 8.89250467e-01 4.57206988e-01 1.39777416e-02 1.70584426e+02] [-4.57156560e-01 8.89360249e-01 -6.79911717e-03 -2.18296174e+01] [-1.55398517e-02 -3.43898158e-04 9.99879190e-01 8.41958143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.61, Y:-21.84, Z:0.84 [[ 8.91650870e-01 4.52535862e-01 1.30391692e-02 1.70614943e+02] [-4.52491368e-01 8.91746173e-01 -6.35020883e-03 -2.18402822e+01] [-1.45013265e-02 -2.37942299e-04 9.99894822e-01 8.42730945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.64, Y:-21.85, Z:0.84 [[ 8.92841073e-01 4.50194871e-01 1.26252341e-02 1.70644788e+02] [-4.50152820e-01 8.92930313e-01 -6.15588162e-03 -2.18524879e+01] [-1.40448006e-02 -1.87060792e-04 9.99901349e-01 8.43324513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.67, Y:-21.86, Z:0.84 [[ 8.95550393e-01 4.44724241e-01 1.44859699e-02 1.70674358e+02] [-4.44668036e-01 8.95667537e-01 -7.07108975e-03 -2.18642125e+01] [-1.61192980e-02 -1.08930585e-04 9.99870070e-01 8.43521167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.70, Y:-21.88, Z:0.84 [[ 8.97792722e-01 4.40235186e-01 1.26967919e-02 1.70704906e+02] [-4.40191451e-01 8.97882498e-01 -6.20532489e-03 -2.18755241e+01] [-1.41320296e-02 -1.79237110e-05 9.99900138e-01 8.41455277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.73, Y:-21.89, Z:0.84 [[ 8.98572803e-01 4.38664740e-01 1.18390675e-02 1.70734365e+02] [-4.38626543e-01 8.98650792e-01 -5.78877116e-03 -2.18896446e+01] [-1.31785172e-02 8.70307603e-06 9.99913160e-01 8.41251831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.76, Y:-21.91, Z:0.84 [[ 8.99356743e-01 4.37029810e-01 1.27433954e-02 1.70762507e+02] [-4.36985372e-01 8.99447021e-01 -6.23225462e-03 -2.19053046e+01] [-1.41856901e-02 3.63428253e-05 9.99899377e-01 8.40958339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.79, Y:-21.92, Z:0.84 [[ 9.00933919e-01 4.33614732e-01 1.72144533e-02 1.70790533e+02] [-4.33532795e-01 9.01098356e-01 -8.43022400e-03 -2.19219485e+01] [-1.91673849e-02 1.32044694e-04 9.99816280e-01 8.42207093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.82, Y:-21.94, Z:0.84 [[ 9.01330870e-01 4.32822734e-01 1.63445560e-02 1.70820382e+02] [-4.32748541e-01 9.01479039e-01 -8.01511614e-03 -2.19368378e+01] [-1.82033991e-02 1.51188862e-04 9.99834293e-01 8.43799694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.85, Y:-21.95, Z:0.84 [[ 9.03489535e-01 4.28374080e-01 1.42235076e-02 1.70850305e+02] [-4.28317192e-01 9.03601461e-01 -6.98443786e-03 -2.19514036e+01] [-1.58443344e-02 2.18193681e-04 9.99874447e-01 8.41662173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.392320588 meters Centerline goodness [0,1] 0.9999507801348624 Centerline is valid? [True, True] Translation: X:170.88, Y:-21.97, Z:0.84 [[ 9.04819061e-01 4.25538366e-01 1.48177666e-02 1.70875644e+02] [-4.25476118e-01 9.04940339e-01 -7.28390086e-03 -2.19728010e+01] [-1.65087740e-02 2.86006541e-04 9.99863680e-01 8.40423341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.90, Y:-21.99, Z:0.84 [[ 9.04923571e-01 4.25289308e-01 1.55671093e-02 1.70902922e+02] [-4.25220424e-01 9.05057405e-01 -7.66059183e-03 -2.19906444e+01] [-1.73470954e-02 3.12797279e-04 9.99849479e-01 8.42544164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.452320588 meters Centerline goodness [0,1] 0.9998521293375394 Centerline is valid? [True, True] Translation: X:170.93, Y:-22.01, Z:0.85 [[ 9.04515283e-01 4.26170115e-01 1.52031351e-02 1.70930813e+02] [-4.26104514e-01 9.04642995e-01 -7.48293791e-03 -2.20078992e+01] [-1.69424142e-02 2.90307209e-04 9.99856425e-01 8.45800296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.96, Y:-22.02, Z:0.85 [[ 9.03817521e-01 4.27705257e-01 1.34945321e-02 1.70959358e+02] [-4.27653607e-01 9.03918224e-01 -6.65113485e-03 -2.20231201e+01] [-1.50426789e-02 2.40426868e-04 9.99886824e-01 8.45370261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.99, Y:-22.04, Z:0.84 [[ 9.02845516e-01 4.29746431e-01 1.37105632e-02 1.70986676e+02] [-4.29693233e-01 9.02949588e-01 -6.76513791e-03 -2.20397067e+01] [-1.52872413e-02 2.16538182e-04 9.99883120e-01 8.44383987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.542320588 meters Centerline goodness [0,1] 0.9999507510465403 Centerline is valid? [True, True] Translation: X:171.01, Y:-22.06, Z:0.84 [[ 9.00784871e-01 4.34022137e-01 1.45396386e-02 1.71011484e+02] [-4.33962736e-01 9.00902192e-01 -7.18223357e-03 -2.20615582e+01] [-1.62160407e-02 1.59985967e-04 9.99868499e-01 8.43028011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.04, Y:-22.08, Z:0.84 [[ 8.99519416e-01 4.36676864e-01 1.33468011e-02 1.71038442e+02] [-4.36626987e-01 8.99618421e-01 -6.60077239e-03 -2.20793292e+01] [-1.48894327e-02 1.09949379e-04 9.99889140e-01 8.43355582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.06, Y:-22.10, Z:0.84 [[ 8.97808064e-01 4.40193132e-01 1.30647125e-02 1.71064000e+02] [-4.40145603e-01 8.97903115e-01 -6.46874197e-03 -2.21010864e+01] [-1.45783418e-02 5.73129608e-05 9.99893729e-01 8.44071790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.632320588 meters Centerline goodness [0,1] 0.999950777712148 Centerline is valid? [True, True] Translation: X:171.09, Y:-22.12, Z:0.84 [[ 8.96949244e-01 4.41937179e-01 1.31750876e-02 1.71091667e+02] [-4.41888899e-01 8.97046001e-01 -6.53240475e-03 -2.21185763e+01] [-1.47055722e-02 3.73105506e-05 9.99891867e-01 8.44166961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.12, Y:-22.14, Z:0.84 [[ 8.95313935e-01 4.45290435e-01 1.13747904e-02 1.71118917e+02] [-4.45254710e-01 8.95386189e-01 -5.64051194e-03 -2.21368108e+01] [-1.26964963e-02 -1.46500669e-05 9.99919396e-01 8.44772053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.692320588 meters Centerline goodness [0,1] 0.9999507292077257 Centerline is valid? [True, True] Translation: X:171.15, Y:-22.15, Z:0.85 [[ 8.93969940e-01 4.48007309e-01 1.03536827e-02 1.71148459e+02] [-4.47977786e-01 8.94029893e-01 -5.14325214e-03 -2.21514984e+01] [-1.15607164e-02 -4.03070625e-05 9.99933172e-01 8.45209521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.722320588 meters Centerline goodness [0,1] 0.9999507097791798 Centerline is valid? [True, True] Translation: X:171.18, Y:-22.17, Z:0.84 [[ 8.90161311e-01 4.55543697e-01 9.63225952e-03 1.71175785e+02] [-4.55518527e-01 8.90213415e-01 -4.79028932e-03 -2.21697285e+01] [-1.07569527e-02 -1.23542448e-04 9.99942135e-01 8.44524261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.20, Y:-22.19, Z:0.85 [[ 8.88151320e-01 4.59437950e-01 1.01981558e-02 1.71203356e+02] [-4.59409934e-01 8.88209851e-01 -5.07679504e-03 -2.21855361e+01] [-1.13905748e-02 -1.76171872e-04 9.99935110e-01 8.45517060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.23, Y:-22.20, Z:0.85 [[ 8.85365938e-01 4.64723217e-01 1.26288189e-02 1.71232438e+02] [-4.64680791e-01 8.85455951e-01 -6.28664983e-03 -2.21991700e+01] [-1.41038149e-02 -3.02383913e-04 9.99900491e-01 8.45119136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.26, Y:-22.21, Z:0.84 [[ 8.82220697e-01 4.70681715e-01 1.20567449e-02 1.71261441e+02] [-4.70643495e-01 8.82303000e-01 -6.00973556e-03 -2.22120484e+01] [-1.34663749e-02 -3.72515479e-04 9.99909255e-01 8.44506061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.29, Y:-22.22, Z:0.85 [[ 8.80914471e-01 4.73142793e-01 1.12067649e-02 1.71290554e+02] [-4.73109889e-01 8.80985673e-01 -5.59257331e-03 -2.22248133e+01] [-1.25190851e-02 -3.75452532e-04 9.99921563e-01 8.45077473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.32, Y:-22.24, Z:0.85 [[ 8.79978546e-01 4.74875149e-01 1.14608356e-02 1.71320470e+02] [-4.74840801e-01 8.80053084e-01 -5.72567816e-03 -2.22360655e+01] [-1.28051260e-02 -4.03598419e-04 9.99917930e-01 8.45739902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.35, Y:-22.24, Z:0.85 [[ 8.79058012e-01 4.76534555e-01 1.31083806e-02 1.71352847e+02] [-4.76489705e-01 8.79155609e-01 -6.55565665e-03 -2.22428457e+01] [-1.46483033e-02 -4.83205916e-04 9.99892591e-01 8.47291703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.38, Y:-22.25, Z:0.85 [[ 8.78491691e-01 4.77538957e-01 1.44531440e-02 1.71383049e+02] [-4.77484445e-01 8.78610407e-01 -7.23583107e-03 -2.22545158e+01] [-1.61540740e-02 -5.44533974e-04 9.99869366e-01 8.47994570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.962320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.41, Y:-22.27, Z:0.85 [[ 8.78122686e-01 4.78246077e-01 1.34624873e-02 1.71413352e+02] [-4.78198729e-01 8.78225727e-01 -6.74887390e-03 -2.22674505e+01] [-1.50507252e-02 -5.11405033e-04 9.99886601e-01 8.47376088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.45, Y:-22.27, Z:0.85 [[ 8.78673685e-01 4.77230992e-01 1.35327848e-02 1.71445232e+02] [-4.77183018e-01 8.78777750e-01 -6.78479829e-03 -2.22748425e+01] [-1.51302262e-02 -4.95991368e-04 9.99885409e-01 8.47461595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.48, Y:-22.29, Z:0.85 [[ 8.79113103e-01 4.76423297e-01 1.34534083e-02 1.71475965e+02] [-4.76375653e-01 8.79215912e-01 -6.75409452e-03 -2.22851040e+01] [-1.50462587e-02 -4.71263184e-04 9.99886688e-01 8.48205629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.51, Y:-22.30, Z:0.85 [[ 8.79951771e-01 4.74884145e-01 1.30356991e-02 1.71506592e+02] [-4.74839229e-01 8.80048217e-01 -6.54547496e-03 -2.22951640e+01] [-1.45803860e-02 -4.30159029e-04 9.99893608e-01 8.48556309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.54, Y:-22.31, Z:0.85 [[ 8.80734522e-01 4.73448365e-01 1.23833797e-02 1.71537447e+02] [-4.73407568e-01 8.80821493e-01 -6.22666669e-03 -2.23054255e+01] [-1.38555521e-02 -3.78345355e-04 9.99903936e-01 8.48353419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.57, Y:-22.32, Z:0.85 [[ 8.81496260e-01 4.72033596e-01 1.21912876e-02 1.71567251e+02] [-4.71993825e-01 8.81580493e-01 -6.13701360e-03 -2.23174276e+01] [-1.36444780e-02 -3.44457944e-04 9.99906850e-01 8.47005889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.60, Y:-22.33, Z:0.85 [[ 8.83143670e-01 4.68932989e-01 1.26138694e-02 1.71598596e+02] [-4.68890059e-01 8.83233694e-01 -6.35245693e-03 -2.23278058e+01] [-1.41198711e-02 -3.04385836e-04 9.99900263e-01 8.46953389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.63, Y:-22.34, Z:0.85 [[ 8.84714771e-01 4.65928072e-01 1.38132060e-02 1.71629537e+02] [-4.65876084e-01 8.84822557e-01 -6.96545801e-03 -2.23374853e+01] [-1.54676387e-02 -2.72798707e-04 9.99880332e-01 8.50239535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.66, Y:-22.35, Z:0.85 [[ 8.85106278e-01 4.65186112e-01 1.37389180e-02 1.71659903e+02] [-4.65134470e-01 8.85212866e-01 -6.93595462e-03 -2.23493068e+01] [-1.53883767e-02 -2.51387342e-04 9.99881560e-01 8.51665622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.69, Y:-22.36, Z:0.85 [[ 8.85264877e-01 4.64936860e-01 1.18242639e-02 1.71689832e+02] [-4.64898491e-01 8.85343817e-01 -5.97660061e-03 -2.23607266e+01] [-1.32472808e-02 -2.06207830e-04 9.99912230e-01 8.51826214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.72, Y:-22.37, Z:0.85 [[ 8.85759946e-01 4.63975717e-01 1.24840542e-02 1.71721849e+02] [-4.63932829e-01 8.85847895e-01 -6.31165215e-03 -2.23715168e+01] [-1.39874265e-02 -2.01153915e-04 9.99902151e-01 8.48996696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.75, Y:-22.39, Z:0.85 [[ 8.85466745e-01 4.64528626e-01 1.27200407e-02 1.71751867e+02] [-4.64484010e-01 8.85558081e-01 -6.44127622e-03 -2.23852848e+01] [-1.42564920e-02 -2.04719616e-04 9.99898350e-01 8.49311502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.78, Y:-22.40, Z:0.85 [[ 8.85207178e-01 4.64968217e-01 1.45879966e-02 1.71782499e+02] [-4.64909599e-01 8.85327339e-01 -7.38691818e-03 -2.23957482e+01] [-1.63498344e-02 -2.43146665e-04 9.99866303e-01 8.50331876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.81, Y:-22.41, Z:0.85 [[ 8.85279819e-01 4.64845773e-01 1.40730137e-02 1.71813742e+02] [-4.64791169e-01 8.85391639e-01 -7.12850368e-03 -2.24053309e+01] [-1.57737835e-02 -2.30292033e-04 9.99875560e-01 8.49045737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.84, Y:-22.42, Z:0.85 [[ 8.85308776e-01 4.64814326e-01 1.32670206e-02 1.71842969e+02] [-4.64765761e-01 8.85408152e-01 -6.72247797e-03 -2.24188827e+01] [-1.48714323e-02 -2.14588189e-04 9.99889391e-01 8.50729521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.87, Y:-22.43, Z:0.85 [[ 8.84974778e-01 4.65412786e-01 1.45114058e-02 1.71872181e+02] [-4.65354724e-01 8.85093712e-01 -7.35537521e-03 -2.24326307e+01] [-1.62672397e-02 -2.43629677e-04 9.99867650e-01 8.49723148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.90, Y:-22.44, Z:0.85 [[ 8.84889244e-01 4.65604524e-01 1.35444854e-02 1.71902473e+02] [-4.65553930e-01 8.84992867e-01 -6.86756344e-03 -2.24449952e+01] [-1.51843416e-02 -2.28655390e-04 9.99884685e-01 8.50291040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.93, Y:-22.45, Z:0.85 [[ 8.83670505e-01 4.67941668e-01 1.25313049e-02 1.71934593e+02] [-4.67898565e-01 8.83759319e-01 -6.35597687e-03 -2.24531927e+01] [-1.40488839e-02 -2.46790287e-04 9.99901279e-01 8.50219326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.96, Y:-22.47, Z:0.85 [[ 8.83295219e-01 4.68610777e-01 1.39102420e-02 1.71964777e+02] [-4.68557714e-01 8.83404697e-01 -7.05761448e-03 -2.24653884e+01] [-1.55956473e-02 -2.83794066e-04 9.99878340e-01 8.49827065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.99, Y:-22.48, Z:0.85 [[ 8.83558633e-01 4.68072131e-01 1.52519581e-02 1.71994180e+02] [-4.68008214e-01 8.83690212e-01 -7.74083710e-03 -2.24790421e+01] [-1.71012762e-02 -2.98558250e-04 9.99853718e-01 8.49620325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.02, Y:-22.49, Z:0.85 [[ 8.83465468e-01 4.68248006e-01 1.52502661e-02 1.72023211e+02] [-4.68184058e-01 8.83597032e-01 -7.74417026e-03 -2.24937197e+01] [-1.71012822e-02 -2.98224475e-04 9.99853718e-01 8.49784216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.05, Y:-22.51, Z:0.85 [[ 8.84343993e-01 4.66628154e-01 1.39236363e-02 1.72052648e+02] [-4.66574616e-01 8.84453564e-01 -7.07253400e-03 -2.25073847e+01] [-1.56150533e-02 -2.41862302e-04 9.99878048e-01 8.52801179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.08, Y:-22.52, Z:0.85 [[ 8.84948726e-01 4.65539908e-01 1.17620521e-02 1.72083746e+02] [-4.65501560e-01 8.85026870e-01 -5.97811704e-03 -2.25182077e+01] [-1.31927842e-02 -1.84926515e-04 9.99912954e-01 8.51398779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.11, Y:-22.53, Z:0.85 [[ 8.85079449e-01 4.65330342e-01 1.01016162e-02 1.72113676e+02] [-4.65302027e-01 8.85137079e-01 -5.13560162e-03 -2.25294780e+01] [-1.13310663e-02 -1.54887053e-04 9.99935789e-01 8.50007519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.15, Y:-22.54, Z:0.85 [[ 8.85320937e-01 4.64863106e-01 1.04465833e-02 1.72145422e+02] [-4.64832786e-01 8.85382555e-01 -5.31145938e-03 -2.25367053e+01] [-1.17183241e-02 -1.53568237e-04 9.99931326e-01 8.50065074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.712320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.17, Y:-22.55, Z:0.85 [[ 8.85667594e-01 4.64202742e-01 1.04272138e-02 1.72174207e+02] [-4.64172493e-01 8.85728961e-01 -5.30123787e-03 -2.25466496e+01] [-1.16965344e-02 -1.44891254e-04 9.99931583e-01 8.51160295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74232058799998 meters Centerline goodness [0,1] 0.9999507510465403 Centerline is valid? [True, True] Translation: X:172.20, Y:-22.56, Z:0.85 [[ 8.85686298e-01 4.64181624e-01 9.75710110e-03 1.72202439e+02] [-4.64155138e-01 8.85740030e-01 -4.96054983e-03 -2.25594636e+01] [-1.09448511e-02 -1.35317585e-04 9.99940094e-01 8.52231087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77232058799999 meters Centerline goodness [0,1] 0.9999507267799951 Centerline is valid? [True, True] Translation: X:172.23, Y:-22.57, Z:0.85 [[ 8.86239140e-01 4.63135434e-01 9.26054053e-03 1.72229236e+02] [-4.63111517e-01 8.86287514e-01 -4.70809642e-03 -2.25743415e+01] [-1.03879877e-02 -1.16163650e-04 9.99946037e-01 8.54569383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.26, Y:-22.58, Z:0.85 [[ 8.87851252e-01 4.59945459e-01 1.30510214e-02 1.72257272e+02] [-4.59897760e-01 8.87947161e-01 -6.62494974e-03 -2.25821830e+01] [-1.46357330e-02 -1.20165600e-04 9.99892885e-01 8.53895862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.29, Y:-22.59, Z:0.85 [[ 8.88471861e-01 4.58707603e-01 1.43208823e-02 1.72286837e+02] [-4.58649963e-01 8.88587263e-01 -7.27243301e-03 -2.25916231e+01] [-1.60612739e-02 -1.06920060e-04 9.99871004e-01 8.52798344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.32, Y:-22.60, Z:0.85 [[ 8.89985156e-01 4.55833455e-01 1.19282816e-02 1.72315531e+02] [-4.55793226e-01 8.90065087e-01 -6.05607965e-03 -2.25999212e+01] [-1.33775107e-02 -4.70089644e-05 9.99910516e-01 8.52158697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.34, Y:-22.61, Z:0.85 [[ 8.90764714e-01 4.54327497e-01 1.11691115e-02 1.72342163e+02] [-4.54292215e-01 8.90834735e-01 -5.66209144e-03 -2.26119183e+01] [-1.25222763e-02 -3.04491290e-05 9.99921593e-01 8.52588605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.37, Y:-22.62, Z:0.85 [[ 8.92086345e-01 4.51715974e-01 1.16031023e-02 1.72369084e+02] [-4.51677778e-01 8.92161801e-01 -5.87420426e-03 -2.26209074e+01] [-1.30053165e-02 -5.66059954e-07 9.99915427e-01 8.54488798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.39, Y:-22.63, Z:0.86 [[ 8.93263787e-01 4.49376676e-01 1.18494707e-02 1.72394463e+02] [-4.49336735e-01 8.93342377e-01 -5.99134998e-03 -2.26318762e+01] [-1.32780073e-02 2.74534826e-05 9.99911843e-01 8.55950911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.42, Y:-22.64, Z:0.85 [[ 8.96331659e-01 4.43090728e-01 1.61295800e-02 1.72420890e+02] [-4.43015835e-01 8.96476761e-01 -8.14784666e-03 -2.26438109e+01] [-1.80700290e-02 1.57513547e-04 9.99836711e-01 8.52638068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.012320588 meters Centerline goodness [0,1] 0.999950777712148 Centerline is valid? [True, True] Translation: X:172.45, Y:-22.66, Z:0.85 [[ 8.97984497e-01 4.39721803e-01 1.63884057e-02 1.72446560e+02] [-4.39644090e-01 8.98134003e-01 -8.26961217e-03 -2.26566645e+01] [-1.83553132e-02 2.20917818e-04 9.99831503e-01 8.51483936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.042320588 meters Centerline goodness [0,1] 0.9998524057856932 Centerline is valid? [True, True] Translation: X:172.47, Y:-22.67, Z:0.85 [[ 8.99828363e-01 4.35992763e-01 1.48063456e-02 1.72471514e+02] [-4.35928991e-01 8.99950134e-01 -7.46133686e-03 -2.26690754e+01] [-1.65780616e-02 2.59407230e-04 9.99862541e-01 8.51629572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.072320588 meters Centerline goodness [0,1] 0.9998033334972221 Centerline is valid? [True, True] Translation: X:172.50, Y:-22.68, Z:0.85 [[ 9.00946354e-01 4.33734505e-01 1.30402081e-02 1.72495674e+02] [-4.33684927e-01 9.01040683e-01 -6.56285233e-03 -2.26835416e+01] [-1.45962935e-02 2.57436199e-04 9.99893435e-01 8.53598131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.102320588 meters Centerline goodness [0,1] 0.9998522967849933 Centerline is valid? [True, True] Translation: X:172.52, Y:-22.70, Z:0.85 [[ 9.01158498e-01 4.33298307e-01 1.28817268e-02 1.72519941e+02] [-4.33249998e-01 9.01250527e-01 -6.47502634e-03 -2.26976621e+01] [-1.44152810e-02 2.54016909e-04 9.99896062e-01 8.54847281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.132320588 meters Centerline goodness [0,1] 0.9999015360378102 Centerline is valid? [True, True] Translation: X:172.54, Y:-22.71, Z:0.86 [[ 9.01326691e-01 4.32984141e-01 1.16159120e-02 1.72544480e+02] [-4.32944916e-01 9.01401510e-01 -5.83247670e-03 -2.27120681e+01] [-1.29959706e-02 2.27916868e-04 9.99915523e-01 8.55716509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.162320588 meters Centerline goodness [0,1] 0.9999013903954245 Centerline is valid? [True, True] Translation: X:172.57, Y:-22.73, Z:0.85 [[ 9.02023322e-01 4.31566757e-01 1.02010579e-02 1.72566724e+02] [-4.31536483e-01 9.02080977e-01 -5.11617187e-03 -2.27325712e+01] [-1.14101500e-02 2.12777704e-04 9.99934879e-01 8.51873283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.192320588 meters Centerline goodness [0,1] 0.9999507267799951 Centerline is valid? [True, True] Translation: X:172.59, Y:-22.75, Z:0.85 [[ 9.02230142e-01 4.31133950e-01 1.02121614e-02 1.72590077e+02] [-4.31103646e-01 9.02287909e-01 -5.11616861e-03 -2.27498520e+01] [-1.14200637e-02 2.13461535e-04 9.99934766e-01 8.52560498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.222320588 meters Centerline goodness [0,1] 0.9999507146377525 Centerline is valid? [True, True] Translation: X:172.61, Y:-22.77, Z:0.85 [[ 9.01910900e-01 4.31781301e-01 1.10289110e-02 1.72614955e+02] [-4.31745985e-01 9.01978303e-01 -5.52679974e-03 -2.27653284e+01] [-1.23342072e-02 2.22992889e-04 9.99923906e-01 8.53499013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.64, Y:-22.78, Z:0.86 [[ 9.01115486e-01 4.33400273e-01 1.24533033e-02 1.72642086e+02] [-4.33355413e-01 9.01201505e-01 -6.23965948e-03 -2.27770591e+01] [-1.39272058e-02 2.25947384e-04 9.99902986e-01 8.56826260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.67, Y:-22.79, Z:0.86 [[ 9.00473134e-01 4.34765284e-01 1.12819595e-02 1.72669529e+02] [-4.34728569e-01 9.00543788e-01 -5.65308322e-03 -2.27902486e+01] [-1.26176629e-02 1.85859449e-04 9.99920377e-01 8.57401084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.70, Y:-22.81, Z:0.86 [[ 8.99361235e-01 4.37074492e-01 1.07357917e-02 1.72695488e+02] [-4.37041418e-01 8.99425298e-01 -5.37881815e-03 -2.28056790e+01] [-1.20069869e-02 1.45514912e-04 9.99927903e-01 8.56009097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.342320588 meters Centerline goodness [0,1] 0.9999507534718802 Centerline is valid? [True, True] Translation: X:172.72, Y:-22.82, Z:0.85 [[ 8.98598580e-01 4.38560273e-01 1.36190583e-02 1.72721541e+02] [-4.38507214e-01 8.98701764e-01 -6.82360799e-03 -2.28215089e+01] [-1.52320351e-02 1.59629135e-04 9.99883973e-01 8.54717689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.372320588 meters Centerline goodness [0,1] 0.999950741342791 Centerline is valid? [True, True] Translation: X:172.75, Y:-22.84, Z:0.85 [[ 8.98402527e-01 4.38909461e-01 1.52113642e-02 1.72748839e+02] [-4.38843279e-01 8.98531277e-01 -7.62374522e-03 -2.28374820e+01] [-1.70140204e-02 1.73787046e-04 9.99855236e-01 8.54515379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.78, Y:-22.85, Z:0.85 [[ 8.98727088e-01 4.38212383e-01 1.61098551e-02 1.72776657e+02] [-4.38137990e-01 8.98871441e-01 -8.07681568e-03 -2.28534960e+01] [-1.80200493e-02 2.00513524e-04 9.99837606e-01 8.54762733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.81, Y:-22.87, Z:0.85 [[ 9.00035466e-01 4.35485961e-01 1.69746238e-02 1.72805017e+02] [-4.35402830e-01 9.00195481e-01 -8.51300971e-03 -2.28694215e+01] [-1.89877758e-02 2.71211440e-04 9.99819679e-01 8.54106949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.462320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.83, Y:-22.88, Z:0.86 [[ 9.00813315e-01 4.33877495e-01 1.69023732e-02 1.72834101e+02] [-4.33794738e-01 9.00971823e-01 -8.47940808e-03 -2.28833808e+01] [-1.89075863e-02 3.06203168e-04 9.99821189e-01 8.55261760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.86, Y:-22.90, Z:0.85 [[ 9.01700823e-01 4.32054806e-01 1.62563939e-02 1.72861635e+02] [-4.31977911e-01 9.01847289e-01 -8.15791901e-03 -2.29009042e+01] [-1.81854529e-02 3.33599217e-04 9.99834575e-01 8.52989113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52232058799999 meters Centerline goodness [0,1] 0.9999507825573383 Centerline is valid? [True, True] Translation: X:172.89, Y:-22.92, Z:0.85 [[ 9.02102855e-01 4.31186813e-01 1.69814641e-02 1.72888352e+02] [-4.31102701e-01 9.02262598e-01 -8.52439325e-03 -2.29195883e+01] [-1.89973459e-02 3.69124434e-04 9.99819466e-01 8.52381024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.552320588 meters Centerline goodness [0,1] 0.9999015069437605 Centerline is valid? [True, True] Translation: X:172.91, Y:-22.94, Z:0.85 [[ 9.03166735e-01 4.28836974e-01 1.97154425e-02 1.72912969e+02] [-4.28722989e-01 9.03381764e-01 -9.89884681e-03 -2.29413775e+01] [-2.20555628e-02 4.87845693e-04 9.99756627e-01 8.50530368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.94, Y:-22.96, Z:0.85 [[ 9.03776671e-01 4.27548401e-01 1.97507745e-02 1.72940268e+02] [-4.27433628e-01 9.03992307e-01 -9.91978968e-03 -2.29583403e+01] [-2.20957385e-02 5.23129280e-04 9.99755723e-01 8.51938884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.612320588 meters Centerline goodness [0,1] 0.999950768018905 Centerline is valid? [True, True] Translation: X:172.97, Y:-22.98, Z:0.85 [[ 9.04228719e-01 4.26735137e-01 1.63568721e-02 1.72965580e+02] [-4.26656241e-01 9.04376536e-01 -8.21785759e-03 -2.29802181e+01] [-1.82996199e-02 4.52061278e-04 9.99832446e-01 8.52369443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.99, Y:-23.00, Z:0.85 [[ 9.03976315e-01 4.27349566e-01 1.41127731e-02 1.72992066e+02] [-4.27290874e-01 9.04086391e-01 -7.09269202e-03 -2.29991823e+01] [-1.57902249e-02 3.81366456e-04 9.99875254e-01 8.52834180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.02, Y:-23.02, Z:0.85 [[ 9.02876695e-01 4.29651460e-01 1.46046991e-02 1.73017197e+02] [-4.29588868e-01 9.02994738e-01 -7.34216598e-03 -2.30205201e+01] [-1.63425388e-02 3.55054393e-04 9.99866389e-01 8.51399188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.04, Y:-23.04, Z:0.85 [[ 9.00773091e-01 4.33939774e-01 1.74387713e-02 1.73043396e+02] [-4.33851079e-01 9.00941816e-01 -8.77987242e-03 -2.30420292e+01] [-1.95212541e-02 3.42843098e-04 9.99809383e-01 8.53603501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.07, Y:-23.06, Z:0.85 [[ 8.99668445e-01 4.36162179e-01 1.89537098e-02 1.73070227e+02] [-4.36057647e-01 8.99868015e-01 -9.55428055e-03 -2.30613077e+01] [-2.12230530e-02 3.30774646e-04 9.99774711e-01 8.53989188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.10, Y:-23.08, Z:0.85 [[ 8.98016314e-01 4.39609094e-01 1.76222696e-02 1.73096463e+02] [-4.39519206e-01 8.98189171e-01 -8.89277666e-03 -2.30809138e+01] [-1.97374772e-02 2.40532582e-04 9.99805168e-01 8.54121226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.12, Y:-23.10, Z:0.85 [[ 8.97139535e-01 4.41470036e-01 1.56480351e-02 1.73124887e+02] [-4.41399287e-01 8.97275973e-01 -7.90550758e-03 -2.30962136e+01] [-1.75306506e-02 1.85311875e-04 9.99846309e-01 8.53180248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.15, Y:-23.11, Z:0.85 [[ 8.94798553e-01 4.46222742e-01 1.48598456e-02 1.73152081e+02] [-4.46159451e-01 8.94921927e-01 -7.51587759e-03 -2.31145021e+01] [-1.66521571e-02 9.53358366e-05 9.99861339e-01 8.51682822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.852320588 meters Centerline goodness [0,1] 0.9999507558969813 Centerline is valid? [True, True] Translation: X:173.18, Y:-23.13, Z:0.85 [[ 8.93627627e-01 4.48553039e-01 1.51603127e-02 1.73180709e+02] [-4.48487324e-01 8.93756212e-01 -7.67808975e-03 -2.31314672e+01] [-1.69936542e-02 6.21450512e-05 9.99855596e-01 8.53229034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.21, Y:-23.15, Z:0.86 [[ 8.91520328e-01 4.52685877e-01 1.63401989e-02 1.73208274e+02] [-4.52610065e-01 8.91670060e-01 -8.28448636e-03 -2.31488533e+01] [-1.83203361e-02 -9.95047474e-06 9.99832169e-01 8.55364088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.24, Y:-23.16, Z:0.86 [[ 8.90240228e-01 4.55186782e-01 1.66532130e-02 1.73237383e+02] [-4.55108263e-01 8.90395974e-01 -8.45446677e-03 -2.31637224e+01] [-1.86763153e-02 -5.25084071e-05 9.99825581e-01 8.55237018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.26, Y:-23.18, Z:0.85 [[ 8.88518201e-01 4.58496740e-01 1.77805008e-02 1.73264945e+02] [-4.58407698e-01 8.88696081e-01 -9.03646028e-03 -2.31798502e+01] [-1.99446490e-02 -1.21659014e-04 9.99801078e-01 8.52094922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.29, Y:-23.20, Z:0.85 [[ 8.87753883e-01 4.59976150e-01 1.77477864e-02 1.73294064e+02] [-4.59887489e-01 8.87931259e-01 -9.03200040e-03 -2.31961737e+01] [-1.99133191e-02 -1.43791486e-04 9.99801700e-01 8.51753235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.32, Y:-23.21, Z:0.85 [[ 8.86599311e-01 4.62202070e-01 1.76325779e-02 1.73323473e+02] [-4.62114764e-01 8.86774613e-01 -8.98505050e-03 -2.32113489e+01] [-1.97890314e-02 -1.82135008e-04 9.99804161e-01 8.52369382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.35, Y:-23.23, Z:0.85 [[ 8.85651994e-01 4.64037127e-01 1.70320467e-02 1.73353066e+02] [-4.63955788e-01 8.85815727e-01 -8.69042377e-03 -2.32251060e+01] [-1.91199342e-02 -2.05425535e-04 9.99817176e-01 8.53926048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.38, Y:-23.24, Z:0.85 [[ 8.85167161e-01 4.65005676e-01 1.57739660e-02 1.73382071e+02] [-4.64935906e-01 8.85307676e-01 -8.05749295e-03 -2.32396132e+01] [-1.77115931e-02 -2.01654998e-04 9.99843117e-01 8.54680895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.41, Y:-23.26, Z:0.86 [[ 8.84308837e-01 4.66705954e-01 1.35437694e-02 1.73409228e+02] [-4.66654592e-01 8.84412525e-01 -6.92653275e-03 -2.32580489e+01] [-1.52109334e-02 -1.95068078e-04 9.99884288e-01 8.55363818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.122320588 meters Centerline goodness [0,1] 0.9999506879037428 Centerline is valid? [True, True] Translation: X:173.44, Y:-23.27, Z:0.86 [[ 8.83710862e-01 4.67723123e-01 1.70350575e-02 1.73437938e+02] [-4.67641877e-01 8.83874999e-01 -8.72132262e-03 -2.32731193e+01] [-1.91360256e-02 -2.59178728e-04 9.99816856e-01 8.55049372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.47, Y:-23.29, Z:0.86 [[ 8.83368769e-01 4.68324101e-01 1.82251171e-02 1.73467896e+02] [-4.68231021e-01 8.83556708e-01 -9.34099390e-03 -2.32861445e+01] [-2.04775370e-02 -2.82022911e-04 9.99790273e-01 8.55643345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.50, Y:-23.30, Z:0.86 [[ 8.82206265e-01 4.70518291e-01 1.80179103e-02 1.73498129e+02] [-4.70427523e-01 8.82390184e-01 -9.24709545e-03 -2.33003805e+01] [-2.02497548e-02 -3.18275393e-04 9.99794902e-01 8.56282651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.212320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.53, Y:-23.31, Z:0.86 [[ 8.80402950e-01 4.74028139e-01 1.37101441e-02 1.73527946e+02] [-4.73975885e-01 8.80509645e-01 -7.04453600e-03 -2.33133607e+01] [-1.54112224e-02 -2.96247406e-04 9.99881196e-01 8.56433136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.56, Y:-23.32, Z:0.86 [[ 8.77776598e-01 4.78906859e-01 1.25085499e-02 1.73558634e+02] [-4.78863752e-01 8.77865652e-01 -6.43451739e-03 -2.33241128e+01] [-1.40623608e-02 -3.41822357e-04 9.99901062e-01 8.56521494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.59, Y:-23.34, Z:0.86 [[ 8.76865729e-01 4.80576944e-01 1.23407695e-02 1.73587868e+02] [-4.80535053e-01 8.76952492e-01 -6.35526057e-03 -2.33367148e+01] [-1.38764602e-02 -3.57462119e-04 9.99903653e-01 8.56764249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.62, Y:-23.35, Z:0.86 [[ 8.76185530e-01 4.81812221e-01 1.24860321e-02 1.73616958e+02] [-4.81769363e-01 8.76274411e-01 -6.43725467e-03 -2.33509167e+01] [-1.40427384e-02 -3.75158323e-04 9.99901326e-01 8.59101797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.65, Y:-23.36, Z:0.86 [[ 8.76118892e-01 4.81924593e-01 1.28208200e-02 1.73646814e+02] [-4.81879291e-01 8.76212613e-01 -6.61865025e-03 -2.33645580e+01] [-1.44234545e-02 -3.79363121e-04 9.99895905e-01 8.59314432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.68, Y:-23.38, Z:0.86 [[ 8.75548438e-01 4.82942837e-01 1.34591589e-02 1.73676366e+02] [-4.82892922e-01 8.75651785e-01 -6.95537119e-03 -2.33767877e+01] [-1.51445832e-02 -4.09568192e-04 9.99885230e-01 8.59159048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.71, Y:-23.38, Z:0.86 [[ 8.76030929e-01 4.82054931e-01 1.38872187e-02 1.73709831e+02] [-4.82001559e-01 8.76140904e-01 -7.18431170e-03 -2.33831412e+01] [-1.56303932e-02 -3.99981790e-04 9.99877758e-01 8.58473369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.74, Y:-23.39, Z:0.86 [[ 8.76592602e-01 4.81046221e-01 1.34142871e-02 1.73739635e+02] [-4.80996285e-01 8.76695157e-01 -6.94089634e-03 -2.33949455e+01] [-1.50991325e-02 -3.67883866e-04 9.99885934e-01 8.57672497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.77, Y:-23.41, Z:0.86 [[ 8.76338412e-01 4.81509259e-01 1.34097724e-02 1.73768674e+02] [-4.81459244e-01 8.76440928e-01 -6.94961659e-03 -2.34096475e+01] [-1.50991781e-02 -3.66042924e-04 9.99885934e-01 8.57836494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.80, Y:-23.42, Z:0.86 [[ 8.78365813e-01 4.77783415e-01 1.40181217e-02 1.73797399e+02] [-4.77728161e-01 8.78477611e-01 -7.27262707e-03 -2.34236637e+01] [-1.57893467e-02 -3.08824543e-04 9.99875293e-01 8.55760482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.83, Y:-23.44, Z:0.86 [[ 8.79380412e-01 4.75883704e-01 1.49930114e-02 1.73825713e+02] [-4.75820076e-01 8.79508168e-01 -7.78696718e-03 -2.34384168e+01] [-1.68921668e-02 -2.86269423e-04 9.99857276e-01 8.56389400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.86, Y:-23.45, Z:0.86 [[ 8.80816351e-01 4.73305923e-01 1.20024514e-02 1.73855386e+02] [-4.73264806e-01 8.80898104e-01 -6.24130358e-03 -2.34517703e+01] [-1.35269826e-02 -1.82895588e-04 9.99908489e-01 8.59146605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.89, Y:-23.46, Z:0.86 [[ 8.81775694e-01 4.71515260e-01 1.20409642e-02 1.73885645e+02] [-4.71473615e-01 8.81857889e-01 -6.26842483e-03 -2.34643495e+01] [-1.35740772e-02 -1.49652256e-04 9.99907857e-01 8.60067635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.92, Y:-23.48, Z:0.86 [[ 8.82298033e-01 4.70536971e-01 1.20474311e-02 1.73916022e+02] [-4.70495073e-01 8.82380271e-01 -6.28038520e-03 -2.34767589e+01] [-1.35855690e-02 -1.27085477e-04 9.99907704e-01 8.58894144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.632320588 meters Centerline goodness [0,1] 0.9999507849795758 Centerline is valid? [True, True] Translation: X:173.95, Y:-23.49, Z:0.86 [[ 8.83396149e-01 4.68439445e-01 1.32563597e-02 1.73945420e+02] [-4.68388461e-01 8.83495600e-01 -6.91181560e-03 -2.34912597e+01] [-1.49497025e-02 -1.03254631e-04 9.99888242e-01 8.56348907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.97, Y:-23.51, Z:0.86 [[ 8.83348490e-01 4.68536515e-01 1.29992341e-02 1.73973764e+02] [-4.68487346e-01 8.83444127e-01 -6.78828843e-03 -2.35087420e+01] [-1.46646580e-02 -9.35523398e-05 9.99892464e-01 8.57041299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.00, Y:-23.53, Z:0.86 [[ 8.82725218e-01 4.69691791e-01 1.36312790e-02 1.74001231e+02] [-4.69637723e-01 8.82830454e-01 -7.12738666e-03 -2.35265454e+01] [-1.53817833e-02 -1.10238903e-04 9.99881687e-01 8.58985785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.03, Y:-23.54, Z:0.86 [[ 8.82666408e-01 4.69843841e-01 1.21151612e-02 1.74030140e+02] [-4.69801050e-01 8.82749543e-01 -6.34170835e-03 -2.35402560e+01] [-1.36742656e-02 -9.41025277e-05 9.99906498e-01 8.60111143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.06, Y:-23.56, Z:0.86 [[ 8.82884244e-01 4.69521169e-01 8.07979891e-03 1.74058608e+02] [-4.69502073e-01 8.82921213e-01 -4.23495635e-03 -2.35555062e+01] [-9.12222751e-03 -5.45060924e-05 9.99958390e-01 8.58704067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.09, Y:-23.57, Z:0.86 [[ 8.82662347e-01 4.69968780e-01 6.04379916e-03 1.74085928e+02] [-4.69958077e-01 8.82683037e-01 -3.17203314e-03 -2.35719211e+01] [-6.82551554e-03 -4.04980186e-05 9.99976705e-01 8.58642756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.11, Y:-23.59, Z:0.86 [[ 8.82581940e-01 4.70100431e-01 7.39621664e-03 1.74113102e+02] [-4.70084417e-01 8.82612929e-01 -3.88064695e-03 -2.35884551e+01] [-8.35229024e-03 -5.18572675e-05 9.99965118e-01 8.58083368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.14, Y:-23.60, Z:0.86 [[ 8.82106828e-01 4.70974796e-01 8.38364974e-03 1.74142347e+02] [-4.70954185e-01 8.82146665e-01 -4.40650529e-03 -2.36035201e+01] [-9.47096158e-03 -6.13065316e-05 9.99955148e-01 8.58844783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.17, Y:-23.62, Z:0.86 [[ 8.81765976e-01 4.71596750e-01 9.23415151e-03 1.74171041e+02] [-4.71571717e-01 8.81814323e-01 -4.85953927e-03 -2.36201305e+01] [-1.04345500e-02 -6.95882967e-05 9.99945556e-01 8.59412975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.20, Y:-23.64, Z:0.86 [[ 8.81050989e-01 4.72938729e-01 8.83819648e-03 1.74199064e+02] [-4.72915803e-01 8.81095314e-01 -4.65725606e-03 -2.36368733e+01] [-9.98989026e-03 -7.64427245e-05 9.99950097e-01 8.58639774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.22, Y:-23.66, Z:0.86 [[ 8.79823061e-01 4.75160694e-01 1.15626925e-02 1.74224941e+02] [-4.75121575e-01 8.79899027e-01 -6.09847532e-03 -2.36564130e+01] [-1.30717577e-02 -1.28105452e-04 9.99914553e-01 8.57963730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.25, Y:-23.67, Z:0.86 [[ 8.78415022e-01 4.77775947e-01 1.08255779e-02 1.74253336e+02] [-4.77741757e-01 8.78481714e-01 -5.71765078e-03 -2.36733239e+01] [-1.22418283e-02 -1.49360274e-04 9.99925055e-01 8.58670144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.28, Y:-23.69, Z:0.86 [[ 8.77246719e-01 4.79888605e-01 1.20466053e-02 1.74282128e+02] [-4.79846379e-01 8.77329408e-01 -6.36893517e-03 -2.36880937e+01] [-1.36252205e-02 -1.93392472e-04 9.99907154e-01 8.58636134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.31, Y:-23.70, Z:0.86 [[ 8.75554925e-01 4.82908961e-01 1.42305410e-02 1.74312199e+02] [-4.82850305e-01 8.75670520e-01 -7.53155026e-03 -2.36996114e+01] [-1.60983183e-02 -2.76935125e-04 9.99870375e-01 8.58033252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.34, Y:-23.71, Z:0.86 [[ 8.74140733e-01 4.85484266e-01 1.35280131e-02 1.74341060e+02] [-4.85431444e-01 8.74245353e-01 -7.16776702e-03 -2.37147184e+01] [-1.53066407e-02 -3.01285842e-04 9.99882801e-01 8.58633498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.37, Y:-23.73, Z:0.86 [[ 8.72674726e-01 4.88112229e-01 1.36115529e-02 1.74368528e+02] [-4.88058961e-01 8.72780805e-01 -7.21916120e-03 -2.37306969e+01] [-1.54036629e-02 -3.43260837e-04 9.99881298e-01 8.58472875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.40, Y:-23.75, Z:0.86 [[ 8.71894177e-01 4.89519921e-01 1.30686693e-02 1.74397834e+02] [-4.89470837e-01 8.71992046e-01 -6.94058952e-03 -2.37456171e+01] [-1.47933325e-02 -3.45272896e-04 9.99890513e-01 8.59045951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.43, Y:-23.76, Z:0.86 [[ 8.72567007e-01 4.88332518e-01 1.25766066e-02 1.74428246e+02] [-4.88286837e-01 8.72657583e-01 -6.68632078e-03 -2.37562750e+01] [-1.42402190e-02 -3.06728577e-04 9.99898556e-01 8.59275465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.46, Y:-23.77, Z:0.86 [[ 8.72545906e-01 4.88323287e-01 1.42831671e-02 1.74457403e+02] [-4.88264235e-01 8.72662736e-01 -7.60170908e-03 -2.37698113e+01] [-1.61764793e-02 -3.41119524e-04 9.99869094e-01 8.57995134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.49, Y:-23.78, Z:0.86 [[ 8.73069819e-01 4.87373706e-01 1.46956521e-02 1.74486768e+02] [-4.87310917e-01 8.73193429e-01 -7.82977021e-03 -2.37834265e+01] [-1.66481710e-02 -3.25415649e-04 9.99861357e-01 8.59626807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.52, Y:-23.80, Z:0.86 [[ 8.73019427e-01 4.87468255e-01 1.45526788e-02 1.74517461e+02] [-4.87406527e-01 8.73140654e-01 -7.76380156e-03 -2.37968529e+01] [-1.64911423e-02 -3.15121034e-04 9.99863962e-01 8.61071935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.55, Y:-23.81, Z:0.86 [[ 8.71818256e-01 4.89633137e-01 1.38679546e-02 1.74547713e+02] [-4.89577230e-01 8.71928484e-01 -7.40640870e-03 -2.38077618e+01] [-1.57182877e-02 -3.32392480e-04 9.99876405e-01 8.60178155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.58, Y:-23.82, Z:0.86 [[ 8.71533343e-01 4.90176641e-01 1.25096948e-02 1.74577009e+02] [-4.90131098e-01 8.71623066e-01 -6.68861215e-03 -2.38222051e+01] [-1.41823400e-02 -3.02041940e-04 9.99899380e-01 8.57794522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.61, Y:-23.84, Z:0.86 [[ 8.71622529e-01 4.90070232e-01 1.02632728e-02 1.74606335e+02] [-4.90039495e-01 8.71682918e-01 -5.49397406e-03 -2.38361120e+01] [-1.16387527e-02 -2.40737431e-04 9.99932238e-01 8.57028137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.64, Y:-23.85, Z:0.86 [[ 8.71478301e-01 4.90330603e-01 1.00732454e-02 1.74636339e+02] [-4.90300928e-01 8.71536485e-01 -5.39956473e-03 -2.38505794e+01] [-1.14267727e-02 -2.33318045e-04 9.99934685e-01 8.57228270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.67, Y:-23.86, Z:0.86 [[ 8.71832949e-01 4.89688668e-01 1.05980063e-02 1.74665965e+02] [-4.89655687e-01 8.71897331e-01 -5.68792908e-03 -2.38643926e+01] [-1.20256878e-02 -2.30450072e-04 9.99927662e-01 8.57448771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.70, Y:-23.88, Z:0.86 [[ 8.71970514e-01 4.89448865e-01 1.03552494e-02 1.74695241e+02] [-4.89417292e-01 8.72031973e-01 -5.56350339e-03 -2.38788933e+01] [-1.17531590e-02 -2.16827194e-04 9.99930906e-01 8.61021249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.72, Y:-23.89, Z:0.86 [[ 8.72507040e-01 4.88452232e-01 1.20781656e-02 1.74724802e+02] [-4.88409166e-01 8.72590604e-01 -6.49035281e-03 -2.38937445e+01] [-1.37095211e-02 -2.36208277e-04 9.99905992e-01 8.61547240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.76, Y:-23.91, Z:0.86 [[ 8.73385456e-01 4.86781788e-01 1.55350020e-02 1.74755271e+02] [-4.86710243e-01 8.73523565e-01 -8.34988713e-03 -2.39056939e+01] [-1.76347634e-02 -2.68374637e-04 9.99844459e-01 8.60127964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.78, Y:-23.92, Z:0.86 [[ 8.73587046e-01 4.86388169e-01 1.64991652e-02 1.74784634e+02] [-4.86307145e-01 8.73742799e-01 -8.88156083e-03 -2.39198866e+01] [-1.87359129e-02 -2.64845438e-04 9.99824432e-01 8.59521990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.81, Y:-23.93, Z:0.86 [[ 8.73794341e-01 4.86024204e-01 1.62457200e-02 1.74812615e+02] [-4.85945416e-01 8.73945315e-01 -8.75438323e-03 -2.39349162e+01] [-1.84527130e-02 -2.45002657e-04 9.99829704e-01 8.59543837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.84, Y:-23.95, Z:0.86 [[ 8.74415614e-01 4.84926996e-01 1.55930513e-02 1.74840308e+02] [-4.84854072e-01 8.74554611e-01 -8.41204240e-03 -2.39520293e+01] [-1.77162013e-02 -2.04733192e-04 9.99843035e-01 8.59949037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.87, Y:-23.97, Z:0.86 [[ 8.75184190e-01 4.83562309e-01 1.48366458e-02 1.74868442e+02] [-4.83495941e-01 8.75309926e-01 -8.01294532e-03 -2.39667477e+01] [-1.68614217e-02 -1.60654982e-04 9.99857823e-01 8.60117046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.90, Y:-23.98, Z:0.86 [[ 8.74833956e-01 4.84163717e-01 1.58443642e-02 1.74896817e+02] [-4.84087960e-01 8.74977408e-01 -8.56637104e-03 -2.39812144e+01] [-1.80109868e-02 -1.75913679e-04 9.99837774e-01 8.59739114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.93, Y:-24.00, Z:0.86 [[ 8.74859450e-01 4.84109766e-01 1.60834635e-02 1.74926231e+02] [-4.84031489e-01 8.75007261e-01 -8.70695125e-03 -2.39955310e+01] [-1.82882674e-02 -1.67544194e-04 9.99832742e-01 8.60777044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.96, Y:-24.01, Z:0.86 [[ 8.74211894e-01 4.85280991e-01 1.59975981e-02 1.74955953e+02] [-4.85203546e-01 8.74358237e-01 -8.67134405e-03 -2.40102282e+01] [-1.81956701e-02 -1.81499199e-04 9.99834429e-01 8.60364750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.98, Y:-24.03, Z:0.86 [[ 8.73707485e-01 4.86222630e-01 1.49259545e-02 1.74983900e+02] [-4.86155206e-01 8.73834951e-01 -8.09906050e-03 -2.40255444e+01] [-1.69807672e-02 -1.80120696e-04 9.99855800e-01 8.60565634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.01, Y:-24.04, Z:0.86 [[ 8.72475264e-01 4.88465205e-01 1.37352851e-02 1.75011967e+02] [-4.88408230e-01 8.72583351e-01 -7.46297432e-03 -2.40420703e+01] [-1.56305844e-02 -1.97165813e-04 9.99877816e-01 8.60323521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.04, Y:-24.06, Z:0.86 [[ 8.72242407e-01 4.88890187e-01 1.34003052e-02 1.75041211e+02] [-4.88835867e-01 8.72345315e-01 -7.29021684e-03 -2.40574315e+01] [-1.52538089e-02 -1.91713523e-04 9.99883636e-01 8.60309172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.07, Y:-24.07, Z:0.86 [[ 8.71817890e-01 4.89604888e-01 1.48533021e-02 1.75070019e+02] [-4.89538114e-01 8.71944382e-01 -8.08885395e-03 -2.40726422e+01] [-1.69115957e-02 -2.19249908e-04 9.99856965e-01 8.59985733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.10, Y:-24.09, Z:0.86 [[ 8.72397068e-01 4.88596784e-01 1.40192326e-02 1.75098646e+02] [-4.88537033e-01 8.72509685e-01 -7.64309257e-03 -2.40875646e+01] [-1.59663067e-02 -1.81102780e-04 9.99872514e-01 8.61511358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.13, Y:-24.10, Z:0.86 [[ 8.72880433e-01 4.87731720e-01 1.40541631e-02 1.75127313e+02] [-4.87671538e-01 8.72993552e-01 -7.66349722e-03 -2.41032782e+01] [-1.60069244e-02 -1.64498554e-04 9.99871867e-01 8.60625915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.15, Y:-24.12, Z:0.86 [[ 8.72780996e-01 4.87932107e-01 1.32511114e-02 1.75154982e+02] [-4.87878484e-01 8.72881571e-01 -7.23520874e-03 -2.41190570e+01] [-1.50969416e-02 -1.50179458e-04 9.99886023e-01 8.60079707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.18, Y:-24.14, Z:0.86 [[ 8.71785750e-01 4.89706406e-01 1.33132322e-02 1.75184147e+02] [-4.89652343e-01 8.71887382e-01 -7.27851134e-03 -2.41352147e+01] [-1.51719728e-02 -1.73552871e-04 9.99884884e-01 8.60814531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.21, Y:-24.15, Z:0.86 [[ 8.69583976e-01 4.93592063e-01 1.38052302e-02 1.75214793e+02] [-4.93534298e-01 8.69693518e-01 -7.55519989e-03 -2.41461125e+01] [-1.57355059e-02 -2.43473854e-04 9.99876160e-01 8.62637948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.24, Y:-24.16, Z:0.86 [[ 8.68366239e-01 4.95726107e-01 1.39893637e-02 1.75244491e+02] [-4.95667058e-01 8.68478869e-01 -7.65647809e-03 -2.41584171e+01] [-1.59449828e-02 -2.85439675e-04 9.99872830e-01 8.62815413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.27, Y:-24.17, Z:0.86 [[ 8.67175116e-01 4.97838508e-01 1.28116492e-02 1.75273912e+02] [-4.97789181e-01 8.67269700e-01 -7.01415932e-03 -2.41719341e+01] [-1.46030737e-02 -2.94995921e-04 9.99893326e-01 8.62242770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.30, Y:-24.19, Z:0.86 [[ 8.64837490e-01 5.01831797e-01 1.48648558e-02 1.75301530e+02] [-5.01765938e-01 8.64965128e-01 -8.14068885e-03 -2.41888174e+01] [-1.69428384e-02 -4.18305403e-04 9.99856372e-01 8.61634589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.33, Y:-24.20, Z:0.86 [[ 8.63911192e-01 5.03413135e-01 1.52534398e-02 1.75330896e+02] [-5.03343989e-01 8.64045719e-01 -8.35605598e-03 -2.42024338e+01] [-1.73862177e-02 -4.58836945e-04 9.99848743e-01 8.63894670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.36, Y:-24.21, Z:0.86 [[ 8.62806040e-01 5.05322634e-01 1.46551546e-02 1.75360682e+02] [-5.05258919e-01 8.62930365e-01 -8.03801427e-03 -2.42140298e+01] [-1.67081684e-02 -4.69400302e-04 9.99860299e-01 8.63316846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.39, Y:-24.23, Z:0.86 [[ 8.61930479e-01 5.06850241e-01 1.33672203e-02 1.75391408e+02] [-5.06797404e-01 8.62034006e-01 -7.33239769e-03 -2.42256258e+01] [-1.52394260e-02 -4.54455503e-04 9.99883770e-01 8.63919480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.42, Y:-24.24, Z:0.86 [[ 8.60437638e-01 5.09370447e-01 1.37411356e-02 1.75422230e+02] [-5.09314898e-01 8.60547202e-01 -7.53978976e-03 -2.42357199e+01] [-1.56654419e-02 -5.11046207e-04 9.99877159e-01 8.63807112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.45, Y:-24.25, Z:0.87 [[ 8.59877364e-01 5.10332118e-01 1.31167008e-02 1.75453130e+02] [-5.10281582e-01 8.59977253e-01 -7.19939060e-03 -2.42455226e+01] [-1.49541446e-02 -5.02617799e-04 9.99888054e-01 8.66049116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.48, Y:-24.26, Z:0.87 [[ 8.59114388e-01 5.11631672e-01 1.24699809e-02 1.75483340e+02] [-5.11586103e-01 8.59204740e-01 -6.84653163e-03 -2.42575864e+01] [-1.42171691e-02 -4.97515110e-04 9.99898807e-01 8.66087601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.51, Y:-24.27, Z:0.87 [[ 8.59109645e-01 5.11637544e-01 1.25555445e-02 1.75513205e+02] [-5.11591318e-01 8.59201242e-01 -6.89561632e-03 -2.42693829e+01] [-1.43157956e-02 -4.99217051e-04 9.99897399e-01 8.65529251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.54, Y:-24.28, Z:0.86 [[ 8.59958273e-01 5.10225710e-01 1.18951382e-02 1.75544055e+02] [-5.10184075e-01 8.60040419e-01 -6.53357121e-03 -2.42786278e+01] [-1.35638957e-02 -4.50111460e-04 9.99907905e-01 8.63652771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.57, Y:-24.29, Z:0.86 [[ 8.60907313e-01 5.08623141e-01 1.18785370e-02 1.75572278e+02] [-5.08581474e-01 8.60989152e-01 -6.52408566e-03 -2.42910084e+01] [-1.35455924e-02 -4.24570790e-04 9.99908164e-01 8.63480246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.60, Y:-24.30, Z:0.86 [[ 8.63041480e-01 5.05054538e-01 8.90601348e-03 1.75600850e+02] [-5.05031000e-01 8.63087385e-01 -4.88413522e-03 -2.42998096e+01] [-1.01534225e-02 -2.82601610e-04 9.99948413e-01 8.64569419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.62, Y:-24.31, Z:0.86 [[ 8.63305572e-01 5.04602936e-01 8.90880939e-03 1.75624778e+02] [-5.04579427e-01 8.63351491e-01 -4.87903521e-03 -2.43132627e+01] [-1.01534094e-02 -2.83103663e-04 9.99948413e-01 8.64707939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.65, Y:-24.32, Z:0.87 [[ 8.64860419e-01 5.01915818e-01 9.84718893e-03 1.75651529e+02] [-5.01886980e-01 8.64916430e-01 -5.38777580e-03 -2.43238389e+01] [-1.12212054e-02 -2.82501871e-04 9.99937000e-01 8.65262215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.68, Y:-24.33, Z:0.87 [[ 8.67760983e-01 4.96864271e-01 1.08061119e-02 1.75678928e+02] [-4.96829227e-01 8.67828230e-01 -5.90617052e-03 -2.43344002e+01] [-1.23124141e-02 -2.43647905e-04 9.99924170e-01 8.66100905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.70, Y:-24.35, Z:0.87 [[ 8.69285731e-01 4.94167446e-01 1.18681826e-02 1.75704583e+02] [-4.94125014e-01 8.69366713e-01 -6.47987943e-03 -2.43469380e+01] [-1.35199484e-02 -2.31499177e-04 9.99908575e-01 8.65351435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.73, Y:-24.36, Z:0.86 [[ 8.70554339e-01 4.91909643e-01 1.26508970e-02 1.75730207e+02] [-4.91861319e-01 8.70646229e-01 -6.89836083e-03 -2.43590815e+01] [-1.44078260e-02 -2.17088916e-04 9.99896178e-01 8.64878719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.76, Y:-24.37, Z:0.86 [[ 8.73705534e-01 4.86279848e-01 1.30594083e-02 1.75757431e+02] [-4.86227828e-01 8.73803119e-01 -7.11391359e-03 -2.43694315e+01] [-1.48707046e-02 -1.34382082e-04 9.99889416e-01 8.63960248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.78, Y:-24.39, Z:0.86 [[ 8.76367472e-01 4.81502900e-01 1.16194185e-02 1.75781700e+02] [-4.81461336e-01 8.76444496e-01 -6.32672467e-03 -2.43859981e+01] [-1.32301117e-02 -4.97650595e-05 9.99912477e-01 8.63252343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.81, Y:-24.40, Z:0.86 [[ 8.77443483e-01 4.79564571e-01 1.05240720e-02 1.75806126e+02] [-4.79530425e-01 8.77506593e-01 -5.72273990e-03 -2.44020181e+01] [-1.19793658e-02 -2.52318755e-05 9.99928245e-01 8.63989253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.83, Y:-24.42, Z:0.86 [[ 8.78383665e-01 4.77856282e-01 9.77298170e-03 1.75830410e+02] [-4.77826811e-01 8.78438031e-01 -5.30712256e-03 -2.44162926e+01] [-1.11210007e-02 -8.10290995e-06 9.99938160e-01 8.64938851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.86, Y:-24.43, Z:0.86 [[ 8.79175865e-01 4.76367679e-01 1.11190192e-02 1.75855979e+02] [-4.76329484e-01 8.79246174e-01 -6.03230508e-03 -2.44293185e+01] [-1.26499503e-02 7.14035429e-06 9.99919986e-01 8.64762184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.88, Y:-24.44, Z:0.87 [[ 8.79159927e-01 4.76369173e-01 1.22570007e-02 1.75880869e+02] [-4.76322767e-01 8.79245364e-01 -6.64910251e-03 -2.44428325e+01] [-1.39443386e-02 7.33596307e-06 9.99902773e-01 8.65571246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.90, Y:-24.46, Z:0.86 [[ 8.77758191e-01 4.78956398e-01 1.18881451e-02 1.75903319e+02] [-4.78913117e-01 8.77838691e-01 -6.43890384e-03 -2.44595679e+01] [-1.35198279e-02 -4.15880388e-05 9.99908602e-01 8.63735828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.93, Y:-24.48, Z:0.86 [[ 8.76953896e-01 4.80418221e-01 1.22555107e-02 1.75927245e+02] [-4.80372459e-01 8.77039525e-01 -6.63120760e-03 -2.44754989e+01] [-1.39343202e-02 -7.19464639e-05 9.99902910e-01 8.62839044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.95, Y:-24.49, Z:0.86 [[ 8.75843126e-01 4.82380470e-01 1.44187805e-02 1.75951934e+02] [-4.82317522e-01 8.75961795e-01 -7.79374314e-03 -2.44904789e+01] [-1.63898503e-02 -1.28334107e-04 9.99865669e-01 8.62843616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.98, Y:-24.50, Z:0.86 [[ 8.75161384e-01 4.83602121e-01 1.48842225e-02 1.75978422e+02] [-4.83535202e-01 8.75287932e-01 -8.04637381e-03 -2.45036068e+01] [-1.69192238e-02 -1.55169888e-04 9.99856848e-01 8.64503623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.01, Y:-24.52, Z:0.87 [[ 8.74234646e-01 4.85280090e-01 1.47315426e-02 1.76005075e+02] [-4.85214795e-01 8.74358736e-01 -7.96259338e-03 -2.45172520e+01] [-1.67447410e-02 -1.86787420e-04 9.99859780e-01 8.66856905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.03, Y:-24.53, Z:0.87 [[ 8.71610842e-01 4.90007332e-01 1.36877529e-02 1.76031183e+02] [-4.89951691e-01 8.71718271e-01 -7.38896577e-03 -2.45303612e+01] [-1.55525117e-02 -2.66035001e-04 9.99879017e-01 8.67983028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.06, Y:-24.54, Z:0.87 [[ 8.70812486e-01 4.91433486e-01 1.33694573e-02 1.76057012e+02] [-4.91380695e-01 8.70915061e-01 -7.20900380e-03 -2.45429433e+01] [-1.51864076e-02 -2.91802702e-04 9.99884637e-01 8.65975700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.08, Y:-24.55, Z:0.86 [[ 8.69286133e-01 4.94190049e-01 1.08542406e-02 1.76083875e+02] [-4.94155551e-01 8.69353850e-01 -5.84592429e-03 -2.45531028e+01] [-1.23251735e-02 -2.81902349e-04 9.99924002e-01 8.63161332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.11, Y:-24.57, Z:0.86 [[ 8.69058702e-01 4.94577642e-01 1.13986128e-02 1.76109245e+02] [-4.94539716e-01 8.69133397e-01 -6.13250163e-03 -2.45659900e+01] [-1.29399133e-02 -3.07562836e-04 9.99916229e-01 8.62523764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.13, Y:-24.58, Z:0.87 [[ 8.68402790e-01 4.95703205e-01 1.24469402e-02 1.76134994e+02] [-4.95658197e-01 8.68491913e-01 -6.68948617e-03 -2.45782267e+01] [-1.41260666e-02 -3.60259470e-04 9.99900157e-01 8.66736448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.002320588 meters Centerline goodness [0,1] 0.9999508502899833 Centerline is valid? [True, True] Translation: X:176.16, Y:-24.59, Z:0.87 [[ 8.67591806e-01 4.97090463e-01 1.36209038e-02 1.76161446e+02] [-4.97036853e-01 8.67698617e-01 -7.31271534e-03 -2.45896313e+01] [-1.54539205e-02 -4.25639276e-04 9.99880490e-01 8.68581438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.19, Y:-24.60, Z:0.87 [[ 8.66545270e-01 4.98959584e-01 1.17740845e-02 1.76190584e+02] [-4.98919796e-01 8.66625162e-01 -6.31396190e-03 -2.45968002e+01] [-1.33541297e-02 -4.02990047e-04 9.99910748e-01 8.67719712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.062320588 meters Centerline goodness [0,1] 0.999950799507995 Centerline is valid? [True, True] Translation: X:176.22, Y:-24.61, Z:0.87 [[ 8.66241483e-01 4.99506975e-01 1.08846762e-02 1.76217837e+02] [-4.99473095e-01 8.66309779e-01 -5.83044910e-03 -2.46077305e+01] [-1.23418514e-02 -3.86026024e-04 9.99923762e-01 8.66943773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.24, Y:-24.62, Z:0.87 [[ 8.65970714e-01 4.99972782e-01 1.10426252e-02 1.76244214e+02] [-4.99938030e-01 8.66041023e-01 -5.90860329e-03 -2.46191159e+01] [-1.25175072e-02 -4.03950874e-04 9.99921571e-01 8.66334169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.27, Y:-24.63, Z:0.87 [[ 8.66251729e-01 4.99455774e-01 1.23236312e-02 1.76272251e+02] [-4.99412535e-01 8.66339269e-01 -6.58713765e-03 -2.46276170e+01] [-1.39664296e-02 -4.48456514e-04 9.99902364e-01 8.67924202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.30, Y:-24.64, Z:0.87 [[ 8.66719263e-01 4.98655968e-01 1.18298475e-02 1.76299342e+02] [-4.98616145e-01 8.66799888e-01 -6.31617778e-03 -2.46381671e+01] [-1.34037102e-02 -4.24200000e-04 9.99910076e-01 8.67444813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.33, Y:-24.64, Z:0.87 [[ 8.67726249e-01 4.96924882e-01 1.08082713e-02 1.76329259e+02] [-4.96891586e-01 8.67793481e-01 -5.76419898e-03 -2.46422755e+01] [-1.22437213e-02 -3.68792323e-04 9.99924975e-01 8.66667726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.36, Y:-24.65, Z:0.87 [[ 8.68863271e-01 4.94938342e-01 1.06138234e-02 1.76357367e+02] [-4.94906161e-01 8.68928030e-01 -5.65424329e-03 -2.46513151e+01] [-1.20211505e-02 -3.40082277e-04 9.99927686e-01 8.67722795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.39, Y:-24.66, Z:0.87 [[ 8.71202858e-01 4.90816620e-01 1.02286363e-02 1.76387012e+02] [-4.90786510e-01 8.71262858e-01 -5.44363621e-03 -2.46576018e+01] [-1.15836580e-02 -2.77565272e-04 9.99932869e-01 8.70412376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.41, Y:-24.67, Z:0.87 [[ 8.72511428e-01 4.88482844e-01 1.04076104e-02 1.76413004e+02] [-4.88451578e-01 8.72573461e-01 -5.53269413e-03 -2.46690293e+01] [-1.17840308e-02 -2.56274882e-04 9.99930533e-01 8.69967906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.44, Y:-24.68, Z:0.87 [[ 8.75042325e-01 4.83909357e-01 1.15180059e-02 1.76442094e+02] [-4.83870692e-01 8.75118099e-01 -6.12095397e-03 -2.46768284e+01] [-1.30416023e-02 -2.17131673e-04 9.99914931e-01 8.69769636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.332320588 meters Centerline goodness [0,1] 0.9999507704425737 Centerline is valid? [True, True] Translation: X:176.47, Y:-24.69, Z:0.87 [[ 8.76855750e-01 4.80616533e-01 1.14778734e-02 1.76469641e+02] [-4.80577957e-01 8.76930851e-01 -6.09177822e-03 -2.46867443e+01] [-1.29931106e-02 -1.74402167e-04 9.99915571e-01 8.68289170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.50, Y:-24.69, Z:0.87 [[ 8.79341193e-01 4.76009539e-01 1.31903127e-02 1.76497267e+02] [-4.75958202e-01 8.79440107e-01 -6.99197105e-03 -2.46943526e+01] [-1.49283350e-02 -1.29709367e-04 9.99888558e-01 8.67208273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.52, Y:-24.71, Z:0.87 [[ 8.80365712e-01 4.74152546e-01 1.16437666e-02 1.76523404e+02] [-4.74112467e-01 8.80442704e-01 -6.16552056e-03 -2.47068367e+01] [-1.31750666e-02 -9.25420264e-05 9.99913201e-01 8.66534154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.55, Y:-24.72, Z:0.87 [[ 8.81067064e-01 4.72922437e-01 8.07446466e-03 1.76549686e+02] [-4.72903162e-01 8.81104060e-01 -4.27017819e-03 -2.47177739e+01] [-9.13390668e-03 -5.61265039e-05 9.99958283e-01 8.66749056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.58, Y:-24.73, Z:0.87 [[ 8.81925708e-01 4.71329588e-01 7.44750834e-03 1.76575017e+02] [-4.71313179e-01 8.81957152e-01 -3.93315581e-03 -2.47286107e+01] [-8.42219595e-03 -4.13576088e-05 9.99964532e-01 8.67318651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.60, Y:-24.74, Z:0.87 [[ 8.82755978e-01 4.69766902e-01 7.80653010e-03 1.76601105e+02] [-4.69748855e-01 8.82790494e-01 -4.11782600e-03 -2.47392793e+01] [-8.82594893e-03 -3.20730574e-05 9.99961050e-01 8.68223828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.63, Y:-24.75, Z:0.87 [[ 8.85010525e-01 4.65472911e-01 9.55720019e-03 1.76628411e+02] [-4.65445658e-01 8.85062127e-01 -5.03683685e-03 -2.47497775e+01] [-1.08032270e-02 9.29629522e-06 9.99941643e-01 8.68895738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.65, Y:-24.76, Z:0.87 [[ 8.87869038e-01 4.59996647e-01 9.57368476e-03 1.76653944e+02] [-4.59969039e-01 8.87920649e-01 -5.04018465e-03 -2.47635723e+01] [-1.08191404e-02 7.14253151e-05 9.99941469e-01 8.68050410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.68, Y:-24.78, Z:0.87 [[ 8.89323560e-01 4.57180399e-01 9.47042773e-03 1.76679331e+02] [-4.57153281e-01 8.89373978e-01 -4.98046368e-03 -2.47772115e+01] [-1.06997224e-02 9.98065818e-05 9.99942751e-01 8.66520477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.70, Y:-24.79, Z:0.87 [[ 8.90710239e-01 4.54515115e-01 7.16103712e-03 1.76704750e+02] [-4.54499568e-01 8.90739020e-01 -3.76050135e-03 -2.47896657e+01] [-8.08781989e-03 9.48287761e-05 9.99967289e-01 8.66993622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.73, Y:-24.80, Z:0.87 [[ 8.92434255e-01 4.51080825e-01 9.33753360e-03 1.76730868e+02] [-4.51054192e-01 8.92483088e-01 -4.90444522e-03 -2.48008416e+01] [-1.05458920e-02 1.65161247e-04 9.99944377e-01 8.67943400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.76, Y:-24.82, Z:0.87 [[ 8.92905917e-01 4.50100006e-01 1.13581768e-02 1.76755254e+02] [-4.50060617e-01 8.92978131e-01 -5.95812187e-03 -2.48161572e+01] [-1.28243542e-02 2.08174218e-04 9.99917743e-01 8.68767616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.692320588 meters Centerline goodness [0,1] 0.999950760746467 Centerline is valid? [True, True] Translation: X:176.78, Y:-24.83, Z:0.87 [[ 8.93061430e-01 4.49816379e-01 1.03202277e-02 1.76779035e+02] [-4.49783909e-01 8.93121039e-01 -5.40787135e-03 -2.48319870e+01] [-1.16497616e-02 1.87688979e-04 9.99932122e-01 8.69123368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.80, Y:-24.85, Z:0.87 [[ 8.92923823e-01 4.50114106e-01 9.18357201e-03 1.76803278e+02] [-4.50088466e-01 8.92971033e-01 -4.80697194e-03 -2.48481049e+01] [-1.03643497e-02 1.58839924e-04 9.99946276e-01 8.69420045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.752320588 meters Centerline goodness [0,1] 0.9999508164469801 Centerline is valid? [True, True] Translation: X:176.83, Y:-24.86, Z:0.87 [[ 8.91588577e-01 4.52716966e-01 1.08239831e-02 1.76825943e+02] [-4.52681621e-01 8.91654264e-01 -5.65888657e-03 -2.48640921e+01] [-1.22131247e-02 1.45580407e-04 9.99925406e-01 8.67876944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.85, Y:-24.88, Z:0.87 [[ 8.91583507e-01 4.52702733e-01 1.17934704e-02 1.76851012e+02] [-4.52660849e-01 8.91661490e-01 -6.15981482e-03 -2.48785981e+01] [-1.33043484e-02 1.53546965e-04 9.99911481e-01 8.68641653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.87, Y:-24.90, Z:0.87 [[ 8.91562205e-01 4.52713660e-01 1.29296723e-02 1.76873803e+02] [-4.52663420e-01 8.91655940e-01 -6.74629893e-03 -2.48973862e+01] [-1.45829608e-02 1.61955464e-04 9.99893650e-01 8.67457775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.90, Y:-24.91, Z:0.87 [[ 8.91503906e-01 4.52845509e-01 1.23178640e-02 1.76897992e+02] [-4.52800019e-01 8.91588988e-01 -6.42022394e-03 -2.49139798e+01] [-1.38898415e-02 1.46125663e-04 9.99903521e-01 8.68700042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.92, Y:-24.93, Z:0.87 [[ 8.90770460e-01 4.54362544e-01 9.09210277e-03 1.76921582e+02] [-4.54337898e-01 8.90816856e-01 -4.73323483e-03 -2.49313702e+01] [-1.02500030e-02 8.53388997e-05 9.99947464e-01 8.67861800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.95, Y:-24.95, Z:0.87 [[ 8.90184819e-01 4.55520051e-01 8.51306265e-03 1.76946383e+02] [-4.55498544e-01 8.90225522e-01 -4.42687238e-03 -2.49461585e+01] [-9.59507477e-03 6.30469498e-05 9.99953964e-01 8.68895899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.97, Y:-24.96, Z:0.87 [[ 8.90161963e-01 4.55564773e-01 8.50985854e-03 1.76970571e+02] [-4.55543341e-01 8.90202636e-01 -4.41935641e-03 -2.49601525e+01] [-9.58880161e-03 5.73335871e-05 9.99954025e-01 8.68809894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.99, Y:-24.98, Z:0.87 [[ 8.89382400e-01 4.57067386e-01 9.39950049e-03 1.76992948e+02] [-4.57041382e-01 8.89432068e-01 -4.87571002e-03 -2.49786001e+01] [-1.05887452e-02 4.04099866e-05 9.99943937e-01 8.67442494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.02, Y:-25.00, Z:0.87 [[ 8.89154528e-01 4.57512745e-01 9.29050948e-03 1.77015685e+02] [-4.57487428e-01 8.89203063e-01 -4.81316811e-03 -2.49953230e+01] [-1.04632352e-02 2.93589342e-05 9.99945258e-01 8.66405633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.04, Y:-25.01, Z:0.87 [[ 8.88383070e-01 4.58990684e-01 1.01524936e-02 1.77038045e+02] [-4.58960620e-01 8.88441080e-01 -5.25335163e-03 -2.50132277e+01] [-1.14311318e-02 7.39388794e-06 9.99934662e-01 8.67633915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.06, Y:-25.03, Z:0.87 [[ 8.88130700e-01 4.59458207e-01 1.10460926e-02 1.77063185e+02] [-4.59422723e-01 8.88199390e-01 -5.71014592e-03 -2.50261771e+01] [-1.24347061e-02 -3.47006008e-06 9.99922686e-01 8.68374677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.09, Y:-25.04, Z:0.87 [[ 8.87412338e-01 4.60841252e-01 1.11661251e-02 1.77087624e+02] [-4.60805198e-01 8.87482586e-01 -5.76451890e-03 -2.50403833e+01] [-1.25662697e-02 -2.99033006e-05 9.99921041e-01 8.68296507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.11, Y:-25.06, Z:0.87 [[ 8.86666742e-01 4.62317017e-01 9.22302330e-03 1.77112123e+02] [-4.62292555e-01 8.86714708e-01 -4.75601053e-03 -2.50558122e+01] [-1.03769750e-02 -4.67386414e-05 9.99946157e-01 8.67890963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.14, Y:-25.07, Z:0.87 [[ 8.85890907e-01 4.63779515e-01 1.02888917e-02 1.77136363e+02] [-4.63749236e-01 8.85950651e-01 -5.30007108e-03 -2.50707239e+01] [-1.15735147e-02 -7.61808879e-05 9.99933022e-01 8.68017303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.16, Y:-25.09, Z:0.87 [[ 8.83583635e-01 4.68086146e-01 1.32408725e-02 1.77160674e+02] [-4.68036512e-01 8.83682822e-01 -6.81861784e-03 -2.50852709e+01] [-1.48924321e-02 -1.72392659e-04 9.99889087e-01 8.69536796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.19, Y:-25.10, Z:0.87 [[ 8.81746720e-01 4.71520904e-01 1.38115235e-02 1.77185027e+02] [-4.71467355e-01 8.81854851e-01 -7.11020007e-03 -2.50997809e+01] [-1.55323670e-02 -2.42286859e-04 9.99879336e-01 8.71128553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.21, Y:-25.11, Z:0.87 [[ 8.81369844e-01 4.72226015e-01 1.37763909e-02 1.77210772e+02] [-4.72172971e-01 8.81477466e-01 -7.08258468e-03 -2.51133452e+01] [-1.54881588e-02 -2.62462848e-04 9.99880017e-01 8.69458431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.24, Y:-25.13, Z:0.87 [[ 8.81615405e-01 4.71767297e-01 1.37802324e-02 1.77235018e+02] [-4.71714315e-01 8.81723056e-01 -7.07510903e-03 -2.51261495e+01] [-1.54881537e-02 -2.62807796e-04 9.99880017e-01 8.69596924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.26, Y:-25.14, Z:0.87 [[ 8.81172553e-01 4.72630114e-01 1.24782984e-02 1.77259658e+02] [-4.72586876e-01 8.81260863e-01 -6.39818291e-03 -2.51387897e+01] [-1.40206099e-02 -2.59176871e-04 9.99901673e-01 8.69221212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.28, Y:-25.15, Z:0.87 [[ 8.81200470e-01 4.72536818e-01 1.39530267e-02 1.77284899e+02] [-4.72482857e-01 8.81310881e-01 -7.14709495e-03 -2.51520635e+01] [-1.56742197e-02 -2.94542478e-04 9.99877108e-01 8.68662939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.31, Y:-25.17, Z:0.87 [[ 8.81338391e-01 4.72302871e-01 1.31391622e-02 1.77309315e+02] [-4.72255119e-01 8.81436282e-01 -6.72187402e-03 -2.51666785e+01] [-1.47560947e-02 -2.80790988e-04 9.99891083e-01 8.70422016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.33, Y:-25.18, Z:0.87 [[ 8.81228612e-01 4.72545842e-01 1.16858650e-02 1.77333477e+02] [-4.72508198e-01 8.81306053e-01 -5.97023185e-03 -2.51813512e+01] [-1.31200318e-02 -2.60527900e-04 9.99913895e-01 8.71475607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.36, Y:-25.19, Z:0.87 [[ 8.80858164e-01 4.73241850e-01 1.14474906e-02 1.77360452e+02] [-4.73205865e-01 8.80932505e-01 -5.84223280e-03 -2.51927053e+01] [-1.28492556e-02 -2.70841218e-04 9.99917408e-01 8.71916558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.39, Y:-25.20, Z:0.87 [[ 8.79322672e-01 4.76013105e-01 1.42535364e-02 1.77389183e+02] [-4.75957798e-01 8.79438098e-01 -7.26676042e-03 -2.52004236e+01] [-1.59941761e-02 -3.94254622e-04 9.99872007e-01 8.70290782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.41, Y:-25.21, Z:0.87 [[ 8.79163555e-01 4.76334178e-01 1.33114611e-02 1.77414617e+02] [-4.76286115e-01 8.79264241e-01 -6.77725345e-03 -2.52120727e+01] [-1.49325291e-02 -3.81749839e-04 9.99888431e-01 8.70263079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.44, Y:-25.22, Z:0.87 [[ 8.77971967e-01 4.78561433e-01 1.20075232e-02 1.77440627e+02] [-4.78522625e-01 8.78053989e-01 -6.10657414e-03 -2.52243698e+01] [-1.34656245e-02 -3.84470618e-04 9.99909260e-01 8.70437518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.47, Y:-25.23, Z:0.87 [[ 8.77827331e-01 4.78843892e-01 1.13006633e-02 1.77466809e+02] [-4.78809641e-01 8.77899988e-01 -5.73924743e-03 -2.52342459e+01] [-1.26690557e-02 -3.72798267e-04 9.99919675e-01 8.70402066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.50, Y:-25.24, Z:0.87 [[ 8.78377068e-01 4.77858306e-01 1.02550087e-02 1.77495651e+02] [-4.77830100e-01 8.78436867e-01 -5.20241787e-03 -2.52409949e+01] [-1.14943963e-02 -3.30467272e-04 9.99933883e-01 8.70787996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.52, Y:-25.25, Z:0.87 [[ 8.78794269e-01 4.77074951e-01 1.09601641e-02 1.77522110e+02] [-4.77042753e-01 8.78862544e-01 -5.55351639e-03 -2.52515316e+01] [-1.22819212e-02 -3.48068464e-04 9.99924514e-01 8.71399939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.55, Y:-25.26, Z:0.87 [[ 8.80123664e-01 4.74546425e-01 1.37122488e-02 1.77548899e+02] [-4.74495852e-01 8.80230385e-01 -6.93942708e-03 -2.52600759e+01] [-1.53630184e-02 -3.98851180e-04 9.99881902e-01 8.72242176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.58, Y:-25.27, Z:0.87 [[ 8.80491627e-01 4.73851560e-01 1.41136243e-02 1.77575550e+02] [-4.73798034e-01 8.80604641e-01 -7.13364346e-03 -2.52687594e+01] [-1.58088111e-02 -4.05894102e-04 9.99874951e-01 8.73990695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.60, Y:-25.28, Z:0.87 [[ 8.81245137e-01 4.72483929e-01 1.28819774e-02 1.77603002e+02] [-4.72439296e-01 8.81339215e-01 -6.50390060e-03 -2.52781453e+01] [-1.44263804e-02 -3.54421563e-04 9.99895872e-01 8.74158558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.63, Y:-25.29, Z:0.87 [[ 8.83384390e-01 4.68546396e-01 9.81299281e-03 1.77631094e+02] [-4.68520314e-01 8.83438862e-01 -4.94886574e-03 -2.52875152e+01] [-1.09879524e-02 -2.25835731e-04 9.99939605e-01 8.72102722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.66, Y:-25.30, Z:0.87 [[ 8.85617211e-01 4.64320916e-01 9.39378747e-03 1.77658901e+02] [-4.64296835e-01 8.85667013e-01 -4.73191773e-03 -2.52965327e+01] [-1.05168961e-02 -1.70838009e-04 9.99944681e-01 8.74467902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.69, Y:-25.31, Z:0.88 [[ 8.86648657e-01 4.62336891e-01 9.93771973e-03 1.77685344e+02] [-4.62309890e-01 8.86704332e-01 -4.99924296e-03 -2.53066762e+01] [-1.11231536e-02 -1.61734064e-04 9.99938123e-01 8.75659075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.71, Y:-25.32, Z:0.88 [[ 8.87305799e-01 4.61078361e-01 9.75520887e-03 1.77711450e+02] [-4.61052335e-01 8.87359410e-01 -4.90122281e-03 -2.53178131e+01] [-1.09162242e-02 -1.48778407e-04 9.99940405e-01 8.75829435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.74, Y:-25.33, Z:0.87 [[ 8.88907289e-01 4.58000159e-01 8.92676427e-03 1.77737736e+02] [-4.57978259e-01 8.88952104e-01 -4.48008464e-03 -2.53296563e+01] [-9.98734536e-03 -1.05884060e-04 9.99950120e-01 8.72893272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.76, Y:-25.34, Z:0.87 [[ 8.89794020e-01 4.56261478e-01 9.59511085e-03 1.77762298e+02] [-4.56236142e-01 8.89845747e-01 -4.80924513e-03 -2.53422523e+01] [-1.07324419e-02 -9.83988055e-05 9.99942401e-01 8.73149790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.79, Y:-25.35, Z:0.88 [[ 8.92011425e-01 4.51941985e-01 8.00373943e-03 1.77788193e+02] [-4.51924223e-01 8.92047331e-01 -4.00704903e-03 -2.53542536e+01] [-8.95066808e-03 -4.27502044e-05 9.99959941e-01 8.76256273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.81, Y:-25.37, Z:0.88 [[ 8.92830719e-01 4.50289698e-01 9.61748969e-03 1.77813789e+02] [-4.50264007e-01 8.92882516e-01 -4.81011348e-03 -2.53674660e+01] [-1.07532329e-02 -3.57923727e-05 9.99942182e-01 8.77063274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.84, Y:-25.38, Z:0.88 [[ 8.94511895e-01 4.46950174e-01 9.16581642e-03 1.77839129e+02] [-4.46926730e-01 8.94558853e-01 -4.57780503e-03 -2.53783706e+01] [-1.02454130e-02 -1.54730698e-06 9.99947514e-01 8.77520957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.982320588 meters Centerline goodness [0,1] 0.9999017343880509 Centerline is valid? [True, True] Translation: X:177.86, Y:-25.39, Z:0.88 [[ 8.94884850e-01 4.46146746e-01 1.15838617e-02 1.77864945e+02] [-4.46109300e-01 8.94959821e-01 -5.78026259e-03 -2.53906080e+01] [-1.29459361e-02 5.00100428e-06 9.99916198e-01 8.76966297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.012320588 meters Centerline goodness [0,1] 0.9999508091888435 Centerline is valid? [True, True] Translation: X:177.89, Y:-25.40, Z:0.88 [[ 8.94580752e-01 4.46836007e-01 7.92848383e-03 1.77890180e+02] [-4.46818538e-01 8.94615885e-01 -3.95111457e-03 -2.54036865e+01] [-8.85844784e-03 -8.00251137e-06 9.99960763e-01 8.76693112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.92, Y:-25.42, Z:0.88 [[ 8.95057750e-01 4.45909845e-01 6.00291012e-03 1.77915217e+02] [-4.45899836e-01 8.95077880e-01 -2.98753433e-03 -2.54172707e+01] [-6.70524303e-03 -2.68088964e-06 9.99977520e-01 8.77024803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.072320588 meters Centerline goodness [0,1] 0.999950821284548 Centerline is valid? [True, True] Translation: X:177.94, Y:-25.43, Z:0.88 [[ 8.96031280e-01 4.43935292e-01 7.02857713e-03 1.77940179e+02] [-4.43921539e-01 8.96058846e-01 -3.49446621e-03 -2.54310728e+01] [-7.84933559e-03 1.10142545e-05 9.99969193e-01 8.78449036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.97, Y:-25.44, Z:0.88 [[ 8.96701160e-01 4.42547550e-01 8.87107873e-03 1.77966037e+02] [-4.42525614e-01 8.96745039e-01 -4.40631454e-03 -2.54444608e+01] [-9.90509955e-03 2.54677945e-05 9.99950943e-01 8.79052832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.99, Y:-25.46, Z:0.88 [[ 8.99128728e-01 4.37560724e-01 1.03992088e-02 1.77991181e+02] [-4.37530306e-01 8.99188859e-01 -5.16011572e-03 -2.54583264e+01] [-1.16087167e-02 8.96392826e-05 9.99932613e-01 8.78428870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.162320588 meters Centerline goodness [0,1] 0.999852616064849 Centerline is valid? [True, True] Translation: X:178.01, Y:-25.47, Z:0.88 [[ 8.99862116e-01 4.36074064e-01 9.35856936e-03 1.78014964e+02] [-4.36049415e-01 8.99910775e-01 -4.63738783e-03 -2.54725441e+01] [-1.04441220e-02 9.22109347e-05 9.99945454e-01 8.78361379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.04, Y:-25.49, Z:0.88 [[ 9.00662602e-01 4.34441042e-01 8.23762122e-03 1.78039482e+02] [-4.34421926e-01 9.00700268e-01 -4.07648710e-03 -2.54862466e+01] [-9.19062094e-03 9.29362100e-05 9.99957761e-01 8.79114601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.222320588 meters Centerline goodness [0,1] 0.9998524420835178 Centerline is valid? [True, True] Translation: X:178.07, Y:-25.50, Z:0.88 [[ 9.02454544e-01 4.30699103e-01 8.60688565e-03 1.78065085e+02] [-4.30678104e-01 9.02495576e-01 -4.25505717e-03 -2.54997396e+01] [-9.60032553e-03 1.33198483e-04 9.99953907e-01 8.79910553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.252320588 meters Centerline goodness [0,1] 0.9998525653626892 Centerline is valid? [True, True] Translation: X:178.09, Y:-25.51, Z:0.88 [[ 9.03193870e-01 4.29119548e-01 9.86140273e-03 1.78090151e+02] [-4.29091942e-01 9.03247688e-01 -4.87034065e-03 -2.55143015e+01] [-1.09972476e-02 1.67413371e-04 9.99939514e-01 8.78771631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.282320588 meters Centerline goodness [0,1] 0.9997049712346954 Centerline is valid? [True, True] Translation: X:178.11, Y:-25.53, Z:0.88 [[ 9.04287015e-01 4.26843300e-01 8.35417851e-03 1.78112653e+02] [-4.26823444e-01 9.04325589e-01 -4.12020562e-03 -2.55323603e+01] [-9.31357957e-03 1.60089195e-04 9.99956615e-01 8.77987673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.312320588 meters Centerline goodness [0,1] 0.9999014972419228 Centerline is valid? [True, True] Translation: X:178.14, Y:-25.55, Z:0.88 [[ 9.04634699e-01 4.26138063e-01 6.51250207e-03 1.78136746e+02] [-4.26126005e-01 9.04658132e-01 -3.20819094e-03 -2.55486170e+01] [-7.25872023e-03 1.27094359e-04 9.99973647e-01 8.77872491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.16, Y:-25.57, Z:0.88 [[ 9.05031982e-01 4.25309653e-01 5.36760483e-03 1.78158224e+02] [-4.25301472e-01 9.05047893e-01 -2.64011633e-03 -2.55682335e+01] [-5.98080640e-03 1.06539483e-04 9.99982109e-01 8.78596998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.372320588 meters Centerline goodness [0,1] 0.9998524493409404 Centerline is valid? [True, True] Translation: X:178.18, Y:-25.58, Z:0.88 [[ 9.05436184e-01 4.24436957e-01 6.21183648e-03 1.78182275e+02] [-4.24425997e-01 9.05457483e-01 -3.05277320e-03 -2.55838860e+01] [-6.92026359e-03 1.27626419e-04 9.99976047e-01 8.78740833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.402320588 meters Centerline goodness [0,1] 0.9999508333743056 Centerline is valid? [True, True] Translation: X:178.21, Y:-25.60, Z:0.88 [[ 9.06375195e-01 4.22375203e-01 9.12102961e-03 1.78206052e+02] [-4.22351507e-01 9.06421064e-01 -4.47880852e-03 -2.56013878e+01] [-1.01592310e-02 2.07200353e-04 9.99948372e-01 8.80609326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.432320588 meters Centerline goodness [0,1] 0.9999508551208964 Centerline is valid? [True, True] Translation: X:178.23, Y:-25.62, Z:0.88 [[ 9.06769461e-01 4.21465581e-01 1.16580254e-02 1.78230763e+02] [-4.21426864e-01 9.06844358e-01 -5.71912775e-03 -2.56169970e+01] [-1.29824301e-02 2.72925294e-04 9.99915687e-01 8.81014878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.25, Y:-25.64, Z:0.88 [[ 9.07631362e-01 4.19609010e-01 1.15581192e-02 1.78253403e+02] [-4.19570882e-01 9.07704905e-01 -5.66397694e-03 -2.56360254e+01] [-1.28680172e-02 2.91352849e-04 9.99917161e-01 8.79957396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49232058799998 meters Centerline goodness [0,1] 0.9999508430418326 Centerline is valid? [True, True] Translation: X:178.28, Y:-25.65, Z:0.88 [[ 9.08404247e-01 4.17961879e-01 1.04685972e-02 1.78276706e+02] [-4.17930573e-01 9.08464523e-01 -5.12316998e-03 -2.56524483e+01] [-1.16516389e-02 2.78762557e-04 9.99932078e-01 8.78882974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52232058799999 meters Centerline goodness [0,1] 0.999704942217851 Centerline is valid? [True, True] Translation: X:178.30, Y:-25.67, Z:0.88 [[ 9.08503705e-01 4.17779299e-01 9.02635354e-03 1.78301043e+02] [-4.17756064e-01 9.08548513e-01 -4.41257160e-03 -2.56685713e+01] [-1.00443612e-02 2.38023726e-04 9.99949526e-01 8.79866258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.32, Y:-25.69, Z:0.88 [[ 9.08865808e-01 4.16983614e-01 9.35998616e-03 1.78323761e+02] [-4.16958637e-01 9.08913969e-01 -4.57084285e-03 -2.56868432e+01] [-1.04133887e-02 2.51555704e-04 9.99945748e-01 8.78481920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.35, Y:-25.71, Z:0.88 [[ 9.08267792e-01 4.18309810e-01 8.15603832e-03 1.78345393e+02] [-4.18290937e-01 9.08304388e-01 -3.97876313e-03 -2.57076496e+01] [-9.07252104e-03 2.02185493e-04 9.99958823e-01 8.79472775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.612320588 meters Centerline goodness [0,1] 0.9999015699591516 Centerline is valid? [True, True] Translation: X:178.37, Y:-25.72, Z:0.88 [[ 9.08099156e-01 4.18666118e-01 8.63744378e-03 1.78369507e+02] [-4.18645021e-01 9.08140209e-01 -4.20787926e-03 -2.57229527e+01] [-9.60570648e-03 2.05148766e-04 9.99953843e-01 8.79792565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.39, Y:-25.74, Z:0.88 [[ 9.07347280e-01 4.20259870e-01 1.01269582e-02 1.78394132e+02] [-4.20231021e-01 9.07403766e-01 -4.92897923e-03 -2.57378479e+01] [-1.12606922e-02 2.16633905e-04 9.99936573e-01 8.80427582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.42, Y:-25.76, Z:0.88 [[ 9.05296449e-01 4.24616132e-01 1.18101668e-02 1.78417692e+02] [-4.24577334e-01 9.05373462e-01 -5.74293040e-03 -2.57561243e+01] [-1.31311525e-02 1.84725359e-04 9.99913766e-01 8.80057867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.44, Y:-25.77, Z:0.88 [[ 9.04470555e-01 4.26356632e-01 1.23708189e-02 1.78441541e+02] [-4.26314319e-01 9.04555137e-01 -6.00873129e-03 -2.57719791e+01] [-1.37519502e-02 1.60863297e-04 9.99905425e-01 8.79514514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.46, Y:-25.79, Z:0.88 [[ 9.03026381e-01 4.29408415e-01 1.23194223e-02 1.78464789e+02] [-4.29366829e-01 9.03110404e-01 -5.97700859e-03 -2.57889155e+01] [-1.36923762e-02 1.07845167e-04 9.99906249e-01 8.79172346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.49, Y:-25.80, Z:0.88 [[ 9.02406633e-01 4.30691817e-01 1.29161903e-02 1.78489120e+02] [-4.30646346e-01 9.02499059e-01 -6.25887591e-03 -2.58016781e+01] [-1.43524962e-02 8.57409907e-05 9.99896994e-01 8.80298591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.51, Y:-25.82, Z:0.88 [[ 9.01741668e-01 4.32112832e-01 1.18518294e-02 1.78514390e+02] [-4.32074756e-01 9.01819549e-01 -5.73643888e-03 -2.58150883e+01] [-1.31670003e-02 5.19096547e-05 9.99913310e-01 8.79814659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.54, Y:-25.83, Z:0.88 [[ 9.01951459e-01 4.31720594e-01 1.00446385e-02 1.78539284e+02] [-4.31693280e-01 9.02007387e-01 -4.85642001e-03 -2.58293355e+01] [-1.11569546e-02 4.40521762e-05 9.99937758e-01 8.80273451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.56, Y:-25.85, Z:0.88 [[ 9.01687676e-01 4.32265242e-01 1.03002775e-02 1.78561678e+02] [-4.32236637e-01 9.01746505e-01 -4.97290128e-03 -2.58468669e+01] [-1.14378516e-02 3.18464988e-05 9.99934585e-01 8.79498811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.59, Y:-25.86, Z:0.88 [[ 9.01258785e-01 4.33107249e-01 1.22765480e-02 1.78586544e+02] [-4.33066773e-01 9.01342394e-01 -5.92109867e-03 -2.58616118e+01] [-1.36298439e-02 1.98771760e-05 9.99907109e-01 8.80993305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.912320588 meters Centerline goodness [0,1] 0.9999507825573383 Centerline is valid? [True, True] Translation: X:178.61, Y:-25.87, Z:0.88 [[ 9.01584323e-01 4.32288751e-01 1.64967672e-02 1.78612110e+02] [-4.32215539e-01 9.01735235e-01 -7.95576335e-03 -2.58738555e+01] [-1.83149033e-02 4.26323883e-05 9.99832267e-01 8.82663663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.64, Y:-25.89, Z:0.88 [[ 9.02083094e-01 4.31229971e-01 1.69353061e-02 1.78636912e+02] [-4.31152866e-01 9.02242046e-01 -8.15457731e-03 -2.58859120e+01] [-1.87962434e-02 5.44005570e-05 9.99823334e-01 8.82427545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.66, Y:-25.90, Z:0.88 [[ 9.02069776e-01 4.31336612e-01 1.47934818e-02 1.78661437e+02] [-4.31277927e-01 9.02191069e-01 -7.11505102e-03 -2.59003900e+01] [-1.64155292e-02 3.81703068e-05 9.99865255e-01 8.79813836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.69, Y:-25.91, Z:0.88 [[ 9.02123307e-01 4.31299666e-01 1.24152166e-02 1.78687178e+02] [-4.31258432e-01 9.02208733e-01 -5.96384843e-03 -2.59132252e+01] [-1.37733227e-02 2.59598203e-05 9.99905143e-01 8.79449767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.71, Y:-25.93, Z:0.88 [[ 9.02659654e-01 4.30136739e-01 1.37089507e-02 1.78713210e+02] [-4.30086442e-01 9.02763748e-01 -6.57787659e-03 -2.59255952e+01] [-1.52053301e-02 4.15499749e-05 9.99884391e-01 8.78877495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.74, Y:-25.94, Z:0.88 [[ 9.03129288e-01 4.29105843e-01 1.50221469e-02 1.78738019e+02] [-4.29045439e-01 9.03254213e-01 -7.19992661e-03 -2.59394563e+01] [-1.66583480e-02 5.72809978e-05 9.99861238e-01 8.80065237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.76, Y:-25.96, Z:0.88 [[ 9.04479144e-01 4.26234381e-01 1.55477080e-02 1.78761830e+02] [-4.26169397e-01 9.04612758e-01 -7.44337783e-03 -2.59556876e+01] [-1.72372786e-02 1.06422651e-04 9.99851421e-01 8.81170846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.122320588 meters Centerline goodness [0,1] 0.9999507534718802 Centerline is valid? [True, True] Translation: X:178.79, Y:-25.97, Z:0.88 [[ 9.05558290e-01 4.23965580e-01 1.47435106e-02 1.78787163e+02] [-4.23906978e-01 9.05678292e-01 -7.05019482e-03 -2.59689516e+01] [-1.63419174e-02 1.34485360e-04 9.99866453e-01 8.80875154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.81, Y:-25.98, Z:0.88 [[ 9.06997595e-01 4.20902613e-01 1.40125655e-02 1.78812448e+02] [-4.20849432e-01 9.07105815e-01 -6.69292327e-03 -2.59817901e+01] [-1.55279486e-02 1.73285064e-04 9.99879419e-01 8.80304667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.84, Y:-25.99, Z:0.88 [[ 9.07184296e-01 4.20499962e-01 1.40155367e-02 1.78837840e+02] [-4.20446830e-01 9.07292539e-01 -6.68670023e-03 -2.59942505e+01] [-1.55279491e-02 1.73281450e-04 9.99879419e-01 8.80447407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.86, Y:-26.01, Z:0.88 [[ 9.09036704e-01 4.16427972e-01 1.54924113e-02 1.78863347e+02] [-4.16362597e-01 9.09168673e-01 -7.38318326e-03 -2.60081873e+01] [-1.71597791e-02 2.61123953e-04 9.99852726e-01 8.80338923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24232058799998 meters Centerline goodness [0,1] 0.9999014681249384 Centerline is valid? [True, True] Translation: X:178.89, Y:-26.02, Z:0.88 [[ 9.10021713e-01 4.14240411e-01 1.62899732e-02 1.78889623e+02] [-4.14167763e-01 9.10167446e-01 -7.76427292e-03 -2.60222816e+01] [-1.80428789e-02 3.18875188e-04 9.99837163e-01 8.81521709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27232058799999 meters Centerline goodness [0,1] 0.9999507437690868 Centerline is valid? [True, True] Translation: X:178.92, Y:-26.04, Z:0.88 [[ 9.11804872e-01 4.10332674e-01 1.54587308e-02 1.78915934e+02] [-4.10266658e-01 9.11935828e-01 -7.36993169e-03 -2.60395263e+01] [-1.71214942e-02 3.77737817e-04 9.99853345e-01 8.82082896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.94, Y:-26.06, Z:0.88 [[ 9.12791159e-01 4.08179629e-01 1.42017760e-02 1.78943092e+02] [-4.08123635e-01 9.12901551e-01 -6.77176375e-03 -2.60561753e+01] [-1.57289193e-02 3.85125647e-04 9.99876219e-01 8.80869537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.332320588 meters Centerline goodness [0,1] 0.999950768018905 Centerline is valid? [True, True] Translation: X:178.97, Y:-26.08, Z:0.88 [[ 9.13996235e-01 4.05479299e-01 1.40506498e-02 1.78967891e+02] [-4.05424154e-01 9.14104127e-01 -6.70075842e-03 -2.60762955e+01] [-1.55607758e-02 4.27995161e-04 9.99878832e-01 8.77180169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.362320588 meters Centerline goodness [0,1] 0.9997537552327013 Centerline is valid? [True, True] Translation: X:179.00, Y:-26.09, Z:0.88 [[ 9.14816848e-01 4.03632246e-01 1.38254723e-02 1.78995958e+02] [-4.03578607e-01 9.14921201e-01 -6.59579976e-03 -2.60928701e+01] [-1.53114952e-02 4.54283914e-04 9.99882669e-01 8.77816548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.02, Y:-26.11, Z:0.88 [[ 9.16256557e-01 4.00308621e-01 1.50641627e-02 1.79022189e+02] [-4.00244453e-01 9.16380214e-01 -7.18892655e-03 -2.61125261e+01] [-1.66822899e-02 5.57553519e-04 9.99860685e-01 8.80612269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.422320588 meters Centerline goodness [0,1] 0.999950777712148 Centerline is valid? [True, True] Translation: X:179.05, Y:-26.13, Z:0.88 [[ 9.17004182e-01 3.98596273e-01 1.49780257e-02 1.79049571e+02] [-3.98532572e-01 9.17126309e-01 -7.15003184e-03 -2.61297365e+01] [-1.65867175e-02 5.87377997e-04 9.99862258e-01 8.80671136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.452320588 meters Centerline goodness [0,1] 0.9999014972419228 Centerline is valid? [True, True] Translation: X:179.08, Y:-26.15, Z:0.88 [[ 9.17623658e-01 3.97155405e-01 1.53103519e-02 1.79076739e+02] [-3.97088608e-01 9.17751158e-01 -7.31091092e-03 -2.61478642e+01] [-1.69546610e-02 6.29098498e-04 9.99856061e-01 8.81370929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.482320588 meters Centerline goodness [0,1] 0.9997043606799705 Centerline is valid? [True, True] Translation: X:179.10, Y:-26.17, Z:0.88 [[ 9.17918784e-01 3.96519145e-01 1.40596706e-02 1.79102618e+02] [-3.96462686e-01 9.18026262e-01 -6.71722071e-03 -2.61697564e+01] [-1.55706535e-02 5.91728281e-04 9.99878595e-01 8.78622283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.512320588 meters Centerline goodness [0,1] 0.9999014487040505 Centerline is valid? [True, True] Translation: X:179.13, Y:-26.19, Z:0.88 [[ 9.18112382e-01 3.96079140e-01 1.38191708e-02 1.79129805e+02] [-3.96024531e-01 9.18216187e-01 -6.60336027e-03 -2.61863094e+01] [-1.53044396e-02 5.89896174e-04 9.99882706e-01 8.78914207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.542320588 meters Centerline goodness [0,1] 0.999950741342791 Centerline is valid? [True, True] Translation: X:179.16, Y:-26.21, Z:0.88 [[ 9.17964355e-01 3.96448832e-01 1.30294531e-02 1.79155566e+02] [-3.96400293e-01 9.18056653e-01 -6.22811240e-03 -2.62068553e+01] [-1.44309040e-02 5.52306151e-04 9.99895717e-01 8.80892594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.572320588 meters Centerline goodness [0,1] 0.9998519103564024 Centerline is valid? [True, True] Translation: X:179.18, Y:-26.22, Z:0.88 [[ 9.17636777e-01 3.97249817e-01 1.16330315e-02 1.79182461e+02] [-3.97211139e-01 9.17710383e-01 -5.56449473e-03 -2.62245024e+01] [-1.28862483e-02 4.85415312e-04 9.99916851e-01 8.81978867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.602320588 meters Centerline goodness [0,1] 0.999852224028373 Centerline is valid? [True, True] Translation: X:179.21, Y:-26.24, Z:0.88 [[ 9.17602375e-01 3.97322011e-01 1.18786295e-02 1.79209367e+02] [-3.97281657e-01 9.17679123e-01 -5.68441916e-03 -2.62447334e+01] [-1.31593152e-02 4.96874897e-04 9.99913289e-01 8.82163013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.632320588 meters Centerline goodness [0,1] 0.9997539127866916 Centerline is valid? [True, True] Translation: X:179.24, Y:-26.26, Z:0.88 [[ 9.17339829e-01 3.97821203e-01 1.50309042e-02 1.79236039e+02] [-3.97756627e-01 9.17462754e-01 -7.19453588e-03 -2.62632908e+01] [-1.66524337e-02 6.21192563e-04 9.99861146e-01 8.81083552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.662320588 meters Centerline goodness [0,1] 0.9999015941743751 Centerline is valid? [True, True] Translation: X:179.26, Y:-26.29, Z:0.88 [[ 9.18005518e-01 3.96257486e-01 1.56803501e-02 1.79259049e+02] [-3.96186824e-01 9.18139169e-01 -7.51439330e-03 -2.62884870e+01] [-1.73743782e-02 6.85906401e-04 9.99848819e-01 8.81815435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.692320588 meters Centerline goodness [0,1] 0.9996543380573799 Centerline is valid? [True, True] Translation: X:179.29, Y:-26.31, Z:0.88 [[ 9.18222589e-01 3.95812064e-01 1.41452331e-02 1.79286849e+02] [-3.95754366e-01 9.18331317e-01 -6.78784015e-03 -2.63079022e+01] [-1.56767196e-02 6.34710386e-04 9.99876911e-01 8.81167653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.722320588 meters Centerline goodness [0,1] 0.9997537552327013 Centerline is valid? [True, True] Translation: X:179.31, Y:-26.33, Z:0.88 [[ 9.18013157e-01 3.96337154e-01 1.29885882e-02 1.79313846e+02] [-3.96288464e-01 9.18104854e-01 -6.23939711e-03 -2.63269515e+01] [-1.43977908e-02 5.80620973e-04 9.99896178e-01 8.80860078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.752320588 meters Centerline goodness [0,1] 0.9997042440972052 Centerline is valid? [True, True] Translation: X:179.34, Y:-26.35, Z:0.88 [[ 9.17600525e-01 3.97301288e-01 1.26871589e-02 1.79338859e+02] [-3.97254830e-01 9.17688060e-01 -6.10126505e-03 -2.63498900e+01] [-1.40668947e-02 5.58488841e-04 9.99900900e-01 8.80170624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.782320588 meters Centerline goodness [0,1] 0.9998031786645672 Centerline is valid? [True, True] Translation: X:179.36, Y:-26.37, Z:0.88 [[ 9.15498571e-01 4.02127438e-01 1.24856159e-02 1.79362125e+02] [-4.02082905e-01 9.15583583e-01 -6.00330844e-03 -2.63741085e+01] [-1.38457200e-02 4.75767581e-04 9.99904030e-01 8.82947927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.812320588 meters Centerline goodness [0,1] 0.9997537309757178 Centerline is valid? [True, True] Translation: X:179.39, Y:-26.39, Z:0.88 [[ 9.14270951e-01 4.04952436e-01 1.10523234e-02 1.79389294e+02] [-4.04917650e-01 9.14337669e-01 -5.32207970e-03 -2.63924407e+01] [-1.22607448e-02 3.90542041e-04 9.99924758e-01 8.83785123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.842320588 meters Centerline goodness [0,1] 0.9997539127866916 Centerline is valid? [True, True] Translation: X:179.42, Y:-26.41, Z:0.88 [[ 9.12932342e-01 4.07929779e-01 1.21586998e-02 1.79416384e+02] [-4.07887858e-01 9.13013221e-01 -5.86112594e-03 -2.64104476e+01] [-1.34919815e-02 3.91425401e-04 9.99908902e-01 8.83322347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.872320588 meters Centerline goodness [0,1] 0.999950818865883 Centerline is valid? [True, True] Translation: X:179.44, Y:-26.44, Z:0.88 [[ 9.10452544e-01 4.13436831e-01 1.20893354e-02 1.79439510e+02] [-4.13395877e-01 9.10532752e-01 -5.82721766e-03 -2.64355113e+01] [-1.34169223e-02 3.07723722e-04 9.99909942e-01 8.81723225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.46, Y:-26.46, Z:0.88 [[ 9.08687555e-01 4.17314551e-01 1.16401354e-02 1.79462734e+02] [-4.17276793e-01 9.08762072e-01 -5.61904715e-03 -2.64606417e+01] [-1.29230237e-02 2.48799842e-04 9.99916463e-01 8.82411463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.932320588 meters Centerline goodness [0,1] 0.9999506903353057 Centerline is valid? [True, True] Translation: X:179.49, Y:-26.48, Z:0.88 [[ 9.07916876e-01 4.18993844e-01 1.14501261e-02 1.79490079e+02] [-4.18957413e-01 9.07989046e-01 -5.52969578e-03 -2.64790963e+01] [-1.27134975e-02 2.23388917e-04 9.99919155e-01 8.82931455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.52, Y:-26.50, Z:0.88 [[ 9.05662559e-01 4.23892514e-01 9.51139482e-03 1.79515800e+02] [-4.23867627e-01 9.05712493e-01 -4.59507372e-03 -2.64989086e+01] [-1.05624065e-02 1.30013873e-04 9.99944208e-01 8.84464692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99232058799998 meters Centerline goodness [0,1] 0.9999507728660038 Centerline is valid? [True, True] Translation: X:179.54, Y:-26.51, Z:0.88 [[ 9.04108586e-01 4.27206562e-01 9.06742680e-03 1.79544025e+02] [-4.27184042e-01 9.04154049e-01 -4.38742100e-03 -2.65143996e+01] [-1.00726857e-02 9.32449596e-05 9.99949265e-01 8.83617134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.57, Y:-26.53, Z:0.88 [[ 9.02222513e-01 4.31156664e-01 9.92309473e-03 1.79573547e+02] [-4.31129859e-01 9.02277079e-01 -4.80806757e-03 -2.65300444e+01] [-1.10264113e-02 5.98043784e-05 9.99939205e-01 8.84605411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.60, Y:-26.55, Z:0.89 [[ 8.98465036e-01 4.38902217e-01 1.11992145e-02 1.79602341e+02] [-4.38868585e-01 8.98534831e-01 -5.43348505e-03 -2.65464813e+01] [-1.24476529e-02 -3.31870698e-05 9.99922524e-01 8.85132147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.63, Y:-26.56, Z:0.89 [[ 8.96201186e-01 4.43529493e-01 1.02481282e-02 1.79631610e+02] [-4.43501552e-01 8.96259774e-01 -4.97906377e-03 -2.65627332e+01] [-1.13933467e-02 -8.28178984e-05 9.99935090e-01 8.85349764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.66, Y:-26.58, Z:0.88 [[ 8.93449256e-01 4.49100190e-01 7.57936037e-03 1.79659651e+02] [-4.49085059e-01 8.93481398e-01 -3.68810286e-03 -2.65804469e+01] [-8.42834519e-03 -1.08644744e-04 9.99964475e-01 8.84414565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.69, Y:-26.59, Z:0.88 [[ 8.92407460e-01 4.51149822e-01 8.53011543e-03 1.79688741e+02] [-4.51130712e-01 8.92448216e-01 -4.15477567e-03 -2.65945379e+01] [-9.48711260e-03 -1.40444241e-04 9.99954986e-01 8.84817312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.72, Y:-26.60, Z:0.89 [[ 8.91861092e-01 4.52193405e-01 1.02429075e-02 1.79719811e+02] [-4.52165859e-01 8.91919892e-01 -4.99428635e-03 -2.66049765e+01] [-1.13942363e-02 -1.77283389e-04 9.99935068e-01 8.85374360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.75, Y:-26.62, Z:0.89 [[ 8.92087072e-01 4.51732933e-01 1.08634196e-02 1.79750525e+02] [-4.51701827e-01 8.92153197e-01 -5.30404212e-03 -2.66161299e+01] [-1.20878450e-02 -1.75359083e-04 9.99926924e-01 8.85435488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.78, Y:-26.63, Z:0.88 [[ 8.92377116e-01 4.51200096e-01 9.03086659e-03 1.79780897e+02] [-4.51178520e-01 8.92422801e-01 -4.41451109e-03 -2.66277090e+01] [-1.00511791e-02 -1.35124348e-04 9.99949476e-01 8.84960333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.81, Y:-26.64, Z:0.89 [[ 8.92584603e-01 4.50780469e-01 9.47075900e-03 1.79810361e+02] [-4.50756648e-01 8.92634837e-01 -4.63593390e-03 -2.66417916e+01] [-1.05437179e-02 -1.31044367e-04 9.99944405e-01 8.85056909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.84, Y:-26.65, Z:0.89 [[ 8.93594255e-01 4.48787324e-01 8.90199595e-03 1.79839998e+02] [-4.48766132e-01 8.93638589e-01 -4.36239841e-03 -2.66536037e+01] [-9.91295621e-03 -9.67001332e-05 9.99950861e-01 8.85582766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.87, Y:-26.67, Z:0.89 [[ 8.94068381e-01 4.47852878e-01 8.33844391e-03 1.79869238e+02] [-4.47834197e-01 8.94107261e-01 -4.09122738e-03 -2.66660253e+01] [-9.28773120e-03 -7.64032921e-05 9.99956865e-01 8.85233241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.90, Y:-26.68, Z:0.88 [[ 8.95746759e-01 4.44461834e-01 9.56149306e-03 1.79899852e+02] [-4.44437010e-01 8.95797788e-01 -4.69762739e-03 -2.66784950e+01] [-1.06530804e-02 -4.15968730e-05 9.99943253e-01 8.84485003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.93, Y:-26.69, Z:0.88 [[ 8.96715329e-01 4.42484790e-01 1.04321842e-02 1.79930300e+02] [-4.42455027e-01 8.96776009e-01 -5.13208100e-03 -2.66923506e+01] [-1.16262003e-02 -1.37566469e-05 9.99932413e-01 8.84834446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.96, Y:-26.71, Z:0.89 [[ 8.97514251e-01 4.40838198e-01 1.13952304e-02 1.79960368e+02] [-4.40802461e-01 8.97586588e-01 -5.61320191e-03 -2.67065031e+01] [-1.27027198e-02 1.48831083e-05 9.99919317e-01 8.85119180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.99, Y:-26.72, Z:0.89 [[ 8.99710706e-01 4.36345428e-01 1.11046851e-02 1.79989658e+02] [-4.36311054e-01 8.99779229e-01 -5.47750378e-03 -2.67223471e+01] [-1.23818487e-02 8.30719439e-05 9.99923339e-01 8.85926321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.02, Y:-26.74, Z:0.88 [[ 9.01406417e-01 4.32866163e-01 9.66211367e-03 1.80018272e+02] [-4.32839868e-01 9.01458191e-01 -4.77266430e-03 -2.67398936e+01] [-1.07759164e-02 1.19962216e-04 9.99941931e-01 8.83916496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.05, Y:-26.75, Z:0.89 [[ 9.02238746e-01 4.31144385e-01 8.93111207e-03 1.80048252e+02] [-4.31121773e-01 9.02282939e-01 -4.41765784e-03 -2.67543877e+01] [-9.96303841e-03 1.35385201e-04 9.99950359e-01 8.85055863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.08, Y:-26.77, Z:0.89 [[ 9.02533938e-01 4.30476869e-01 1.10524090e-02 1.80076849e+02] [-4.30442126e-01 9.02601591e-01 -5.47212434e-03 -2.67693454e+01] [-1.23315449e-02 1.81355500e-04 9.99923947e-01 8.85065115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.10, Y:-26.79, Z:0.89 [[ 9.03228442e-01 4.28920334e-01 1.43432430e-02 1.80102908e+02] [-4.28861516e-01 9.03342280e-01 -7.10812754e-03 -2.67879796e+01] [-1.60056783e-02 2.68998035e-04 9.99871865e-01 8.85415605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.13, Y:-26.81, Z:0.89 [[ 9.03618933e-01 4.28159325e-01 1.23457246e-02 1.80128578e+02] [-4.28115576e-01 9.03703231e-01 -6.12564926e-03 -2.68095987e+01] [-1.37796250e-02 2.49855668e-04 9.99905025e-01 8.85031503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.622320588 meters Centerline goodness [0,1] 0.999950821284548 Centerline is valid? [True, True] Translation: X:180.16, Y:-26.83, Z:0.88 [[ 9.03529972e-01 4.28311162e-01 1.35328486e-02 1.80156052e+02] [-4.28258498e-01 9.03631269e-01 -6.72216528e-03 -2.68268680e+01] [-1.51078836e-02 2.78120372e-04 9.99885831e-01 8.84860403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.652320588 meters Centerline goodness [0,1] 0.9999507437690868 Centerline is valid? [True, True] Translation: X:180.18, Y:-26.84, Z:0.89 [[ 9.02765549e-01 4.29945415e-01 1.27005617e-02 1.80183802e+02] [-4.29899176e-01 9.02854852e-01 -6.30984107e-03 -2.68443501e+01] [-1.41796510e-02 2.36346139e-04 9.99899436e-01 8.85504671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.21, Y:-26.86, Z:0.89 [[ 9.01589698e-01 4.32407371e-01 1.26444526e-02 1.80210331e+02] [-4.32361655e-01 9.01678337e-01 -6.29092173e-03 -2.68629456e+01] [-1.41214699e-02 2.04853787e-04 9.99900266e-01 8.86384255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71232058799998 meters Centerline goodness [0,1] 0.9999507097791798 Centerline is valid? [True, True] Translation: X:180.24, Y:-26.88, Z:0.89 [[ 9.01255064e-01 4.33134966e-01 1.15503867e-02 1.80238063e+02] [-4.33096867e-01 9.01329057e-01 -5.74751263e-03 -2.68800892e+01] [-1.29001478e-02 1.77538582e-04 9.99916774e-01 8.87311532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74232058799998 meters Centerline goodness [0,1] 0.999950777712148 Centerline is valid? [True, True] Translation: X:180.26, Y:-26.90, Z:0.89 [[ 9.00032007e-01 4.35668278e-01 1.16420737e-02 1.80262845e+02] [-4.35629674e-01 9.00107287e-01 -5.80160165e-03 -2.69016681e+01] [-1.30066892e-02 1.49994414e-04 9.99915398e-01 8.85617536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.29, Y:-26.92, Z:0.89 [[ 8.98772192e-01 4.38226251e-01 1.28957475e-02 1.80290351e+02] [-4.38179021e-01 8.98864692e-01 -6.43508341e-03 -2.69207051e+01] [-1.44115546e-02 1.33028005e-04 9.99896139e-01 8.86335595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.32, Y:-26.94, Z:0.89 [[ 8.96390123e-01 4.43124993e-01 1.11797877e-02 1.80316457e+02] [-4.43089868e-01 8.96459837e-01 -5.57949486e-03 -2.69413644e+01] [-1.24946442e-02 4.77534457e-05 9.99921938e-01 8.87664807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.34, Y:-26.96, Z:0.89 [[ 8.94500667e-01 4.46954449e-01 1.00138884e-02 1.80344217e+02] [-4.46926422e-01 8.94556717e-01 -5.00527200e-03 -2.69569598e+01] [-1.11951197e-02 1.74784740e-06 9.99937333e-01 8.87036822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.37, Y:-26.97, Z:0.89 [[ 8.93137236e-01 4.49680308e-01 9.66939240e-03 1.80373815e+02] [-4.49654262e-01 8.93189577e-01 -4.83994772e-03 -2.69724566e+01] [-1.08130297e-02 -2.51459675e-05 9.99941537e-01 8.88499151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.40, Y:-26.99, Z:0.89 [[ 8.90431622e-01 4.55031881e-01 8.80421877e-03 1.80400916e+02] [-4.55010488e-01 8.90475143e-01 -4.41296333e-03 -2.69924521e+01] [-9.84797698e-03 -7.65697905e-05 9.99951505e-01 8.88371130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.43, Y:-27.02, Z:0.89 [[ 8.88370311e-01 4.59063243e-01 7.68960193e-03 1.80426609e+02] [-4.59047027e-01 8.88403584e-01 -3.85980032e-03 -2.70156773e+01] [-8.60336237e-03 -1.00956902e-04 9.99962985e-01 8.89980880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.46, Y:-27.03, Z:0.89 [[ 8.87607885e-01 4.60544046e-01 7.17107610e-03 1.80455480e+02] [-4.60529954e-01 8.87636846e-01 -3.60431505e-03 -2.70321235e+01] [-8.02525721e-03 -1.03276887e-04 9.99967792e-01 8.89422379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.48, Y:-27.05, Z:0.89 [[ 8.86773830e-01 4.62139775e-01 7.68128425e-03 1.80484586e+02] [-4.62123634e-01 8.86807089e-01 -3.86444994e-03 -2.70460896e+01] [-8.59773335e-03 -1.22809910e-04 9.99963031e-01 8.89413713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.51, Y:-27.06, Z:0.89 [[ 8.86351607e-01 4.62936011e-01 8.43082741e-03 1.80514540e+02] [-4.62916590e-01 8.86391691e-01 -4.24276577e-03 -2.70576375e+01] [-9.43714442e-03 -1.42187622e-04 9.99955459e-01 8.88269000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.54, Y:-27.07, Z:0.89 [[ 8.85745477e-01 4.64062834e-01 1.00317090e-02 1.80542178e+02] [-4.64035335e-01 8.85802266e-01 -5.05507907e-03 -2.70734240e+01] [-1.12319849e-02 -1.77554005e-04 9.99936904e-01 8.88573047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.57, Y:-27.09, Z:0.89 [[ 8.85505676e-01 4.64520308e-01 1.00289631e-02 1.80571301e+02] [-4.64492776e-01 8.85562449e-01 -5.06052617e-03 -2.70877531e+01] [-1.12319903e-02 -1.77256268e-04 9.99936903e-01 8.88736914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.102320588 meters Centerline goodness [0,1] 0.9999507170666798 Centerline is valid? [True, True] Translation: X:180.60, Y:-27.11, Z:0.89 [[ 8.84708299e-01 4.66066578e-01 8.55396347e-03 1.80598746e+02] [-4.66046565e-01 8.84749636e-01 -4.32221590e-03 -2.71065507e+01] [-9.58255643e-03 -1.62645014e-04 9.99954073e-01 8.93606455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.63, Y:-27.12, Z:0.89 [[ 8.83946375e-01 4.67531486e-01 7.28801802e-03 1.80628443e+02] [-4.67516967e-01 8.83976407e-01 -3.68759173e-03 -2.71218594e+01] [-8.16650123e-03 -1.47638740e-04 9.99966643e-01 8.93583589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.66, Y:-27.14, Z:0.89 [[ 8.83006237e-01 4.69322425e-01 6.03710111e-03 1.80658068e+02] [-4.69312474e-01 8.83026865e-01 -3.05904855e-03 -2.71365637e+01] [-6.76660255e-03 -1.32127907e-04 9.99977098e-01 8.90231183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.69, Y:-27.15, Z:0.89 [[ 8.82697219e-01 4.69906457e-01 5.79153241e-03 1.80687665e+02] [-4.69897287e-01 8.82716209e-01 -2.93841642e-03 -2.71518650e+01] [-6.49306038e-03 -1.27693366e-04 9.99978912e-01 8.89910171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.72, Y:-27.17, Z:0.89 [[ 8.82860663e-01 4.69579131e-01 7.24497381e-03 1.80716851e+02] [-4.69564738e-01 8.82890376e-01 -3.67975913e-03 -2.71672040e+01] [-8.12445575e-03 -1.53269643e-04 9.99966984e-01 8.89421128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.75, Y:-27.18, Z:0.89 [[ 8.83607063e-01 4.68198851e-01 5.32864875e-03 1.80745748e+02] [-4.68191020e-01 8.83623124e-01 -2.70983501e-03 -2.71820535e+01] [-5.97725890e-03 -1.00396138e-04 9.99982131e-01 8.92279300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.78, Y:-27.20, Z:0.89 [[ 8.84401510e-01 4.66675885e-01 6.89842167e-03 1.80775588e+02] [-4.66662681e-01 8.84428406e-01 -3.51230051e-03 -2.71965472e+01] [-7.74026603e-03 -1.12952075e-04 9.99970037e-01 8.93402819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.80, Y:-27.21, Z:0.90 [[ 8.84716381e-01 4.66087399e-01 6.28179782e-03 1.80803928e+02] [-4.66076411e-01 8.84738677e-01 -3.20182634e-03 -2.72106706e+01] [-7.05008041e-03 -9.50895702e-05 9.99975143e-01 8.95414732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.83, Y:-27.23, Z:0.90 [[ 8.85021784e-01 4.65479906e-01 8.05600177e-03 1.80833556e+02] [-4.65461765e-01 8.85058441e-01 -4.11110462e-03 -2.72254173e+01] [-9.04366896e-03 -1.11343657e-04 9.99959099e-01 8.95410393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.86, Y:-27.24, Z:0.89 [[ 8.85791397e-01 4.64025142e-01 7.36664963e-03 1.80862277e+02] [-4.64009889e-01 8.85822025e-01 -3.76338624e-03 -2.72388800e+01] [-8.27184633e-03 -8.46231218e-05 9.99965784e-01 8.94197320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.89, Y:-27.25, Z:0.89 [[ 8.86317254e-01 4.63023403e-01 7.14515733e-03 1.80890718e+02] [-4.63008986e-01 8.86346052e-01 -3.65443407e-03 -2.72531359e+01] [-8.02517049e-03 -6.92840862e-05 9.99967795e-01 8.92842033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.92, Y:-27.27, Z:0.89 [[ 8.87450373e-01 4.60836020e-01 7.87389585e-03 1.80918462e+02] [-4.60818379e-01 8.87485301e-01 -4.03254608e-03 -2.72705178e+01] [-8.84630932e-03 -4.97514093e-05 9.99960869e-01 8.92906501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46232058799998 meters Centerline goodness [0,1] 0.999950741342791 Centerline is valid? [True, True] Translation: X:180.95, Y:-27.29, Z:0.89 [[ 8.87697038e-01 4.60369444e-01 7.34468415e-03 1.80946521e+02] [-4.60354037e-01 8.87727421e-01 -3.76657084e-03 -2.72881793e+01] [-8.25409164e-03 -3.75812201e-05 9.99965934e-01 8.93983420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49232058799998 meters Centerline goodness [0,1] 0.9999013903954245 Centerline is valid? [True, True] Translation: X:180.97, Y:-27.31, Z:0.90 [[ 8.89147162e-01 4.57584532e-01 5.80698555e-03 1.80973726e+02] [-4.57574818e-01 8.89166124e-01 -2.98162930e-03 -2.73059970e+01] [-6.52772228e-03 -6.02312623e-06 9.99978694e-01 8.97530566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.00, Y:-27.32, Z:0.90 [[ 8.89453025e-01 4.57005236e-01 4.41928967e-03 1.81003362e+02] [-4.56999583e-01 8.89464004e-01 -2.27307792e-03 -2.73205723e+01] [-4.96960760e-03 2.18249573e-06 9.99987651e-01 8.97209777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.03, Y:-27.33, Z:0.90 [[ 8.89713378e-01 4.56489201e-01 5.26438627e-03 1.81033438e+02] [-4.56481153e-01 8.89728953e-01 -2.71073381e-03 -2.73345373e+01] [-5.92129759e-03 8.68302746e-06 9.99982469e-01 8.96306107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.582320588 meters Centerline goodness [0,1] 0.9999508237029752 Centerline is valid? [True, True] Translation: X:181.06, Y:-27.35, Z:0.89 [[ 8.90119393e-01 4.55659277e-01 7.87963447e-03 1.81061488e+02] [-4.55641189e-01 8.90154269e-01 -4.06016458e-03 -2.73499023e+01] [-8.86414192e-03 2.37452164e-05 9.99960712e-01 8.94421612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.09, Y:-27.37, Z:0.90 [[ 8.89230493e-01 4.57388297e-01 8.06703107e-03 1.81088341e+02] [-4.57369357e-01 8.89267083e-01 -4.16242550e-03 -2.73690101e+01] [-9.07758991e-03 1.17428676e-05 9.99958798e-01 8.96067160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.12, Y:-27.39, Z:0.90 [[ 8.88617685e-01 4.58603714e-01 6.42213001e-03 1.81116364e+02] [-4.58591713e-01 8.88640891e-01 -3.31770899e-03 -2.73855728e+01] [-7.22848100e-03 3.03928087e-06 9.99973874e-01 8.96105295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.14, Y:-27.40, Z:0.90 [[ 8.87394045e-01 4.60982435e-01 5.19641323e-03 1.81144801e+02] [-4.60974593e-01 8.87409260e-01 -2.68893609e-03 -2.74016033e+01] [-5.85089752e-03 -9.26859928e-06 9.99982883e-01 8.96581789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.18, Y:-27.41, Z:0.90 [[ 8.85730438e-01 4.64164039e-01 5.77379631e-03 1.81175342e+02] [-4.64154402e-01 8.85749256e-01 -2.99115223e-03 -2.74147935e+01] [-6.50252108e-03 -3.05783947e-05 9.99978858e-01 8.98500582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.20, Y:-27.43, Z:0.90 [[ 8.84470724e-01 4.66547398e-01 6.71295901e-03 1.81204498e+02] [-4.66534417e-01 8.84496197e-01 -3.48068262e-03 -2.74280326e+01] [-7.56149013e-03 -5.32645331e-05 9.99971410e-01 8.97528339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.23, Y:-27.44, Z:0.90 [[ 8.83019086e-01 4.69302008e-01 5.73748943e-03 1.81234391e+02] [-4.69292554e-01 8.83037724e-01 -2.97944260e-03 -2.74425664e+01] [-6.46467800e-03 -6.16563866e-05 9.99979102e-01 8.96972073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.26, Y:-27.46, Z:0.90 [[ 8.82930680e-01 4.69473964e-01 5.25461289e-03 1.81263145e+02] [-4.69466015e-01 8.82946315e-01 -2.73239235e-03 -2.74584422e+01] [-5.92232816e-03 -5.43491354e-05 9.99982461e-01 8.96742279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.822320588 meters Centerline goodness [0,1] 0.9999507874015748 Centerline is valid? [True, True] Translation: X:181.29, Y:-27.48, Z:0.90 [[ 8.82550043e-01 4.70175709e-01 6.34223633e-03 1.81291144e+02] [-4.70164122e-01 8.82572829e-01 -3.30148750e-03 -2.74752563e+01] [-7.14976469e-03 -6.81640427e-05 9.99974438e-01 8.97840034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.32, Y:-27.49, Z:0.90 [[ 8.82772838e-01 4.69760820e-01 6.07366602e-03 1.81320760e+02] [-4.69750155e-01 8.82793730e-01 -3.16589240e-03 -2.74894834e+01] [-6.84900649e-03 -5.83417380e-05 9.99976544e-01 8.98936985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.35, Y:-27.50, Z:0.90 [[ 8.82504254e-01 4.70243370e-01 7.57730760e-03 1.81351634e+02] [-4.70226753e-01 8.82536780e-01 -3.95391467e-03 -2.75006633e+01] [-8.54655481e-03 -7.37062308e-05 9.99963475e-01 8.99478249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.38, Y:-27.51, Z:0.90 [[ 8.82481520e-01 4.70253956e-01 9.35860574e-03 1.81380525e+02] [-4.70228562e-01 8.82531138e-01 -4.88773154e-03 -2.75146952e+01] [-1.05577361e-02 -8.73509608e-05 9.99944262e-01 8.99630496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.41, Y:-27.53, Z:0.90 [[ 8.82440932e-01 4.70317283e-01 9.98276580e-03 1.81409631e+02] [-4.70288315e-01 8.82497391e-01 -5.22062870e-03 -2.75307911e+01] [-1.12651167e-02 -8.78816472e-05 9.99936543e-01 8.98867021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.44, Y:-27.55, Z:0.90 [[ 8.84127518e-01 4.67154578e-01 9.22672494e-03 1.81436872e+02] [-4.67129659e-01 8.84175660e-01 -4.82533628e-03 -2.75471561e+01] [-1.04122236e-02 -4.38642883e-05 9.99945790e-01 8.98390652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.46, Y:-27.56, Z:0.90 [[ 8.85149525e-01 4.65235571e-01 8.13524669e-03 1.81464215e+02] [-4.65216056e-01 8.85186909e-01 -4.26115491e-03 -2.75635556e+01] [-9.18365470e-03 -1.28881392e-05 9.99957829e-01 8.98180067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.49, Y:-27.58, Z:0.90 [[ 8.87777393e-01 4.60192236e-01 8.62594040e-03 1.81490745e+02] [-4.60169998e-01 8.87819297e-01 -4.52425789e-03 -2.75836738e+01] [-9.74030470e-03 4.71348954e-05 9.99952561e-01 8.97772160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.52, Y:-27.60, Z:0.90 [[ 8.88492379e-01 4.58787041e-01 9.78484934e-03 1.81518350e+02] [-4.58758286e-01 8.88546254e-01 -5.13705276e-03 -2.76001213e+01] [-1.10511045e-02 7.53515128e-05 9.99938932e-01 8.99104783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.55, Y:-27.62, Z:0.90 [[ 8.89610171e-01 4.56638040e-01 8.68585281e-03 1.81546605e+02] [-4.56615216e-01 8.89652568e-01 -4.56655741e-03 -2.76163314e+01] [-9.81265508e-03 9.63633622e-05 9.99951850e-01 8.99201569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.58, Y:-27.63, Z:0.90 [[ 8.89798229e-01 4.56278022e-01 8.33543276e-03 1.81575083e+02] [-4.56256932e-01 8.89837264e-01 -4.38810926e-03 -2.76334398e+01] [-9.41937649e-03 1.01432866e-04 9.99955632e-01 8.98734951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.60, Y:-27.66, Z:0.90 [[ 8.90064483e-01 4.55766056e-01 7.90686440e-03 1.81599494e+02] [-4.55747010e-01 8.90099596e-01 -4.16796702e-03 -2.76583584e+01] [-8.93751470e-03 1.06229604e-04 9.99960054e-01 8.97822999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.63, Y:-27.68, Z:0.90 [[ 8.89985399e-01 4.55898415e-01 9.08982644e-03 1.81626047e+02] [-4.55873192e-01 8.90031808e-01 -4.79721345e-03 -2.76792719e+01] [-1.02772767e-02 1.25641730e-04 9.99947180e-01 8.97699115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21232058799998 meters Centerline goodness [0,1] 0.9999508043488956 Centerline is valid? [True, True] Translation: X:181.65, Y:-27.70, Z:0.90 [[ 8.90302655e-01 4.55280083e-01 9.01272863e-03 1.81649958e+02] [-4.55255256e-01 8.90348263e-01 -4.75639135e-03 -2.77021681e+01] [-1.01899575e-02 1.31535775e-04 9.99948072e-01 9.00175020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24232058799998 meters Centerline goodness [0,1] 0.9999509081983309 Centerline is valid? [True, True] Translation: X:181.68, Y:-27.72, Z:0.90 [[ 8.89780104e-01 4.56330309e-01 7.34947779e-03 1.81677508e+02] [-4.56313784e-01 8.89810451e-01 -3.88492472e-03 -2.77195157e+01] [-8.31245105e-03 1.03060706e-04 9.99965446e-01 8.99999853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27232058799999 meters Centerline goodness [0,1] 0.9999508623654857 Centerline is valid? [True, True] Translation: X:181.70, Y:-27.74, Z:0.90 [[ 8.89041807e-01 4.57775876e-01 6.77592650e-03 1.81703536e+02] [-4.57761839e-01 8.89067624e-01 -3.58591170e-03 -2.77399312e+01] [-7.66580074e-03 8.62648402e-05 9.99970614e-01 9.01650594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.302320588 meters Centerline goodness [0,1] 0.999950768018905 Centerline is valid? [True, True] Translation: X:181.73, Y:-27.76, Z:0.90 [[ 8.88283289e-01 4.59237017e-01 7.35945062e-03 1.81730395e+02] [-4.59220466e-01 8.88313771e-01 -3.89979413e-03 -2.77601678e+01] [-8.32843115e-03 8.45116166e-05 9.99965314e-01 9.01386294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.75, Y:-27.79, Z:0.90 [[ 8.86765633e-01 4.62150862e-01 7.95574720e-03 1.81753165e+02] [-4.62131590e-01 8.86801318e-01 -4.22097962e-03 -2.77871426e+01] [-9.00589646e-03 6.64175573e-05 9.99959444e-01 8.98962526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.362320588 meters Centerline goodness [0,1] 0.9999508382085444 Centerline is valid? [True, True] Translation: X:181.78, Y:-27.81, Z:0.90 [[ 8.85710911e-01 4.64151276e-01 8.93172099e-03 1.81779919e+02] [-4.64127031e-01 8.85755942e-01 -4.74444561e-03 -2.78075688e+01] [-1.01134654e-02 5.67540977e-05 9.99948856e-01 8.98541928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.81, Y:-27.83, Z:0.90 [[ 8.83795502e-01 4.67783321e-01 9.18020683e-03 1.81805388e+02] [-4.67757840e-01 8.83843179e-01 -4.88247040e-03 -2.78305850e+01] [-1.03978014e-02 2.09916621e-05 9.99945941e-01 9.01012202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.83, Y:-27.85, Z:0.90 [[ 8.82099425e-01 4.70945886e-01 1.05155922e-02 1.81832916e+02] [-4.70912598e-01 8.82162101e-01 -5.59934804e-03 -2.78488287e+01] [-1.19134469e-02 -1.27431849e-05 9.99929032e-01 9.01361906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.86, Y:-27.87, Z:0.90 [[ 8.80289654e-01 4.74357147e-01 8.68457692e-03 1.81859854e+02] [-4.74334592e-01 8.80332491e-01 -4.62606164e-03 -2.78675987e+01] [-9.83972063e-03 -4.71210471e-05 9.99951588e-01 9.01761160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.88, Y:-27.89, Z:0.90 [[ 8.75698032e-01 4.82810721e-01 6.83838088e-03 1.81883565e+02] [-4.82796952e-01 8.75724726e-01 -3.64795967e-03 -2.78905802e+01] [-7.74981326e-03 -1.07038343e-04 9.99969964e-01 9.00266136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.91, Y:-27.91, Z:0.90 [[ 8.73520407e-01 4.86721942e-01 7.99063525e-03 1.81910495e+02] [-4.86703267e-01 8.73556939e-01 -4.26664026e-03 -2.79083538e+01] [-9.05694229e-03 -1.62070951e-04 9.99958972e-01 9.00481005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.94, Y:-27.92, Z:0.90 [[ 8.70090370e-01 4.92811709e-01 8.90883353e-03 1.81938109e+02] [-4.92788806e-01 8.70135941e-01 -4.75774854e-03 -2.79235460e+01] [-1.00965704e-02 -2.50502248e-04 9.99948997e-01 9.02724372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.97, Y:-27.94, Z:0.90 [[ 8.68809650e-01 4.95069998e-01 8.68841292e-03 1.81966906e+02] [-4.95048268e-01 8.68853052e-01 -4.64607050e-03 -2.79382038e+01] [-9.84908420e-03 -2.64632878e-04 9.99951462e-01 9.02617923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.99, Y:-27.96, Z:0.90 [[ 8.66552964e-01 4.99047736e-01 6.10881088e-03 1.81993157e+02] [-4.99037067e-01 8.66574470e-01 -3.27029518e-03 -2.79561174e+01] [-6.92577295e-03 -2.14639077e-04 9.99975994e-01 9.04452493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.632320588 meters Centerline goodness [0,1] 0.99995085995086 Centerline is valid? [True, True] Translation: X:182.02, Y:-27.97, Z:0.90 [[ 8.65527652e-01 5.00819272e-01 6.47616590e-03 1.82021887e+02] [-5.00807305e-01 8.65551847e-01 -3.47047171e-03 -2.79707198e+01] [-7.34353646e-03 -2.39521961e-04 9.99973007e-01 9.04857787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.662320588 meters Centerline goodness [0,1] 0.9999508237029752 Centerline is valid? [True, True] Translation: X:182.05, Y:-27.98, Z:0.90 [[ 8.62944196e-01 5.05254354e-01 6.73436339e-03 1.82053245e+02] [-5.05241554e-01 8.62970425e-01 -3.60805664e-03 -2.79805771e+01] [-7.63454276e-03 -2.88928693e-04 9.99970815e-01 9.02966752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.08, Y:-27.99, Z:0.90 [[ 8.61768657e-01 5.07264660e-01 6.11116050e-03 1.82082869e+02] [-5.07254136e-01 8.61790281e-01 -3.27913983e-03 -2.79933262e+01] [-6.92993048e-03 -2.74051514e-04 9.99975950e-01 9.02334637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.11, Y:-28.01, Z:0.90 [[ 8.60235009e-01 5.09867155e-01 5.58685035e-03 1.82112223e+02] [-5.09858394e-01 8.60253110e-01 -3.00092769e-03 -2.80064899e+01] [-6.33617985e-03 -2.66999488e-04 9.99979891e-01 9.04267883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.14, Y:-28.02, Z:0.91 [[ 8.59620202e-01 5.10906237e-01 5.28453207e-03 1.82141284e+02] [-5.10898399e-01 8.59636406e-01 -2.84151666e-03 -2.80207902e+01] [-5.99452474e-03 -2.57233846e-04 9.99982000e-01 9.06039895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.17, Y:-28.03, Z:0.91 [[ 8.59813385e-01 5.10594119e-01 3.81947697e-03 1.82173365e+02] [-5.10590022e-01 8.59821849e-01 -2.05361095e-03 -2.80282029e+01] [-4.33263142e-03 -1.84464645e-04 9.99990597e-01 9.06383464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.20, Y:-28.04, Z:0.91 [[ 8.59951798e-01 5.10361065e-01 3.80645173e-03 1.82203666e+02] [-5.10356978e-01 8.59960203e-01 -2.05021106e-03 -2.80403896e+01] [-4.31974491e-03 -1.79566518e-04 9.99990654e-01 9.05341202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.23, Y:-28.05, Z:0.91 [[ 8.59847126e-01 5.10488331e-01 8.03639705e-03 1.82233416e+02] [-5.10470106e-01 8.59884597e-01 -4.33022128e-03 -2.80536820e+01] [-9.12090147e-03 -3.79012129e-04 9.99958332e-01 9.05325370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.26, Y:-28.07, Z:0.91 [[ 8.58964210e-01 5.11970464e-01 8.16882197e-03 1.82262537e+02] [-5.11951660e-01 8.59002960e-01 -4.40585237e-03 -2.80675157e+01] [-9.27270854e-03 -3.97572471e-04 9.99956928e-01 9.05922524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.29, Y:-28.08, Z:0.91 [[ 8.58495328e-01 5.12757545e-01 8.09147497e-03 1.82293055e+02] [-5.12739083e-01 8.58533367e-01 -4.36939577e-03 -2.80800080e+01] [-9.18724190e-03 -3.97709604e-04 9.99957717e-01 9.06440250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.932320588 meters Centerline goodness [0,1] 0.9999016183776871 Centerline is valid? [True, True] Translation: X:182.32, Y:-28.09, Z:0.91 [[ 8.57252555e-01 5.14870600e-01 5.13056404e-03 1.82324705e+02] [-5.14863195e-01 8.57267867e-01 -2.77387551e-03 -2.80885703e+01] [-5.82645464e-03 -2.63626730e-04 9.99982991e-01 9.07221939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96232058799998 meters Centerline goodness [0,1] 0.9999016183776871 Centerline is valid? [True, True] Translation: X:182.35, Y:-28.10, Z:0.91 [[ 8.57011386e-01 5.15271943e-01 5.12912816e-03 1.82353396e+02] [-5.15264530e-01 8.57026694e-01 -2.77653107e-03 -2.81037257e+01] [-5.82646831e-03 -2.63339066e-04 9.99982991e-01 9.07385915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99232058799998 meters Centerline goodness [0,1] 0.9999017150719937 Centerline is valid? [True, True] Translation: X:182.39, Y:-28.11, Z:0.91 [[ 8.56799625e-01 5.15599492e-01 7.18100263e-03 1.82386457e+02] [-5.15584953e-01 8.56829637e-01 -3.88965528e-03 -2.81105918e+01] [-8.15840016e-03 -3.69761717e-04 9.99966651e-01 9.06141800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.42, Y:-28.12, Z:0.91 [[ 8.57018493e-01 5.15202833e-01 9.23810307e-03 1.82417768e+02] [-5.15178718e-01 8.57068154e-01 -5.00671396e-03 -2.81216704e+01] [-1.04971572e-02 -4.68427645e-04 9.99944794e-01 9.07062616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.45, Y:-28.14, Z:0.91 [[ 8.57508974e-01 5.14384396e-01 9.33020153e-03 1.82446590e+02] [-5.14359690e-01 8.57559609e-01 -5.06222321e-03 -2.81355112e+01] [-1.06051326e-02 -4.58177739e-04 9.99943659e-01 9.07745036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.082320588 meters Centerline goodness [0,1] 0.9999508575359969 Centerline is valid? [True, True] Translation: X:182.48, Y:-28.15, Z:0.91 [[ 8.59258485e-01 5.11468990e-01 8.62141054e-03 1.82476475e+02] [-5.11447748e-01 8.59301647e-01 -4.67769745e-03 -2.81468967e+01] [-9.80088946e-03 -3.90049778e-04 9.99951894e-01 9.09767943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.51, Y:-28.16, Z:0.91 [[ 8.59799791e-01 5.10585479e-01 6.84024073e-03 1.82507701e+02] [-5.10572067e-01 8.59826947e-01 -3.71288794e-03 -2.81565585e+01] [-7.77716997e-03 -3.00095570e-04 9.99969712e-01 9.10386952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.142320588 meters Centerline goodness [0,1] 0.9999014875381735 Centerline is valid? [True, True] Translation: X:182.54, Y:-28.16, Z:0.91 [[ 8.60153415e-01 5.09959687e-01 8.78751057e-03 1.82543321e+02] [-5.09937473e-01 8.60198220e-01 -4.77458983e-03 -2.81610539e+01] [-9.99384929e-03 -3.74201182e-04 9.99949990e-01 9.07883175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.172320588 meters Centerline goodness [0,1] 0.9998522749655309 Centerline is valid? [True, True] Translation: X:182.57, Y:-28.17, Z:0.91 [[ 8.59856628e-01 5.10448201e-01 9.44526386e-03 1.82574885e+02] [-5.10422494e-01 8.59908409e-01 -5.13858526e-03 -2.81722184e+01] [-1.07450434e-02 -4.02628539e-04 9.99942189e-01 9.07776341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.202320588 meters Centerline goodness [0,1] 0.9999014923902871 Centerline is valid? [True, True] Translation: X:182.61, Y:-28.18, Z:0.91 [[ 8.60184118e-01 5.09882557e-01 1.01519441e-02 1.82605340e+02] [-5.09852762e-01 8.60243920e-01 -5.52805352e-03 -2.81825714e+01] [-1.15518062e-02 -4.20852893e-04 9.99933187e-01 9.10722465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.232320588 meters Centerline goodness [0,1] 0.9999507704425737 Centerline is valid? [True, True] Translation: X:182.63, Y:-28.20, Z:0.91 [[ 8.60609072e-01 5.09168192e-01 9.98889036e-03 1.82634210e+02] [-5.09139236e-01 8.60666946e-01 -5.44487001e-03 -2.81957858e+01] [-1.13694624e-02 -3.99831472e-04 9.99935286e-01 9.11808974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.262320588 meters Centerline goodness [0,1] 0.9999508454581203 Centerline is valid? [True, True] Translation: X:182.67, Y:-28.20, Z:0.91 [[ 8.62656481e-01 5.05684741e-01 1.03314087e-02 1.82666666e+02] [-5.05653449e-01 8.62718269e-01 -5.63717826e-03 -2.82039420e+01] [-1.17637301e-02 -3.61164081e-04 9.99930740e-01 9.11056088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.70, Y:-28.21, Z:0.91 [[ 8.63987259e-01 5.03382539e-01 1.14907317e-02 1.82697840e+02] [-5.03343619e-01 8.64063589e-01 -6.27020779e-03 -2.82149380e+01] [-1.30850360e-02 -3.66406841e-04 9.99914320e-01 9.09927496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.73, Y:-28.22, Z:0.91 [[ 8.66644147e-01 4.98781352e-01 1.20451602e-02 1.82730082e+02] [-4.98738026e-01 8.66727795e-01 -6.58110309e-03 -2.82234566e+01] [-1.37224066e-02 -3.03904944e-04 9.99905797e-01 9.09293737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.76, Y:-28.24, Z:0.91 [[ 8.67845423e-01 4.96697649e-01 1.16519574e-02 1.82759624e+02] [-4.96656828e-01 8.67923603e-01 -6.37299856e-03 -2.82362655e+01] [-1.32784623e-02 -2.56246591e-04 9.99911804e-01 9.09104276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.79, Y:-28.25, Z:0.91 [[ 8.69749486e-01 4.93384996e-01 1.03478832e-02 1.82789154e+02] [-4.93352556e-01 8.69811022e-01 -5.66056141e-03 -2.82484160e+01] [-1.17935389e-02 -1.81884269e-04 9.99930437e-01 9.10934543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.82, Y:-28.26, Z:0.91 [[ 8.70252720e-01 4.92492967e-01 1.05299889e-02 1.82817839e+02] [-4.92459217e-01 8.70316408e-01 -5.76802088e-03 -2.82619183e+01] [-1.20051319e-02 -1.65954240e-04 9.99927922e-01 9.09663069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.85, Y:-28.28, Z:0.91 [[ 8.70911803e-01 4.91341216e-01 9.82046797e-03 1.82846991e+02] [-4.91311721e-01 8.70967159e-01 -5.38528002e-03 -2.82752967e+01] [-1.11993151e-02 -1.34807099e-04 9.99937277e-01 9.10451113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.88, Y:-28.29, Z:0.91 [[ 8.71046058e-01 4.91079060e-01 1.09599689e-02 1.82878218e+02] [-4.91042209e-01 8.71114997e-01 -6.01758835e-03 -2.82864911e+01] [-1.25025049e-02 -1.40210707e-04 9.99921831e-01 9.10857334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.91, Y:-28.30, Z:0.91 [[ 8.71137617e-01 4.90877694e-01 1.25833930e-02 1.82908404e+02] [-4.90829002e-01 8.71228481e-01 -6.91551057e-03 -2.82990827e+01] [-1.43576802e-02 -1.51932824e-04 9.99896912e-01 9.09523201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.94, Y:-28.31, Z:0.91 [[ 8.71532635e-01 4.90091073e-01 1.55436723e-02 1.82937339e+02] [-4.90016497e-01 8.71671219e-01 -8.55099034e-03 -2.83126278e+01] [-1.77397358e-02 -1.64188687e-04 9.99842625e-01 9.08563584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.96, Y:-28.33, Z:0.91 [[ 8.71771545e-01 4.89748052e-01 1.26972129e-02 1.82964329e+02] [-4.89698138e-01 8.71863998e-01 -6.99299719e-03 -2.83293455e+01] [-1.44950496e-02 -1.21505567e-04 9.99894934e-01 9.10409170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.99, Y:-28.34, Z:0.91 [[ 8.71320740e-01 4.90566637e-01 1.20225634e-02 1.82994369e+02] [-4.90521846e-01 8.71403672e-01 -6.63008918e-03 -2.83424113e+01] [-1.37290065e-02 -1.20395804e-04 9.99905746e-01 9.12196734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.03, Y:-28.35, Z:0.91 [[ 8.71387335e-01 4.90472604e-01 1.09880790e-02 1.83025200e+02] [-4.90435102e-01 8.71456605e-01 -6.06605446e-03 -2.83527192e+01] [-1.25508675e-02 -1.03056615e-04 9.99921229e-01 9.12665814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.06, Y:-28.36, Z:0.91 [[ 8.71108368e-01 4.90930461e-01 1.25496668e-02 1.83056610e+02] [-4.90881552e-01 8.71198753e-01 -6.93069117e-03 -2.83613650e+01] [-1.43357414e-02 -1.23016820e-04 9.99897230e-01 9.10567663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.08, Y:-28.38, Z:0.91 [[ 8.70608165e-01 4.91739450e-01 1.52884363e-02 1.83084014e+02] [-4.91666814e-01 8.70742378e-01 -8.45312510e-03 -2.83788291e+01] [-1.74690245e-02 -1.57457060e-04 9.99847393e-01 9.09303501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71232058799998 meters Centerline goodness [0,1] 0.9999507922448578 Centerline is valid? [True, True] Translation: X:183.11, Y:-28.39, Z:0.91 [[ 8.70741996e-01 4.91471059e-01 1.62657681e-02 1.83113372e+02] [-4.91388582e-01 8.70893894e-01 -9.00479784e-03 -2.83938685e+01] [-1.85913556e-02 -1.51957073e-04 9.99827154e-01 9.10251074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.14, Y:-28.40, Z:0.91 [[ 8.72096744e-01 4.89106247e-01 1.49113501e-02 1.83144619e+02] [-4.89036440e-01 8.72224209e-01 -8.26373770e-03 -2.84032641e+01] [-1.70478863e-02 -8.54148095e-05 9.99854671e-01 9.11777388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.17, Y:-28.42, Z:0.91 [[ 8.73175122e-01 4.87223783e-01 1.33488619e-02 1.83174223e+02] [-4.87167596e-01 8.73277152e-01 -7.39928732e-03 -2.84169652e+01] [-1.52623649e-02 -4.22593663e-05 9.99883522e-01 9.12017163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.20, Y:-28.43, Z:0.91 [[ 8.73819979e-01 4.86081286e-01 1.27917230e-02 1.83203045e+02] [-4.86029407e-01 8.73913602e-01 -7.10157663e-03 -2.84327067e+01] [-1.46308042e-02 -1.16540125e-05 9.99892964e-01 9.10886347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.832320588 meters Centerline goodness [0,1] 0.9999507752891952 Centerline is valid? [True, True] Translation: X:183.23, Y:-28.45, Z:0.91 [[ 8.74000173e-01 4.85749022e-01 1.30990733e-02 1.83231534e+02] [-4.85694447e-01 8.74098328e-01 -7.28123308e-03 -2.84494538e+01] [-1.49867299e-02 1.65180975e-06 9.99887693e-01 9.11549966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.26, Y:-28.47, Z:0.91 [[ 8.73070449e-01 4.87410180e-01 1.33906059e-02 1.83260674e+02] [-4.87353202e-01 8.73173131e-01 -7.45253866e-03 -2.84652955e+01] [-1.53247605e-02 -1.93633801e-05 9.99882569e-01 9.11991493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.29, Y:-28.48, Z:0.91 [[ 8.71635053e-01 4.90024857e-01 1.13125826e-02 1.83288430e+02] [-4.89984322e-01 8.71708459e-01 -6.30297625e-03 -2.84813108e+01] [-1.29498890e-02 -4.90930574e-05 9.99916145e-01 9.12799325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.32, Y:-28.50, Z:0.91 [[ 8.70892664e-01 4.91357887e-01 1.06487054e-02 1.83317299e+02] [-4.91321973e-01 8.70957762e-01 -5.94097804e-03 -2.84977011e+01] [-1.21937190e-02 -5.79887297e-05 9.99925652e-01 9.13251169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.35, Y:-28.51, Z:0.91 [[ 8.70280919e-01 4.92404046e-01 1.22220175e-02 1.83346112e+02] [-4.92356747e-01 8.70366733e-01 -6.82524359e-03 -2.85124465e+01] [-1.39984150e-02 -7.77135110e-05 9.99902014e-01 9.12927963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.38, Y:-28.53, Z:0.91 [[ 8.69814671e-01 4.93239071e-01 1.17327073e-02 1.83375740e+02] [-4.93195444e-01 8.69893794e-01 -6.56060005e-03 -2.85275882e+01] [-1.34421535e-02 -8.00116096e-05 9.99909647e-01 9.13231058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.40, Y:-28.54, Z:0.91 [[ 8.69628465e-01 4.93633672e-01 8.49295686e-03 1.83404587e+02] [-4.93610811e-01 8.69669934e-01 -4.75108409e-03 -2.85427396e+01] [-9.73136432e-03 -6.05373621e-05 9.99952647e-01 9.14668963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.042320588 meters Centerline goodness [0,1] 0.9999508140278393 Centerline is valid? [True, True] Translation: X:183.43, Y:-28.56, Z:0.92 [[ 8.68766837e-01 4.95150514e-01 8.37564731e-03 1.83433473e+02] [-4.95128279e-01 8.68807207e-01 -4.69293069e-03 -2.85592389e+01] [-9.60052979e-03 -6.99572895e-05 9.99953911e-01 9.15208498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.46, Y:-28.57, Z:0.92 [[ 8.66772179e-01 4.98616653e-01 9.35002333e-03 1.83461722e+02] [-4.98589093e-01 8.66822600e-01 -5.24371550e-03 -2.85742619e+01] [-1.07194154e-02 -1.16712942e-04 9.99942539e-01 9.17022118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.49, Y:-28.59, Z:0.92 [[ 8.65450026e-01 5.00890689e-01 1.02357082e-02 1.83490540e+02] [-5.00857751e-01 8.65510540e-01 -5.74624803e-03 -2.85886146e+01] [-1.17373555e-02 -1.53543292e-04 9.99931103e-01 9.17734644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.52, Y:-28.60, Z:0.92 [[ 8.63151862e-01 5.04787027e-01 1.26063380e-02 1.83518065e+02] [-5.04737391e-01 8.63243879e-01 -7.08316808e-03 -2.86043993e+01] [-1.44578355e-02 -2.49040425e-04 9.99895449e-01 9.15147829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.55, Y:-28.62, Z:0.91 [[ 8.61923502e-01 5.06899337e-01 1.18717339e-02 1.83546503e+02] [-5.06855400e-01 8.62005217e-01 -6.67902423e-03 -2.86214462e+01] [-1.36190895e-02 -2.60444460e-04 9.99907222e-01 9.14659854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.192320588 meters Centerline goodness [0,1] 0.9999507631708517 Centerline is valid? [True, True] Translation: X:183.57, Y:-28.64, Z:0.92 [[ 8.60584225e-01 5.09189018e-01 1.10152993e-02 1.83573860e+02] [-5.09151299e-01 8.60654676e-01 -6.20346117e-03 -2.86374692e+01] [-1.26391032e-02 -2.69853147e-04 9.99920087e-01 9.15775242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.60, Y:-28.65, Z:0.92 [[ 8.58336165e-01 5.13023637e-01 8.11017498e-03 1.83604759e+02] [-5.13003312e-01 8.58374447e-01 -4.57271036e-03 -2.86483721e+01] [-9.30747547e-03 -2.35623950e-04 9.99956657e-01 9.18878550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.63, Y:-28.66, Z:0.92 [[ 8.55732998e-01 5.17336528e-01 9.16261949e-03 1.83634746e+02] [-5.17310785e-01 8.55781992e-01 -5.17050954e-03 -2.86599407e+01] [-1.05160982e-02 -3.15346259e-04 9.99944655e-01 9.19056792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.66, Y:-28.68, Z:0.92 [[ 8.54169159e-01 5.19919575e-01 8.87038541e-03 1.83662602e+02] [-5.19895533e-01 8.54215152e-01 -5.01093232e-03 -2.86753778e+01] [-1.01824994e-02 -3.31489904e-04 9.99948102e-01 9.18942608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.69, Y:-28.69, Z:0.92 [[ 8.51316859e-01 5.24563070e-01 9.65356158e-03 1.83692213e+02] [-5.24534840e-01 8.51371488e-01 -5.45802041e-03 -2.86873087e+01] [-1.10818430e-02 -4.17124596e-04 9.99938507e-01 9.18441861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.342320588 meters Centerline goodness [0,1] 0.9999014923902871 Centerline is valid? [True, True] Translation: X:183.72, Y:-28.70, Z:0.92 [[ 8.50074174e-01 5.26552898e-01 1.07677550e-02 1.83722211e+02] [-5.26517860e-01 8.50142227e-01 -6.09395177e-03 -2.86992080e+01] [-1.23629112e-02 -4.89104287e-04 9.99923457e-01 9.20174917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.75, Y:-28.71, Z:0.92 [[ 8.47891934e-01 5.30075193e-01 9.97785973e-03 1.83753619e+02] [-5.30045350e-01 8.47950493e-01 -5.64692279e-03 -2.87091162e+01] [-1.14540248e-02 -5.00737868e-04 9.99934275e-01 9.22150998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.78, Y:-28.72, Z:0.92 [[ 8.47005424e-01 5.31523170e-01 8.05803595e-03 1.83784133e+02] [-5.31503704e-01 8.47043652e-01 -4.56776832e-03 -2.87224562e+01] [-9.25338290e-03 -4.13951416e-04 9.99957101e-01 9.22943125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.82, Y:-28.73, Z:0.92 [[ 8.45444713e-01 5.34026161e-01 6.26871805e-03 1.83816463e+02] [-5.34014425e-01 8.45467884e-01 -3.55679204e-03 -2.87297472e+01] [-7.19941978e-03 -3.40514835e-04 9.99974026e-01 9.21249875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.85, Y:-28.74, Z:0.92 [[ 8.44806156e-01 5.35028841e-01 6.83355948e-03 1.83846653e+02] [-5.35014901e-01 8.44833709e-01 -3.88063087e-03 -2.87407865e+01] [-7.84947084e-03 -3.77675301e-04 9.99969121e-01 9.21366223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.88, Y:-28.75, Z:0.92 [[ 8.44460675e-01 5.35537524e-01 9.25903656e-03 1.83876549e+02] [-5.35511913e-01 8.44511277e-01 -5.26255068e-03 -2.87523838e+01] [-1.06376541e-02 -5.14307286e-04 9.99943286e-01 9.21591948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.91, Y:-28.76, Z:0.92 [[ 8.43998878e-01 5.36239427e-01 1.06381543e-02 1.83908643e+02] [-5.36205606e-01 8.44065709e-01 -6.05199245e-03 -2.87618843e+01] [-1.22246182e-02 -5.96363154e-04 9.99925099e-01 9.24544010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.552320588 meters Centerline goodness [0,1] 0.9999506148451776 Centerline is valid? [True, True] Translation: X:183.94, Y:-28.77, Z:0.92 [[ 8.43865843e-01 5.36477138e-01 9.09497557e-03 1.83942239e+02] [-5.36452376e-01 8.43914700e-01 -5.17947540e-03 -2.87670842e+01] [-1.04540537e-02 -5.08238873e-04 9.99945226e-01 9.24471734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.97, Y:-28.78, Z:0.92 [[ 8.43685593e-01 5.36772684e-01 8.34905650e-03 1.83973343e+02] [-5.36751784e-01 8.43726774e-01 -4.75957632e-03 -2.87769814e+01] [-9.59913306e-03 -4.65785004e-04 9.99953819e-01 9.22674172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.01, Y:-28.79, Z:0.92 [[ 8.43442496e-01 5.37156998e-01 8.19241085e-03 1.84005081e+02] [-5.37136840e-01 8.43482158e-01 -4.67592181e-03 -2.87875262e+01] [-9.42185650e-03 -4.56574507e-04 9.99955509e-01 9.21985968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.04, Y:-28.80, Z:0.92 [[ 8.44428475e-01 5.35622691e-01 6.99169019e-03 1.84035978e+02] [-5.35607923e-01 8.44457338e-01 -3.99464603e-03 -2.87978820e+01] [-8.04380713e-03 -3.71611811e-04 9.99967579e-01 9.23236107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.07, Y:-28.81, Z:0.92 [[ 8.45280071e-01 5.34270609e-01 7.51788212e-03 1.84065390e+02] [-5.34253447e-01 8.45313415e-01 -4.29937703e-03 -2.88115673e+01] [-8.65199739e-03 -3.82276709e-04 9.99962498e-01 9.24577350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.10, Y:-28.82, Z:0.93 [[ 8.47800943e-01 5.30273352e-01 6.61316028e-03 1.84096772e+02] [-5.30259959e-01 8.47826681e-01 -3.78070452e-03 -2.88197814e+01] [-7.61162059e-03 -3.01409244e-04 9.99970986e-01 9.25577117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.13, Y:-28.83, Z:0.93 [[ 8.48603098e-01 5.28958186e-01 8.71892297e-03 1.84127564e+02] [-5.28934767e-01 8.48647804e-01 -4.99163787e-03 -2.88301679e+01] [-1.00396625e-02 -3.75822130e-04 9.99949531e-01 9.25054470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.16, Y:-28.84, Z:0.92 [[ 8.51710238e-01 5.23901687e-01 1.08023859e-02 1.84160279e+02] [-5.23865337e-01 8.51778650e-01 -6.18388615e-03 -2.88370435e+01] [-1.24409901e-02 -3.92116403e-04 9.99922531e-01 9.24909037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.19, Y:-28.85, Z:0.92 [[ 8.53018918e-01 5.21775676e-01 1.04340260e-02 1.84189463e+02] [-5.21741507e-01 8.53082661e-01 -5.98102332e-03 -2.88510160e+01] [-1.20218392e-02 -3.41938413e-04 9.99927677e-01 9.23661752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.22, Y:-28.87, Z:0.92 [[ 8.55422248e-01 5.17889024e-01 6.61335533e-03 1.84217086e+02] [-5.17875187e-01 8.55447792e-01 -3.79024127e-03 -2.88658979e+01] [-7.62030457e-03 -1.82635916e-04 9.99970948e-01 9.23327578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.25, Y:-28.88, Z:0.92 [[ 8.56306059e-01 5.16439585e-01 5.48519346e-03 1.84245984e+02] [-5.16430001e-01 8.56323617e-01 -3.14931612e-03 -2.88800171e+01] [-6.32353221e-03 -1.35939989e-04 9.99979997e-01 9.23578597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.27, Y:-28.90, Z:0.92 [[ 8.56035065e-01 5.16888672e-01 5.48336688e-03 1.84274342e+02] [-5.16879077e-01 8.56052616e-01 -3.15249703e-03 -2.88959516e+01] [-6.32354057e-03 -1.35589612e-04 9.99979997e-01 9.23742507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.30, Y:-28.91, Z:0.92 [[ 8.56401922e-01 5.16262443e-01 6.98844750e-03 1.84304995e+02] [-5.16246803e-01 8.56430420e-01 -4.02185477e-03 -2.89095810e+01] [-8.06145159e-03 -1.63439523e-04 9.99967493e-01 9.24916020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.34, Y:-28.92, Z:0.93 [[ 8.56284852e-01 5.16417172e-01 9.46342582e-03 1.84336657e+02] [-5.16388454e-01 8.56337116e-01 -5.45053253e-03 -2.89182375e+01] [-1.09186314e-02 -2.19595380e-04 9.99940366e-01 9.27052575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.37, Y:-28.93, Z:0.93 [[ 8.54636408e-01 5.19153255e-01 8.74686331e-03 1.84367175e+02] [-5.19128808e-01 8.54681136e-01 -5.04340132e-03 -2.89299568e+01] [-1.00940773e-02 -2.30474335e-04 9.99949027e-01 9.27174085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.40, Y:-28.94, Z:0.93 [[ 8.53578652e-01 5.20879897e-01 9.36043897e-03 1.84396966e+02] [-5.20851944e-01 8.53629933e-01 -5.40267369e-03 -2.89430225e+01] [-1.08044950e-02 -2.63795917e-04 9.99941595e-01 9.26948023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.43, Y:-28.96, Z:0.93 [[ 8.52802581e-01 5.22132290e-01 1.02776430e-02 1.84426692e+02] [-5.22098610e-01 8.52864456e-01 -5.93806711e-03 -2.89552701e+01] [-1.18658930e-02 -3.01944189e-04 9.99929552e-01 9.26919920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.46, Y:-28.97, Z:0.93 [[ 8.51786494e-01 5.23793056e-01 1.00300984e-02 1.84456995e+02] [-5.23761022e-01 8.51845489e-01 -5.80122132e-03 -2.89665306e+01] [-1.15827335e-02 -3.11972599e-04 9.99932869e-01 9.28771669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.49, Y:-28.98, Z:0.93 [[ 8.52171880e-01 5.23202686e-01 7.87634742e-03 1.84488537e+02] [-5.23182859e-01 8.52208246e-01 -4.56087209e-03 -2.89767972e+01] [-9.09854874e-03 -2.34123021e-04 9.99958580e-01 9.28002980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.52, Y:-28.99, Z:0.93 [[ 8.52489537e-01 5.22678338e-01 8.30325266e-03 1.84519496e+02] [-5.22656284e-01 8.52529939e-01 -4.80751096e-03 -2.89884426e+01] [-9.59155332e-03 -2.41394384e-04 9.99953971e-01 9.26453752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.55, Y:-29.00, Z:0.93 [[ 8.52999505e-01 5.21832168e-01 9.11222179e-03 1.84550151e+02] [-5.21805543e-01 8.53048137e-01 -5.27742227e-03 -2.89989838e+01] [-1.05270925e-02 -2.53169255e-04 9.99944557e-01 9.26168571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.58, Y:-29.01, Z:0.93 [[ 8.54098122e-01 5.20017677e-01 9.90013642e-03 1.84582442e+02] [-5.19986107e-01 8.54155462e-01 -5.73542928e-03 -2.90082340e+01] [-1.14387802e-02 -2.49314024e-04 9.99934544e-01 9.28729025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.61, Y:-29.02, Z:0.93 [[ 8.55154039e-01 5.18282657e-01 9.72916645e-03 1.84611925e+02] [-5.18252036e-01 8.55209354e-01 -5.63811355e-03 -2.90219280e+01] [-1.12426106e-02 -2.20704745e-04 9.99936775e-01 9.29617042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.64, Y:-29.03, Z:0.93 [[ 8.57330538e-01 5.14707917e-01 7.75294984e-03 1.84642886e+02] [-5.14688313e-01 8.57365582e-01 -4.49442985e-03 -2.90330039e+01] [-8.96043098e-03 -1.37140713e-04 9.99959845e-01 9.27737700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.67, Y:-29.05, Z:0.93 [[ 8.58886707e-01 5.12103974e-01 7.94637578e-03 1.84672321e+02] [-5.12083254e-01 8.58923458e-01 -4.60794649e-03 -2.90459388e+01] [-9.18507628e-03 -1.11501989e-04 9.99957810e-01 9.26600713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.70, Y:-29.06, Z:0.93 [[ 8.61824259e-01 5.07111486e-01 9.84311861e-03 1.84704214e+02] [-5.07079350e-01 8.61880465e-01 -5.70940308e-03 -2.90558458e+01] [-1.13788955e-02 -7.07401001e-05 9.99935256e-01 9.27824280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.73, Y:-29.07, Z:0.93 [[ 8.63124963e-01 5.04866264e-01 1.11961248e-02 1.84733820e+02] [-5.04824472e-01 8.63197575e-01 -6.49605900e-03 -2.90692531e+01] [-1.29441088e-02 -4.51671068e-05 9.99916220e-01 9.29879190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.76, Y:-29.08, Z:0.93 [[ 8.65304240e-01 5.01135876e-01 1.05548721e-02 1.84763966e+02] [-5.01098433e-01 8.65368611e-01 -6.12592362e-03 -2.90821683e+01] [-1.22037751e-02 1.17578202e-05 9.99925531e-01 9.30759444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.392320588 meters Centerline goodness [0,1] 0.9999506879037428 Centerline is valid? [True, True] Translation: X:184.79, Y:-29.10, Z:0.93 [[ 8.66271361e-01 4.99475974e-01 9.88334753e-03 1.84792198e+02] [-4.99443015e-01 8.66327739e-01 -5.73794250e-03 -2.90972503e+01] [-1.14281825e-02 3.44463666e-05 9.99934696e-01 9.30349425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.82, Y:-29.11, Z:0.93 [[ 8.67584692e-01 4.97170162e-01 1.08918247e-02 1.84820018e+02] [-4.97129946e-01 8.67653056e-01 -6.32390839e-03 -2.91121054e+01] [-1.25943835e-02 7.18738991e-05 9.99920685e-01 9.27894666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.85, Y:-29.13, Z:0.93 [[ 8.68127938e-01 4.96203378e-01 1.16658352e-02 1.84846885e+02] [-4.96157143e-01 8.68206311e-01 -6.77427656e-03 -2.91273942e+01] [-1.34897707e-02 9.28512636e-05 9.99909005e-01 9.27462395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.87, Y:-29.14, Z:0.93 [[ 8.69103771e-01 4.94449044e-01 1.33707776e-02 1.84873759e+02] [-4.94388082e-01 8.69206606e-01 -7.76540412e-03 -2.91429169e+01] [-1.54615648e-02 1.38588933e-04 9.99880453e-01 9.30164131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.90, Y:-29.16, Z:0.93 [[ 8.69199399e-01 4.94261332e-01 1.40762171e-02 1.84900967e+02] [-4.94193697e-01 8.69313357e-01 -8.17786432e-03 -2.91592904e+01] [-1.62786456e-02 1.51817021e-04 9.99867483e-01 9.30657423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.93, Y:-29.18, Z:0.93 [[ 8.69536256e-01 4.93728697e-01 1.17759350e-02 1.84928161e+02] [-4.93681275e-01 8.69615981e-01 -6.84427393e-03 -2.91775973e+01] [-1.36197557e-02 1.37785730e-04 9.99907237e-01 9.30895694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.95, Y:-29.19, Z:0.93 [[ 8.69503365e-01 4.93818187e-01 1.03680098e-02 1.84954944e+02] [-4.93781413e-01 8.69565169e-01 -6.02767079e-03 -2.91949265e+01] [-1.19922337e-02 1.21549482e-04 9.99928083e-01 9.30465462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.98, Y:-29.21, Z:0.93 [[ 8.69551901e-01 4.93726697e-01 1.06508168e-02 1.84982578e+02] [-4.93687860e-01 8.69617118e-01 -6.19391346e-03 -2.92119310e+01] [-1.23202330e-02 1.27750292e-04 9.99924095e-01 9.29547910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.01, Y:-29.23, Z:0.93 [[ 8.69323166e-01 4.94098335e-01 1.20028688e-02 1.85010392e+02] [-4.94049020e-01 8.69406013e-01 -6.98215758e-03 -2.92283144e+01] [-1.38852387e-02 1.39745774e-04 9.99903586e-01 9.31100021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.04, Y:-29.25, Z:0.93 [[ 8.69607212e-01 4.93536155e-01 1.43304496e-02 1.85036999e+02] [-4.93465742e-01 8.69725262e-01 -8.33844888e-03 -2.92462172e+01] [-1.65788800e-02 1.79589346e-04 9.99862545e-01 9.33047637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.06, Y:-29.26, Z:0.93 [[ 8.69457235e-01 4.93845614e-01 1.26738454e-02 1.85063100e+02] [-4.93790540e-01 8.69549588e-01 -7.37677779e-03 -2.92644251e+01] [-1.46635264e-02 1.55567857e-04 9.99892473e-01 9.33434810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.09, Y:-29.29, Z:0.93 [[ 8.69166394e-01 4.94418578e-01 1.00024560e-02 1.85088468e+02] [-4.94384272e-01 8.69223939e-01 -5.82546385e-03 -2.92858657e+01] [-1.15745917e-02 1.18240499e-04 9.99933005e-01 9.30289585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.12, Y:-29.30, Z:0.93 [[ 8.69260272e-01 4.94280640e-01 8.55734637e-03 1.85115481e+02] [-4.94255513e-01 8.69302386e-01 -4.98497129e-03 -2.93038145e+01] [-9.90289642e-03 1.03721881e-04 9.99950960e-01 9.30351272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.14, Y:-29.32, Z:0.93 [[ 8.69107867e-01 4.94449848e-01 1.30714489e-02 1.85141605e+02] [-4.94391208e-01 8.69206145e-01 -7.61646211e-03 -2.93230305e+01] [-1.51277422e-02 1.57117744e-04 9.99885557e-01 9.32507154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.17, Y:-29.34, Z:0.93 [[ 8.68906936e-01 4.94798803e-01 1.32242400e-02 1.85168992e+02] [-4.94738766e-01 8.69007549e-01 -7.70932244e-03 -2.93406451e+01] [-1.53065279e-02 1.56139541e-04 9.99882836e-01 9.33717838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.19, Y:-29.36, Z:0.93 [[ 8.68332521e-01 4.95846422e-01 1.16171489e-02 1.85194675e+02] [-4.95800161e-01 8.68410220e-01 -6.77417902e-03 -2.93599055e+01] [-1.34474032e-02 1.22455670e-04 9.99909572e-01 9.33451856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.22, Y:-29.38, Z:0.93 [[ 8.67868377e-01 4.96647541e-01 1.20706210e-02 1.85221821e+02] [-4.96597626e-01 8.67952306e-01 -7.04213220e-03 -2.93797911e+01] [-1.39741810e-02 1.17402099e-04 9.99902349e-01 9.32787892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.25, Y:-29.40, Z:0.93 [[ 8.67225319e-01 4.97702754e-01 1.45675816e-02 1.85245890e+02] [-4.97630167e-01 8.67347654e-01 -8.50081357e-03 -2.94021520e+01] [-1.68660361e-02 1.22852697e-04 9.99857751e-01 9.32168268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.27, Y:-29.42, Z:0.93 [[ 8.67119953e-01 4.97889835e-01 1.44464514e-02 1.85273627e+02] [-4.97818270e-01 8.67240276e-01 -8.44236833e-03 -2.94196465e+01] [-1.67319138e-02 1.28838592e-04 9.99860003e-01 9.32697459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.30, Y:-29.44, Z:0.93 [[ 8.66906440e-01 4.98257508e-01 1.45835383e-02 1.85301579e+02] [-4.98184462e-01 8.67029088e-01 -8.53249525e-03 -2.94367332e+01] [-1.68957317e-02 1.31582903e-04 9.99857248e-01 9.31853711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.33, Y:-29.46, Z:0.93 [[ 8.67111950e-01 4.97970660e-01 1.19200651e-02 1.85327162e+02] [-4.97921731e-01 8.67193870e-01 -6.98151772e-03 -2.94571794e+01] [-1.38135983e-02 1.18498009e-04 9.99904581e-01 9.32346094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.35, Y:-29.48, Z:0.93 [[ 8.66785581e-01 4.98571143e-01 1.04676783e-02 1.85352195e+02] [-4.98533375e-01 8.66848779e-01 -6.13750947e-03 -2.94780413e+01] [-1.21338793e-02 1.01417706e-04 9.99926377e-01 9.34737195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.38, Y:-29.50, Z:0.94 [[ 8.66693180e-01 4.98724376e-01 1.08133792e-02 1.85380552e+02] [-4.98683986e-01 8.66760627e-01 -6.34804035e-03 -2.94954798e+01] [-1.25385338e-02 1.09344232e-04 9.99921384e-01 9.35453729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.41, Y:-29.51, Z:0.93 [[ 8.66141418e-01 4.99615806e-01 1.35310840e-02 1.85406465e+02] [-4.99552558e-01 8.66247095e-01 -7.95060923e-03 -2.95147046e+01] [-1.56935122e-02 1.26864341e-04 9.99876841e-01 9.34272097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.43, Y:-29.53, Z:0.93 [[ 8.65923956e-01 5.00008462e-01 1.29321741e-02 1.85433388e+02] [-4.99950589e-01 8.66020510e-01 -7.60826132e-03 -2.95333364e+01] [-1.50037231e-02 1.22727658e-04 9.99887430e-01 9.34187620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.46, Y:-29.55, Z:0.93 [[ 8.66015813e-01 4.99865101e-01 1.23082532e-02 1.85460301e+02] [-4.99812538e-01 8.66103265e-01 -7.24996625e-03 -2.95533925e+01] [-1.42842234e-02 1.26766150e-04 9.99897967e-01 9.33277382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.49, Y:-29.57, Z:0.93 [[ 8.65757603e-01 5.00307732e-01 1.24878311e-02 1.85489040e+02] [-5.00253544e-01 8.65847652e-01 -7.36444850e-03 -2.95699901e+01] [-1.44970497e-02 1.28745528e-04 9.99894904e-01 9.34206291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.202320588 meters Centerline goodness [0,1] 0.9999508067689886 Centerline is valid? [True, True] Translation: X:185.52, Y:-29.59, Z:0.94 [[ 8.65308905e-01 5.01094205e-01 1.20456505e-02 1.85516955e+02] [-5.01043744e-01 8.65392734e-01 -7.11218358e-03 -2.95874837e+01] [-1.39880924e-02 1.18837940e-04 9.99902155e-01 9.37194931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.54, Y:-29.61, Z:0.94 [[ 8.64482650e-01 5.02466930e-01 1.40261070e-02 1.85543313e+02] [-5.02398566e-01 8.64596420e-01 -8.28924824e-03 -2.96062942e+01] [-1.62919950e-02 1.19215237e-04 9.99867270e-01 9.36573747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.57, Y:-29.63, Z:0.93 [[ 8.63904340e-01 5.03469948e-01 1.36858545e-02 1.85569813e+02] [-5.03404825e-01 8.64012731e-01 -8.09826161e-03 -2.96268733e+01] [-1.59019839e-02 1.06598138e-04 9.99873550e-01 9.34548235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.60, Y:-29.64, Z:0.93 [[ 8.63582488e-01 5.04027361e-01 1.34798321e-02 1.85598070e+02] [-5.03964105e-01 8.63687680e-01 -7.98578382e-03 -2.96435692e+01] [-1.56674184e-02 1.03031564e-04 9.99877253e-01 9.34055933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.63, Y:-29.66, Z:0.93 [[ 8.63129692e-01 5.04804546e-01 1.33979138e-02 1.85627210e+02] [-5.04742002e-01 8.63233665e-01 -7.94676838e-03 -2.96600549e+01] [-1.55770950e-02 9.66019249e-05 9.99878665e-01 9.32827172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.352320588 meters Centerline goodness [0,1] 0.9999508333743056 Centerline is valid? [True, True] Translation: X:185.65, Y:-29.68, Z:0.93 [[ 8.63000400e-01 5.04989979e-01 1.46775760e-02 1.85654805e+02] [-5.04914799e-01 8.63125199e-01 -8.71413904e-03 -2.96772447e+01] [-1.70691386e-02 1.09380151e-04 9.99854306e-01 9.32917813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.68, Y:-29.69, Z:0.94 [[ 8.62596724e-01 5.05690300e-01 1.42903016e-02 1.85683143e+02] [-5.05618957e-01 8.62715080e-01 -8.49472767e-03 -2.96943298e+01] [-1.66241601e-02 1.02076862e-04 9.99861804e-01 9.35196417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.71, Y:-29.71, Z:0.94 [[ 8.62241483e-01 5.06309389e-01 1.37995325e-02 1.85712715e+02] [-5.06242783e-01 8.62351896e-01 -8.21285059e-03 -2.97096600e+01] [-1.60582964e-02 9.55467150e-05 9.99871053e-01 9.35342794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.74, Y:-29.73, Z:0.93 [[ 8.62945102e-01 5.05125584e-01 1.31869531e-02 1.85741307e+02] [-5.05064478e-01 8.63045844e-01 -7.85773071e-03 -2.97261237e+01] [-1.53500859e-02 1.20528636e-04 9.99882173e-01 9.33849549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.472320588 meters Centerline goodness [0,1] 0.9999507898233355 Centerline is valid? [True, True] Translation: X:185.77, Y:-29.75, Z:0.93 [[ 8.63179045e-01 5.04696636e-01 1.42563117e-02 1.85767587e+02] [-5.04625021e-01 8.63296753e-01 -8.50314274e-03 -2.97450285e+01] [-1.65989351e-02 1.45643036e-04 9.99862218e-01 9.31182188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.79, Y:-29.77, Z:0.93 [[ 8.64073501e-01 5.03130108e-01 1.53974138e-02 1.85791611e+02] [-5.03046157e-01 8.64210655e-01 -9.19284648e-03 -2.97669878e+01] [-1.79318069e-02 1.97685208e-04 9.99839193e-01 9.30952258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.82, Y:-29.78, Z:0.93 [[ 8.64524235e-01 5.02382716e-01 1.44724811e-02 1.85819184e+02] [-5.02308264e-01 8.64645339e-01 -8.65134083e-03 -2.97844399e+01] [-1.68598475e-02 2.09646946e-04 9.99857841e-01 9.32465580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.85, Y:-29.80, Z:0.93 [[ 8.64310054e-01 5.02830130e-01 1.14013199e-02 1.85846034e+02] [-5.02783869e-01 8.64385234e-01 -6.82264520e-03 -2.98018413e+01] [-1.32857641e-02 1.64481112e-04 9.99911727e-01 9.33495062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.87, Y:-29.82, Z:0.94 [[ 8.62950082e-01 5.05210917e-01 8.89305563e-03 1.85872751e+02] [-5.05182835e-01 8.62995897e-01 -5.32774951e-03 -2.98191366e+01] [-1.03663077e-02 1.04962828e-04 9.99946263e-01 9.35002192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.90, Y:-29.84, Z:0.93 [[ 8.60565369e-01 5.09224498e-01 1.08469805e-02 1.85899482e+02] [-5.09182942e-01 8.60633723e-01 -6.50588010e-03 -2.98383587e+01] [-1.26482307e-02 7.56376866e-05 9.99920005e-01 9.34293509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.93, Y:-29.86, Z:0.93 [[ 8.59936170e-01 5.10186021e-01 1.48326814e-02 1.85926488e+02] [-5.10108320e-01 8.60064077e-01 -8.90424528e-03 -2.98556759e+01] [-1.72998779e-02 9.08083550e-05 9.99850342e-01 9.33453287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.95, Y:-29.88, Z:0.93 [[ 8.59537100e-01 5.10871123e-01 1.43759934e-02 1.85952401e+02] [-5.10798050e-01 8.59657309e-01 -8.64082371e-03 -2.98765723e+01] [-1.67727751e-02 8.38791702e-05 9.99859324e-01 9.32319865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.98, Y:-29.89, Z:0.93 [[ 8.59333946e-01 5.11239189e-01 1.34037773e-02 1.85979224e+02] [-5.11175582e-01 8.59438471e-01 -8.06464139e-03 -2.98944756e+01] [-1.56426826e-02 7.85364524e-05 9.99877643e-01 9.32024148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.01, Y:-29.91, Z:0.93 [[ 8.60663269e-01 5.09046927e-01 1.14001398e-02 1.86007431e+02] [-5.09000623e-01 8.60738761e-01 -6.86666151e-03 -2.99104902e+01] [-1.33079952e-02 1.07205066e-04 9.99911439e-01 9.34099926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.04, Y:-29.93, Z:0.93 [[ 8.60396962e-01 5.09496998e-01 1.13963828e-02 1.86035448e+02] [-5.09450651e-01 8.60472427e-01 -6.87289662e-03 -2.99270020e+01] [-1.33079934e-02 1.07524735e-04 9.99911439e-01 9.34263816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.06, Y:-29.94, Z:0.93 [[ 8.60992731e-01 5.08464432e-01 1.24675041e-02 1.86062750e+02] [-5.08408752e-01 8.61082982e-01 -7.52593396e-03 -2.99433736e+01] [-1.45622253e-02 1.41186239e-04 9.99893955e-01 9.33635782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.09, Y:-29.96, Z:0.94 [[ 8.62496881e-01 5.05882097e-01 1.35068170e-02 1.86088161e+02] [-5.05816301e-01 8.62602609e-01 -8.16142907e-03 -2.99638358e+01] [-1.57797365e-02 2.07238895e-04 9.99875471e-01 9.35146918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.11, Y:-29.98, Z:0.94 [[ 8.62537650e-01 5.05801737e-01 1.39070335e-02 1.86114748e+02] [-5.05731808e-01 8.62649728e-01 -8.41336402e-03 -2.99830040e+01] [-1.62523928e-02 2.23614051e-04 9.99867896e-01 9.36033648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.14, Y:-30.00, Z:0.94 [[ 8.63234628e-01 5.04670535e-01 1.15597611e-02 1.86139968e+02] [-5.04622021e-01 8.63311999e-01 -7.00060888e-03 -3.00028191e+01] [-1.35126815e-02 2.09857973e-04 9.99908678e-01 9.37162444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.17, Y:-30.02, Z:0.94 [[ 8.63469788e-01 5.04271289e-01 1.14189836e-02 1.86167287e+02] [-5.04223802e-01 8.63545261e-01 -6.92377780e-03 -3.00218468e+01] [-1.33522716e-02 2.20749604e-04 9.99910830e-01 9.37009479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.952320588 meters Centerline goodness [0,1] 0.9999508067689886 Centerline is valid? [True, True] Translation: X:186.19, Y:-30.04, Z:0.94 [[ 8.63692358e-01 5.03900639e-01 1.09388023e-02 1.86194358e+02] [-5.03856932e-01 8.63761597e-01 -6.64045883e-03 -3.00417098e+01] [-1.27946488e-02 2.23722169e-04 9.99918120e-01 9.36387555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.22, Y:-30.06, Z:0.93 [[ 8.63653308e-01 5.03945853e-01 1.18971105e-02 1.86218682e+02] [-5.03894063e-01 8.63735211e-01 -7.22897420e-03 -3.00632827e+01] [-1.39189648e-02 2.48444130e-04 9.99903096e-01 9.33960742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.24, Y:-30.09, Z:0.94 [[ 8.62785360e-01 5.05433272e-01 1.17741291e-02 1.86242804e+02] [-5.05382635e-01 8.62865666e-01 -7.15790369e-03 -3.00864684e+01] [-1.37773344e-02 2.25294130e-04 9.99905063e-01 9.36763569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.27, Y:-30.11, Z:0.94 [[ 8.61977020e-01 5.06816074e-01 1.15362514e-02 1.86268830e+02] [-5.06767475e-01 8.62054189e-01 -7.02148349e-03 -3.01058496e+01] [-1.35034745e-02 2.06160415e-04 9.99908803e-01 9.38544197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.29, Y:-30.13, Z:0.94 [[ 8.59943928e-01 5.10264308e-01 1.12595154e-02 1.86294383e+02] [-5.10218215e-01 8.60017623e-01 -6.86010191e-03 -3.01258924e+01] [-1.31838468e-02 1.54493138e-04 9.99913077e-01 9.42008545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.32, Y:-30.14, Z:0.94 [[ 8.58840427e-01 5.12127455e-01 1.08899923e-02 1.86321490e+02] [-5.12084398e-01 8.58909456e-01 -6.64197099e-03 -3.01428425e+01] [-1.27550530e-02 1.27798066e-04 9.99918643e-01 9.41779629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.132320588 meters Centerline goodness [0,1] 0.9999507073495342 Centerline is valid? [True, True] Translation: X:186.35, Y:-30.16, Z:0.94 [[ 8.57676332e-01 5.14075792e-01 1.08346582e-02 1.86348066e+02] [-5.14033221e-01 8.57744757e-01 -6.61659131e-03 -3.01620727e+01] [-1.26948007e-02 1.05519519e-04 9.99919412e-01 9.37957356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.37, Y:-30.18, Z:0.94 [[ 8.57132430e-01 5.15007564e-01 9.55021931e-03 1.86374037e+02] [-5.14974478e-01 8.57185629e-01 -5.83825016e-03 -3.01809897e+01] [-1.11930537e-02 8.60343443e-05 9.99937352e-01 9.36781581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.192320588 meters Centerline goodness [0,1] 0.9999508454581203 Centerline is valid? [True, True] Translation: X:186.40, Y:-30.20, Z:0.94 [[ 8.56999259e-01 5.15220539e-01 1.00033410e-02 1.86400415e+02] [-5.15184165e-01 8.57057634e-01 -6.12283238e-03 -3.02006672e+01] [-1.17280488e-02 9.36999262e-05 9.99931220e-01 9.37639903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.222320588 meters Centerline goodness [0,1] 0.9997538764459759 Centerline is valid? [True, True] Translation: X:186.43, Y:-30.22, Z:0.94 [[ 8.57163656e-01 5.14921973e-01 1.12173609e-02 1.86427595e+02] [-5.14876183e-01 8.57237044e-01 -6.86785195e-03 -3.02168706e+01] [-1.31523452e-02 1.11321124e-04 9.99913498e-01 9.38933638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.252320588 meters Centerline goodness [0,1] 0.9994585814834868 Centerline is valid? [True, True] Translation: X:186.45, Y:-30.23, Z:0.94 [[ 8.57276491e-01 5.14693925e-01 1.29298604e-02 1.86454403e+02] [-5.14632930e-01 8.57373982e-01 -7.92486404e-03 -3.02337592e+01] [-1.51646052e-02 1.39667724e-04 9.99885001e-01 9.40981725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.282320588 meters Centerline goodness [0,1] 0.9993116672402773 Centerline is valid? [True, True] Translation: X:186.48, Y:-30.25, Z:0.94 [[ 8.56631098e-01 5.15785321e-01 1.21928139e-02 1.86480389e+02] [-5.15731077e-01 8.56717858e-01 -7.48117958e-03 -3.02526631e+01] [-1.43044840e-02 1.20398034e-04 9.99897678e-01 9.41569063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.312320588 meters Centerline goodness [0,1] 0.9992130244454281 Centerline is valid? [True, True] Translation: X:186.51, Y:-30.27, Z:0.94 [[ 8.56214984e-01 5.16511004e-01 1.05963986e-02 1.86505901e+02] [-5.16470001e-01 8.56280546e-01 -6.50880563e-03 -3.02734191e+01] [-1.24353597e-02 1.00214915e-04 9.99922673e-01 9.40851419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.342320588 meters Centerline goodness [0,1] 0.9991623965313362 Centerline is valid? [True, True] Translation: X:186.53, Y:-30.29, Z:0.94 [[ 8.55828563e-01 5.17185120e-01 8.77628440e-03 1.86532525e+02] [-5.17156966e-01 8.55873557e-01 -5.39691775e-03 -3.02909630e+01] [-1.03025953e-02 8.01197466e-05 9.99946924e-01 9.39103041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.372320588 meters Centerline goodness [0,1] 0.9990122481232714 Centerline is valid? [True, True] Translation: X:186.56, Y:-30.31, Z:0.94 [[ 8.55174459e-01 5.18245162e-01 9.92954088e-03 1.86558817e+02] [-5.18209193e-01 8.55232101e-01 -6.10626051e-03 -3.03091650e+01] [-1.16566021e-02 7.63386636e-05 9.99932057e-01 9.38008352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.402320588 meters Centerline goodness [0,1] 0.9989654662791271 Centerline is valid? [True, True] Translation: X:186.59, Y:-30.33, Z:0.94 [[ 8.54412872e-01 5.19494538e-01 1.02014218e-02 1.86586868e+02] [-5.19456543e-01 8.54473768e-01 -6.28328650e-03 -3.03271368e+01] [-1.19809804e-02 6.93255573e-05 9.99928223e-01 9.38819766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.432320588 meters Centerline goodness [0,1] 0.9990620063191153 Centerline is valid? [True, True] Translation: X:186.61, Y:-30.35, Z:0.94 [[ 8.53345593e-01 5.21268838e-01 8.94969134e-03 1.86612845e+02] [-5.21239690e-01 8.53392522e-01 -5.51255160e-03 -3.03459597e+01] [-1.05111210e-02 3.91772685e-05 9.99944756e-01 9.41255884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46232058799998 meters Centerline goodness [0,1] 0.9996059113300493 Centerline is valid? [True, True] Translation: X:186.64, Y:-30.36, Z:0.94 [[ 8.51850553e-01 5.23714380e-01 8.59557727e-03 1.86640784e+02] [-5.23687530e-01 8.51893918e-01 -5.30315658e-03 -3.03643961e+01] [-1.00998594e-02 1.61002308e-05 9.99948995e-01 9.41430447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49232058799998 meters Centerline goodness [0,1] 0.9995077528919517 Centerline is valid? [True, True] Translation: X:186.67, Y:-30.38, Z:0.94 [[ 8.49407674e-01 5.27661469e-01 8.94302265e-03 1.86668506e+02] [-5.27632553e-01 8.49454751e-01 -5.52403737e-03 -3.03827237e+01] [-1.05115147e-02 -2.64701468e-05 9.99944752e-01 9.40072724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52232058799999 meters Centerline goodness [0,1] 0.999655816697807 Centerline is valid? [True, True] Translation: X:186.70, Y:-30.40, Z:0.94 [[ 8.47188177e-01 5.31215806e-01 9.05314546e-03 1.86696879e+02] [-5.31186307e-01 8.47236545e-01 -5.59862658e-03 -3.03994012e+01] [-1.06442346e-02 -6.58166520e-05 9.99943346e-01 9.40162941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.552320588 meters Centerline goodness [0,1] 0.9996063379588623 Centerline is valid? [True, True] Translation: X:186.72, Y:-30.42, Z:0.94 [[ 8.43140157e-01 5.37638374e-01 7.72364340e-03 1.86724620e+02] [-5.37617126e-01 8.43175524e-01 -4.78138584e-03 -3.04150579e+01] [-9.08304358e-03 -1.20984559e-04 9.99958741e-01 9.41990776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.582320588 meters Centerline goodness [0,1] 0.9997044626145207 Centerline is valid? [True, True] Translation: X:186.75, Y:-30.43, Z:0.94 [[ 8.41250283e-01 5.40581736e-01 8.32753786e-03 1.86751870e+02] [-5.40557130e-01 8.41291484e-01 -5.16026371e-03 -3.04312900e+01] [-9.79543100e-03 -1.60436663e-04 9.99952011e-01 9.43012738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.612320588 meters Centerline goodness [0,1] 0.9997536581760851 Centerline is valid? [True, True] Translation: X:186.78, Y:-30.45, Z:0.94 [[ 8.39644586e-01 5.43057725e-01 9.23452712e-03 1.86779981e+02] [-5.43027563e-01 8.39695341e-01 -5.72715437e-03 -3.04459653e+01] [-1.08643648e-02 -2.05828595e-04 9.99940960e-01 9.42661314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.642320588 meters Centerline goodness [0,1] 0.9994576204329175 Centerline is valid? [True, True] Translation: X:186.81, Y:-30.46, Z:0.94 [[ 8.39417313e-01 5.43396877e-01 9.92008632e-03 1.86809216e+02] [-5.43362007e-01 8.39475899e-01 -6.15984130e-03 -3.04615815e+01] [-1.16749119e-02 -2.19520581e-04 9.99931822e-01 9.40309069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.672320588 meters Centerline goodness [0,1] 0.9995075347188023 Centerline is valid? [True, True] Translation: X:186.84, Y:-30.48, Z:0.94 [[ 8.39548240e-01 5.43192870e-01 1.00129579e-02 1.86838521e+02] [-5.43157245e-01 8.39607921e-01 -6.22461404e-03 -3.04771570e+01] [-1.17881247e-02 -2.12746862e-04 9.99930495e-01 9.39675770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.702320588 meters Centerline goodness [0,1] 0.9998031302293533 Centerline is valid? [True, True] Translation: X:186.87, Y:-30.49, Z:0.94 [[ 8.39352744e-01 5.43485030e-01 1.05352925e-02 1.86867538e+02] [-5.43445524e-01 8.39418830e-01 -6.55669442e-03 -3.04931378e+01] [-1.24069882e-02 -2.21978088e-04 9.99923006e-01 9.40275774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.732320588 meters Centerline goodness [0,1] 0.9992122107336288 Centerline is valid? [True, True] Translation: X:186.90, Y:-30.50, Z:0.94 [[ 8.39791946e-01 5.42829195e-01 9.27105298e-03 1.86897739e+02] [-5.42798498e-01 8.39843099e-01 -5.77575729e-03 -3.05048289e+01] [-1.09214795e-02 -1.81879178e-04 9.99940342e-01 9.44726934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.762320588 meters Centerline goodness [0,1] 0.9990157480314961 Centerline is valid? [True, True] Translation: X:186.93, Y:-30.52, Z:0.95 [[ 8.40111237e-01 5.42342062e-01 8.84291001e-03 1.86927129e+02] [-5.42314048e-01 8.40157759e-01 -5.51477536e-03 -3.05189184e+01] [-1.04203341e-02 -1.62609573e-04 9.99945694e-01 9.45600154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.792320588 meters Centerline goodness [0,1] 0.9991130383364542 Centerline is valid? [True, True] Translation: X:186.96, Y:-30.53, Z:0.94 [[ 8.41486457e-01 5.40229836e-01 7.22957209e-03 1.86956430e+02] [-5.40210990e-01 8.41517506e-01 -4.51370656e-03 -3.05326605e+01] [-8.52225043e-03 -1.07271355e-04 9.99963679e-01 9.44956456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.822320588 meters Centerline goodness [0,1] 0.9990140983929804 Centerline is valid? [True, True] Translation: X:186.98, Y:-30.55, Z:0.94 [[ 8.41592124e-01 5.40054789e-01 7.97008451e-03 1.86984849e+02] [-5.40031820e-01 8.41629855e-01 -4.98207816e-03 -3.05491255e+01] [-9.39845624e-03 -1.11221503e-04 9.99955827e-01 9.43733721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.852320588 meters Centerline goodness [0,1] 0.9993107861960321 Centerline is valid? [True, True] Translation: X:187.01, Y:-30.56, Z:0.94 [[ 8.42060852e-01 5.39314921e-01 8.54031493e-03 1.87014057e+02] [-5.39288448e-01 8.42104153e-01 -5.34455128e-03 -3.05647438e+01] [-1.00742309e-02 -1.05255783e-04 9.99949248e-01 9.43713600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.882320588 meters Centerline goodness [0,1] 0.9983748645720477 Centerline is valid? [True, True] Translation: X:187.04, Y:-30.58, Z:0.94 [[ 8.43609085e-01 5.36881298e-01 9.06548361e-03 1.87044433e+02] [-5.36851272e-01 8.43657790e-01 -5.67853822e-03 -3.05772159e+01] [-1.06968668e-02 -7.63499712e-05 9.99942784e-01 9.44600548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.912320588 meters Centerline goodness [0,1] 0.9981751824817519 Centerline is valid? [True, True] Translation: X:187.07, Y:-30.59, Z:0.95 [[ 8.44304973e-01 5.35773733e-01 9.77851770e-03 1.87074587e+02] [-5.35738637e-01 8.44361595e-01 -6.13270322e-03 -3.05918578e+01] [-1.15423461e-02 -6.08579149e-05 9.99933383e-01 9.45686585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.942320588 meters Centerline goodness [0,1] 0.9984754598209895 Centerline is valid? [True, True] Translation: X:187.11, Y:-30.60, Z:0.95 [[ 8.46518514e-01 5.32280654e-01 9.14938888e-03 1.87105589e+02] [-5.32249661e-01 8.46567957e-01 -5.74394004e-03 -3.06026760e+01] [-1.08029676e-02 -7.40755053e-06 9.99941646e-01 9.45786338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.972320588 meters Centerline goodness [0,1] 0.9979341891692489 Centerline is valid? [True, True] Translation: X:187.13, Y:-30.62, Z:0.95 [[ 8.48881853e-01 5.28507115e-01 8.93474894e-03 1.87134466e+02] [-5.28477275e-01 8.48928871e-01 -5.61629208e-03 -3.06187535e+01] [-1.05532166e-02 4.57566548e-05 9.99944312e-01 9.45304828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.002320588 meters Centerline goodness [0,1] 0.9977802989197455 Centerline is valid? [True, True] Translation: X:187.16, Y:-30.64, Z:0.95 [[ 8.50536464e-01 5.25834084e-01 9.28652114e-03 1.87161108e+02] [-5.25801629e-01 8.50587155e-01 -5.84279697e-03 -3.06361431e+01] [-1.09713374e-02 8.66439333e-05 9.99939809e-01 9.45723461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.032320588 meters Centerline goodness [0,1] 0.9978362429309073 Centerline is valid? [True, True] Translation: X:187.19, Y:-30.65, Z:0.95 [[ 8.51525991e-01 5.24242477e-01 8.56226012e-03 1.87188871e+02] [-5.24214736e-01 8.51569031e-01 -5.39405119e-03 -3.06536210e+01] [-1.01191463e-02 1.04711856e-04 9.99948795e-01 9.46803384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.062320588 meters Centerline goodness [0,1] 0.9972927741681433 Centerline is valid? [True, True] Translation: X:187.22, Y:-30.67, Z:0.95 [[ 8.53514415e-01 5.20986766e-01 9.27002777e-03 1.87217025e+02] [-5.20954000e-01 8.53564739e-01 -5.84515110e-03 -3.06690223e+01] [-1.09578152e-02 1.59662672e-04 9.99939949e-01 9.47004967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.092320588 meters Centerline goodness [0,1] 0.9977807367953839 Centerline is valid? [True, True] Translation: X:187.25, Y:-30.69, Z:0.95 [[ 8.54340463e-01 5.19639976e-01 8.75609659e-03 1.87245113e+02] [-5.19610600e-01 8.54385315e-01 -5.52794399e-03 -3.06859282e+01] [-1.03536210e-02 1.72985618e-04 9.99946385e-01 9.45188130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.122320588 meters Centerline goodness [0,1] 0.9976382601850029 Centerline is valid? [True, True] Translation: X:187.27, Y:-30.70, Z:0.94 [[ 8.53837500e-01 5.20479030e-01 7.94380212e-03 1.87270852e+02] [-5.20454842e-01 8.53874438e-01 -5.02001473e-03 -3.07046128e+01] [-9.39582197e-03 1.51886550e-04 9.99955847e-01 9.44454530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.152320588 meters Centerline goodness [0,1] 0.9971387696709585 Centerline is valid? [True, True] Translation: X:187.30, Y:-30.73, Z:0.94 [[ 8.52906862e-01 5.21980370e-01 9.29398746e-03 1.87295925e+02] [-5.21947276e-01 8.52957482e-01 -5.88001037e-03 -3.07263842e+01] [-1.09966261e-02 1.64129749e-04 9.99939522e-01 9.42474300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.182320588 meters Centerline goodness [0,1] 0.9975869201221313 Centerline is valid? [True, True] Translation: X:187.32, Y:-30.74, Z:0.94 [[ 8.52060212e-01 5.23342244e-01 1.03097241e-02 1.87322954e+02] [-5.23301533e-01 8.52122566e-01 -6.52981090e-03 -3.07449096e+01] [-1.22024744e-02 1.68697630e-04 9.99925533e-01 9.43466210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21232058799998 meters Centerline goodness [0,1] 0.9972883695705763 Centerline is valid? [True, True] Translation: X:187.35, Y:-30.76, Z:0.94 [[ 8.51019812e-01 5.25027844e-01 1.05376549e-02 1.87350415e+02] [-5.24985346e-01 8.51085037e-01 -6.68183065e-03 -3.07627135e+01] [-1.24765876e-02 1.54255855e-04 9.99922152e-01 9.44314286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24232058799998 meters Centerline goodness [0,1] 0.9976883730080661 Centerline is valid? [True, True] Translation: X:187.38, Y:-30.78, Z:0.94 [[ 8.49600098e-01 5.27300510e-01 1.15691793e-02 1.87377337e+02] [-5.27249382e-01 8.49678853e-01 -7.34414071e-03 -3.07819086e+01] [-1.37026561e-02 1.39740030e-04 9.99906104e-01 9.44447571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27232058799999 meters Centerline goodness [0,1] 0.9977361090604853 Centerline is valid? [True, True] Translation: X:187.40, Y:-30.80, Z:0.94 [[ 8.47617922e-01 5.30519772e-01 9.62446692e-03 1.87402327e+02] [-5.30484589e-01 8.47672558e-01 -6.11023345e-03 -3.08033604e+01] [-1.13999962e-02 7.35120047e-05 9.99935015e-01 9.44040458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.302320588 meters Centerline goodness [0,1] 0.9979278701465292 Centerline is valid? [True, True] Translation: X:187.43, Y:-30.82, Z:0.94 [[ 8.46565890e-01 5.32196990e-01 9.62071559e-03 1.87429625e+02] [-5.32161835e-01 8.46620553e-01 -6.11724524e-03 -3.08217804e+01] [-1.14006751e-02 5.88734964e-05 9.99935008e-01 9.44320029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.332320588 meters Centerline goodness [0,1] 0.9980810864003149 Centerline is valid? [True, True] Translation: X:187.46, Y:-30.84, Z:0.94 [[ 8.45013287e-01 5.34642095e-01 1.05059136e-02 1.87456805e+02] [-5.34600267e-01 8.45078593e-01 -6.68772268e-03 -3.08396964e+01] [-1.24538608e-02 3.47502867e-05 9.99922447e-01 9.44228673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.362320588 meters Centerline goodness [0,1] 0.9986712598425197 Centerline is valid? [True, True] Translation: X:187.48, Y:-30.86, Z:0.94 [[ 8.42805110e-01 5.38102229e-01 1.12043379e-02 1.87484297e+02] [-5.38054849e-01 8.42879583e-01 -7.14060800e-03 -3.08571066e+01] [-1.32862847e-02 -1.04074105e-05 9.99911733e-01 9.44928766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.392320588 meters Centerline goodness [0,1] 0.9987223587223587 Centerline is valid? [True, True] Translation: X:187.51, Y:-30.87, Z:0.94 [[ 8.41037646e-01 5.40862898e-01 1.10906901e-02 1.87512330e+02] [-5.40816602e-01 8.41110768e-01 -7.07667791e-03 -3.08742974e+01] [-1.31560114e-02 -4.62767869e-05 9.99913455e-01 9.44191862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.422320588 meters Centerline goodness [0,1] 0.9986720440684635 Centerline is valid? [True, True] Translation: X:187.54, Y:-30.89, Z:0.94 [[ 8.39237049e-01 5.43679450e-01 9.68660731e-03 1.87542032e+02] [-5.43644234e-01 8.39292946e-01 -6.18842858e-03 -3.08891879e+01] [-1.14944226e-02 -7.25096756e-05 9.99933934e-01 9.44187462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.452320588 meters Centerline goodness [0,1] 0.9992608288572414 Centerline is valid? [True, True] Translation: X:187.57, Y:-30.91, Z:0.95 [[ 8.38220153e-01 5.45250816e-01 9.40864562e-03 1.87569975e+02] [-5.45217612e-01 8.38272951e-01 -6.01790630e-03 -3.09059635e+01] [-1.11682814e-02 -8.54289594e-05 9.99937629e-01 9.45801206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.482320588 meters Centerline goodness [0,1] 0.9999014729789645 Centerline is valid? [True, True] Translation: X:187.60, Y:-30.93, Z:0.95 [[ 8.37109272e-01 5.46914204e-01 1.15290885e-02 1.87595490e+02] [-5.46864416e-01 8.37188651e-01 -7.38059984e-03 -3.09255022e+01] [-1.36885770e-02 -1.26479720e-04 9.99906299e-01 9.48171675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.512320588 meters Centerline goodness [0,1] 0.9996552573257819 Centerline is valid? [True, True] Translation: X:187.62, Y:-30.94, Z:0.95 [[ 8.37076520e-01 5.46949756e-01 1.22010001e-02 1.87623123e+02] [-5.46893864e-01 8.37165425e-01 -7.82007340e-03 -3.09433668e+01] [-1.44914426e-02 -1.26652245e-04 9.99894986e-01 9.48356474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.542320588 meters Centerline goodness [0,1] 0.999655816697807 Centerline is valid? [True, True] Translation: X:187.65, Y:-30.96, Z:0.95 [[ 8.36951106e-01 5.47147199e-01 1.19494183e-02 1.87652298e+02] [-5.47093479e-01 8.37036396e-01 -7.66787365e-03 -3.09589178e+01] [-1.41975537e-02 -1.19813520e-04 9.99899202e-01 9.48185907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.572320588 meters Centerline goodness [0,1] 0.9997044626145207 Centerline is valid? [True, True] Translation: X:187.68, Y:-30.97, Z:0.95 [[ 8.36601959e-01 5.47684159e-01 1.17993158e-02 1.87682000e+02] [-5.47631709e-01 8.36685154e-01 -7.58045406e-03 -3.09740456e+01] [-1.40240070e-02 -1.19856765e-04 9.99901652e-01 9.47868575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.71, Y:-30.99, Z:0.95 [[ 8.35906872e-01 5.48788619e-01 9.52643966e-03 1.87711145e+02] [-5.48754428e-01 8.35961148e-01 -6.12671262e-03 -3.09879615e+01] [-1.13260036e-02 -1.06314771e-04 9.99935853e-01 9.46936293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.74, Y:-31.01, Z:0.95 [[ 8.36214285e-01 5.48282330e-01 1.14959194e-02 1.87738290e+02] [-5.48232399e-01 8.36293294e-01 -7.40021901e-03 -3.10052578e+01] [-1.36713697e-02 -1.14266649e-04 9.99906536e-01 9.46857166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.76, Y:-31.02, Z:0.95 [[ 8.36278462e-01 5.48130892e-01 1.38151662e-02 1.87764622e+02] [-5.48058619e-01 8.36392557e-01 -8.90172129e-03 -3.10240293e+01] [-1.64342106e-02 -1.27203125e-04 9.99864941e-01 9.46850409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.79, Y:-31.04, Z:0.95 [[ 8.35987504e-01 5.48574671e-01 1.38102599e-02 1.87792110e+02] [-5.48502333e-01 8.36101558e-01 -8.90933256e-03 -3.10413751e+01] [-1.64342140e-02 -1.26869069e-04 9.99864941e-01 9.47014298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.82, Y:-31.06, Z:0.95 [[ 8.36779691e-01 5.47364530e-01 1.38498693e-02 1.87819246e+02] [-5.47291439e-01 8.36894296e-01 -8.94530960e-03 -3.10606658e+01] [-1.64872218e-02 -9.46615211e-05 9.99864072e-01 9.47968774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.85, Y:-31.08, Z:0.95 [[ 8.38668992e-01 5.44501198e-01 1.23599253e-02 1.87845916e+02] [-5.44442557e-01 8.38760064e-01 -7.99111623e-03 -3.10787332e+01] [-1.47181841e-02 -2.73679297e-05 9.99891681e-01 9.49143941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.87, Y:-31.10, Z:0.95 [[ 8.39490850e-01 5.43266753e-01 1.07864609e-02 1.87873104e+02] [-5.43221975e-01 8.39560144e-01 -6.97497038e-03 -3.10958032e+01] [-1.28451521e-02 -4.01875359e-06 9.99917498e-01 9.48968166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.90, Y:-31.11, Z:0.95 [[ 8.40120459e-01 5.42303385e-01 1.02300324e-02 1.87899666e+02] [-5.42262911e-01 8.40182741e-01 -6.62543277e-03 -3.11149304e+01] [-1.21880913e-02 1.87944624e-05 9.99925722e-01 9.47214658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.93, Y:-31.13, Z:0.95 [[ 8.40232810e-01 5.42141077e-01 9.58526817e-03 1.87926417e+02] [-5.42105449e-01 8.40287482e-01 -6.21528340e-03 -3.11349842e+01] [-1.14239413e-02 2.60589300e-05 9.99934744e-01 9.46191729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.872320588 meters Centerline goodness [0,1] 0.9999508019285644 Centerline is valid? [True, True] Translation: X:187.95, Y:-31.16, Z:0.94 [[ 8.39682039e-01 5.42975151e-01 1.05857996e-02 1.87950374e+02] [-5.42931665e-01 8.39748763e-01 -6.87184553e-03 -3.11595518e+01] [-1.26206535e-02 2.27994690e-05 9.99920356e-01 9.44084452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.98, Y:-31.18, Z:0.95 [[ 8.39504856e-01 5.43275264e-01 9.14245233e-03 1.87975272e+02] [-5.43242778e-01 8.39554636e-01 -5.94109627e-03 -3.11802673e+01] [-1.09032389e-02 2.10079690e-05 9.99940558e-01 9.45841471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.932320588 meters Centerline goodness [0,1] 0.9999016183776871 Centerline is valid? [True, True] Translation: X:188.00, Y:-31.20, Z:0.95 [[ 8.39131492e-01 5.43856882e-01 8.83349360e-03 1.88000298e+02] [-5.43826511e-01 8.39177986e-01 -5.74755592e-03 -3.12030670e+01] [-1.05387212e-02 1.90671722e-05 9.99944466e-01 9.46014618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.03, Y:-31.22, Z:0.95 [[ 8.38598676e-01 5.44695731e-01 7.66950839e-03 1.88026013e+02] [-5.44672824e-01 8.38633746e-01 -4.99543280e-03 -3.12219257e+01] [-9.15289947e-03 1.17905387e-05 9.99958111e-01 9.45906704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99232058799998 meters Centerline goodness [0,1] 0.9999507558969813 Centerline is valid? [True, True] Translation: X:188.05, Y:-31.24, Z:0.95 [[ 8.38112156e-01 5.45426728e-01 8.81471978e-03 1.88051830e+02] [-5.45396438e-01 8.38158508e-01 -5.74817220e-03 -3.12418487e+01] [-1.05233391e-02 1.00962218e-05 9.99944628e-01 9.45587450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.08, Y:-31.26, Z:0.95 [[ 8.37103387e-01 5.46959977e-01 9.62823378e-03 1.88078242e+02] [-5.46923857e-01 8.37158757e-01 -6.28578167e-03 -3.12617151e+01] [-1.14984312e-02 -4.06162397e-06 9.99933891e-01 9.46594895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.10, Y:-31.28, Z:0.95 [[ 8.36076847e-01 5.48536277e-01 9.13557535e-03 1.88102564e+02] [-5.48503774e-01 8.36126756e-01 -5.97135698e-03 -3.12840835e+01] [-1.09140049e-02 -1.83842395e-05 9.99940440e-01 9.49839859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.13, Y:-31.30, Z:0.95 [[ 8.35362472e-01 5.49630110e-01 8.73402092e-03 1.88129156e+02] [-5.49600390e-01 8.35408129e-01 -5.71568661e-03 -3.13033577e+01] [-1.04379855e-02 -2.55512095e-05 9.99945522e-01 9.49323174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.15, Y:-31.33, Z:0.95 [[ 8.34764491e-01 5.50526434e-01 9.42815376e-03 1.88153761e+02] [-5.50491781e-01 8.34817731e-01 -6.17692927e-03 -3.13265397e+01] [-1.12713528e-02 -3.38399406e-05 9.99936476e-01 9.46540886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.18, Y:-31.35, Z:0.95 [[ 8.34229794e-01 5.51296838e-01 1.15085983e-02 1.88178596e+02] [-5.51245188e-01 8.34309172e-01 -7.54645111e-03 -3.13472143e+01] [-1.37620638e-02 -4.85850933e-05 9.99905297e-01 9.46822511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.172320588 meters Centerline goodness [0,1] 0.999950818865883 Centerline is valid? [True, True] Translation: X:188.20, Y:-31.37, Z:0.95 [[ 8.33228063e-01 5.52746900e-01 1.42077125e-02 1.88202663e+02] [-5.52668241e-01 8.33349181e-01 -9.32508078e-03 -3.13691628e+01] [-1.69943951e-02 -8.22324751e-05 9.99855581e-01 9.48189077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.23, Y:-31.39, Z:0.95 [[ 8.30537265e-01 5.56849339e-01 1.12545295e-02 1.88228515e+02] [-5.56800251e-01 8.30613507e-01 -7.39475581e-03 -3.13885224e+01] [-1.34659291e-02 -1.24904570e-04 9.99909322e-01 9.49279733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.26, Y:-31.41, Z:0.95 [[ 8.29110660e-01 5.59001445e-01 9.63837479e-03 1.88255402e+02] [-5.58965495e-01 8.29166670e-01 -6.34099900e-03 -3.14079514e+01] [-1.15364467e-02 -1.30129069e-04 9.99933445e-01 9.50786007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.28, Y:-31.43, Z:0.95 [[ 8.28023156e-01 5.60620002e-01 9.10310017e-03 1.88282528e+02] [-5.60587954e-01 8.28073182e-01 -5.99596183e-03 -3.14274598e+01] [-1.08994893e-02 -1.38293062e-04 9.99940589e-01 9.51302741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.31, Y:-31.45, Z:0.95 [[ 8.26527688e-01 5.62785326e-01 1.11649895e-02 1.88308229e+02] [-5.62737230e-01 8.26603071e-01 -7.36029639e-03 -3.14469713e+01] [-1.33712814e-02 -1.99466486e-04 9.99910581e-01 9.52363667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.34, Y:-31.47, Z:0.95 [[ 8.25321050e-01 5.64555768e-01 1.10430983e-02 1.88335332e+02] [-5.64508780e-01 8.25394897e-01 -7.28703284e-03 -3.14650501e+01] [-1.32288534e-02 -2.19784340e-04 9.99912471e-01 9.52212010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.36, Y:-31.48, Z:0.95 [[ 8.22977997e-01 5.67971665e-01 1.07426754e-02 1.88362704e+02] [-5.67927400e-01 8.23048066e-01 -7.09572439e-03 -3.14819299e+01] [-1.28719086e-02 -2.61434658e-04 9.99917119e-01 9.49358902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.39, Y:-31.50, Z:0.95 [[ 8.22303336e-01 5.68957879e-01 1.02056959e-02 1.88391372e+02] [-5.68917908e-01 8.22366625e-01 -6.74890649e-03 -3.14976132e+01] [-1.22326672e-02 -2.56554841e-04 9.99925145e-01 9.48715523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.42, Y:-31.51, Z:0.95 [[ 8.20644804e-01 5.71359508e-01 9.50880163e-03 1.88421275e+02] [-5.71324903e-01 8.20699848e-01 -6.29395985e-03 -3.15114781e+01] [-1.13999859e-02 -2.67509726e-04 9.99934982e-01 9.49215847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.45, Y:-31.53, Z:0.95 [[ 8.20020571e-01 5.72247019e-01 9.98060889e-03 1.88449198e+02] [-5.72208886e-01 8.20081256e-01 -6.61247953e-03 -3.15274608e+01] [-1.19688820e-02 -2.88623859e-04 9.99928329e-01 9.49989260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.48, Y:-31.54, Z:0.95 [[ 8.20411365e-01 5.71686066e-01 1.00117381e-02 1.88477797e+02] [-5.71647576e-01 8.20472404e-01 -6.63947548e-03 -3.15422701e+01] [-1.20100504e-02 -2.76084669e-04 9.99927839e-01 9.50950695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.51, Y:-31.56, Z:0.95 [[ 8.20772025e-01 5.71169066e-01 9.95902703e-03 1.88505784e+02] [-5.71130866e-01 8.20832401e-01 -6.61091378e-03 -3.15575027e+01] [-1.19506415e-02 -2.61854640e-04 9.99928554e-01 9.50763267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.54, Y:-31.57, Z:0.95 [[ 8.20332739e-01 5.71800774e-01 9.90312693e-03 1.88537325e+02] [-5.71762957e-01 8.20392470e-01 -6.58146713e-03 -3.15704303e+01] [-1.18877388e-02 -2.63248181e-04 9.99929304e-01 9.49979059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.57, Y:-31.59, Z:0.95 [[ 8.19515420e-01 5.72968829e-01 1.00596564e-02 1.88566378e+02] [-5.72929822e-01 8.19577112e-01 -6.69156844e-03 -3.15851301e+01] [-1.20787243e-02 -2.79633642e-04 9.99927010e-01 9.49460661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.60, Y:-31.60, Z:0.95 [[ 8.18827575e-01 5.73990462e-01 7.50683397e-03 1.88597466e+02] [-5.73968734e-01 8.18861956e-01 -4.99895201e-03 -3.15961422e+01] [-9.01641153e-03 -2.15408237e-04 9.99959328e-01 9.49382479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.63, Y:-31.61, Z:0.95 [[ 8.18029533e-01 5.75138025e-01 6.62833254e-03 1.88626842e+02] [-5.75121079e-01 8.18056363e-01 -4.41947857e-03 -3.16111007e+01] [-7.96415979e-03 -1.96829768e-04 9.99968266e-01 9.49500848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.66, Y:-31.62, Z:0.95 [[ 8.17960756e-01 5.75243867e-01 5.89031096e-03 1.88656004e+02] [-5.75230490e-01 8.17981945e-01 -3.92699637e-03 -3.16244255e+01] [-7.07714860e-03 -1.76157543e-04 9.99974941e-01 9.52497204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.68, Y:-31.64, Z:0.95 [[ 8.18347932e-01 5.74683199e-01 6.77371391e-03 1.88684730e+02] [-5.74665432e-01 8.18375943e-01 -4.52305145e-03 -3.16403730e+01] [-8.14276619e-03 -1.91189433e-04 9.99966829e-01 9.52424582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.72, Y:-31.65, Z:0.95 [[ 8.19325431e-01 5.73252141e-01 9.37129231e-03 1.88716707e+02] [-5.73217974e-01 8.19378988e-01 -6.26331096e-03 -3.16524327e+01] [-1.12690964e-02 -2.40103239e-04 9.99936473e-01 9.53264516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.75, Y:-31.67, Z:0.95 [[ 8.19622639e-01 5.72790693e-01 1.13820582e-02 1.88746680e+02] [-5.72740139e-01 8.19701619e-01 -7.61504020e-03 -3.16677950e+01] [-1.36917157e-02 -2.77502273e-04 9.99906226e-01 9.53266749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.78, Y:-31.68, Z:0.95 [[ 8.20275750e-01 5.71875438e-01 1.03042314e-02 1.88776546e+02] [-5.71833850e-01 8.20340435e-01 -6.90061432e-03 -3.16802930e+01] [-1.23992695e-02 -2.31901733e-04 9.99923099e-01 9.54052459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.81, Y:-31.69, Z:0.95 [[ 8.20199982e-01 5.72021790e-01 7.94111696e-03 1.88807718e+02] [-5.71997041e-01 8.20238405e-01 -5.32391734e-03 -3.16923286e+01] [-9.55900584e-03 -1.75618493e-04 9.99954296e-01 9.54509235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.84, Y:-31.71, Z:0.95 [[ 8.20923035e-01 5.70996923e-01 6.91984403e-03 1.88836027e+02] [-5.70978092e-01 8.20952187e-01 -4.63946287e-03 -3.17079785e+01] [-8.32998011e-03 -1.42437399e-04 9.99965295e-01 9.54890115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.86, Y:-31.72, Z:0.96 [[ 8.24152148e-01 5.66293200e-01 9.23298630e-03 1.88863464e+02] [-5.66259293e-01 8.24203857e-01 -6.19808062e-03 -3.17249377e+01] [-1.11197938e-02 -1.20102832e-04 9.99938166e-01 9.56653997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.89, Y:-31.74, Z:0.96 [[ 8.25713300e-01 5.63990922e-01 1.05729153e-02 1.88890233e+02] [-5.63946164e-01 8.25780983e-01 -7.10581261e-03 -3.17437764e+01] [-1.27385262e-02 -9.51910513e-05 9.99918857e-01 9.56067038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.92, Y:-31.76, Z:0.96 [[ 8.26659947e-01 5.62545451e-01 1.32645644e-02 1.88916801e+02] [-5.62474691e-01 8.26766357e-01 -8.92260077e-03 -3.17627058e+01] [-1.59860640e-02 -8.50250819e-05 9.99872211e-01 9.55748669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.94, Y:-31.78, Z:0.96 [[ 8.28457531e-01 5.59936757e-01 1.13554898e-02 1.88944155e+02] [-5.59884544e-01 8.28535351e-01 -7.64658480e-03 -3.17796567e+01] [-1.36900286e-02 -2.28924608e-05 9.99906287e-01 9.55588630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.97, Y:-31.80, Z:0.96 [[ 8.28456139e-01 5.59973141e-01 9.51354725e-03 1.88970907e+02] [-5.59936415e-01 8.28510761e-01 -6.41323206e-03 -3.17974221e+01] [-1.14733140e-02 -1.39000691e-05 9.99934179e-01 9.55125604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.00, Y:-31.82, Z:0.96 [[ 8.28006256e-01 5.60645571e-01 9.06550165e-03 1.88997467e+02] [-5.60612180e-01 8.28055882e-01 -6.11887117e-03 -3.18169464e+01] [-1.09372600e-02 -1.57670332e-05 9.99940186e-01 9.55633541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.02, Y:-31.84, Z:0.96 [[ 8.26836290e-01 5.62409231e-01 6.13236037e-03 1.89020539e+02] [-5.62393964e-01 8.26859031e-01 -4.14398985e-03 -3.18396847e+01] [-7.40121569e-03 -2.24012659e-05 9.99972610e-01 9.57707489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.05, Y:-31.86, Z:0.96 [[ 8.25980725e-01 5.63665194e-01 6.11488494e-03 1.89046183e+02] [-5.63650009e-01 8.26003359e-01 -4.13743208e-03 -3.18606878e+01] [-7.38304195e-03 -2.92158047e-05 9.99972745e-01 9.56622446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.07, Y:-31.88, Z:0.96 [[ 8.20402006e-01 5.71678753e-01 1.11334119e-02 1.89070899e+02] [-5.71629099e-01 8.20477526e-01 -7.53672688e-03 -3.18806795e+01] [-1.34433009e-02 -1.81036385e-04 9.99909618e-01 9.56679061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.09, Y:-31.90, Z:0.96 [[ 8.14778601e-01 5.79694559e-01 9.48946854e-03 1.89094223e+02] [-5.79658952e-01 8.14833817e-01 -6.43037371e-03 -3.19033092e+01] [-1.14599925e-02 -2.61324494e-04 9.99934298e-01 9.59213491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.12, Y:-31.92, Z:0.96 [[ 8.12574866e-01 5.82794253e-01 8.54087878e-03 1.89119988e+02] [-5.82765525e-01 8.12619705e-01 -5.79290291e-03 -3.19217808e+01] [-1.03165569e-02 -2.70162401e-04 9.99946746e-01 9.60514370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.15, Y:-31.94, Z:0.96 [[ 8.10683003e-01 5.85414802e-01 9.08725296e-03 1.89147601e+02] [-5.85382387e-01 8.10733870e-01 -6.16871701e-03 -3.19376191e+01] [-1.09786020e-02 -3.18643795e-04 9.99939683e-01 9.60627672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.18, Y:-31.95, Z:0.96 [[ 8.08970461e-01 5.87782108e-01 8.88742544e-03 1.89176194e+02] [-5.87751181e-01 8.09019208e-01 -6.03903422e-03 -3.19533024e+01] [-1.07397342e-02 -3.38194497e-04 9.99942270e-01 9.60101277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.20, Y:-31.97, Z:0.96 [[ 8.08675889e-01 5.88187366e-01 8.88422842e-03 1.89203253e+02] [-5.88156412e-01 8.08724618e-01 -6.04373771e-03 -3.19713250e+01] [-1.07397444e-02 -3.37890946e-04 9.99942270e-01 9.60265225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.23, Y:-31.99, Z:0.96 [[ 8.06731172e-01 5.90831983e-01 1.01184974e-02 1.89231696e+02] [-5.90791968e-01 8.06794516e-01 -6.88902047e-03 -3.19872123e+01] [-1.22338018e-02 -4.20339412e-04 9.99925076e-01 9.59273048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.26, Y:-32.01, Z:0.96 [[ 8.06434947e-01 5.91236303e-01 1.01148591e-02 1.89258741e+02] [-5.91196253e-01 8.06498269e-01 -6.89436253e-03 -3.20052656e+01] [-1.22338138e-02 -4.20011907e-04 9.99925076e-01 9.59437014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.29, Y:-32.02, Z:0.96 [[ 8.04300414e-01 5.94125443e-01 1.07611226e-02 1.89285280e+02] [-5.94080376e-01 8.04372248e-01 -7.33434708e-03 -3.20231096e+01] [-1.30134706e-02 -4.93953368e-04 9.99915199e-01 9.59408413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.31, Y:-32.04, Z:0.96 [[ 8.00436139e-01 5.99324191e-01 1.06066329e-02 1.89312687e+02] [-5.99280855e-01 8.00506208e-01 -7.22962541e-03 -3.20389163e+01] [-1.28235649e-02 -5.69498555e-04 9.99917613e-01 9.61498654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.34, Y:-32.05, Z:0.96 [[ 7.97043157e-01 6.03815837e-01 1.13420398e-02 1.89343252e+02] [-6.03766729e-01 7.97123557e-01 -7.73119307e-03 -3.20491400e+01] [-1.37092239e-02 -6.85851753e-04 9.99905789e-01 9.62473391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.37, Y:-32.06, Z:0.96 [[ 7.95984151e-01 6.05198339e-01 1.20084043e-02 1.89371997e+02] [-6.05143306e-01 7.96074380e-01 -8.19519953e-03 -3.20636163e+01] [-1.45193042e-02 -7.43556558e-04 9.99894313e-01 9.61471673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.40, Y:-32.08, Z:0.96 [[ 7.94991480e-01 6.06519965e-01 1.10489604e-02 1.89401220e+02] [-6.06473408e-01 7.95067947e-01 -7.54747263e-03 -3.20774412e+01] [-1.33623671e-02 -7.00724246e-04 9.99910474e-01 9.60380860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.43, Y:-32.09, Z:0.96 [[ 7.95360967e-01 6.06040653e-01 1.07544814e-02 1.89430415e+02] [-6.05996414e-01 7.95433391e-01 -7.35300759e-03 -3.20922329e+01] [-1.30106951e-02 -6.68881913e-04 9.99915134e-01 9.60168112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.46, Y:-32.10, Z:0.96 [[ 7.97823361e-01 6.02832091e-01 8.44710659e-03 1.89463449e+02] [-6.02804629e-01 7.97867930e-01 -5.77453079e-03 -3.20995850e+01] [-1.02207479e-02 -4.84899387e-04 9.99947649e-01 9.60812499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.49, Y:-32.11, Z:0.96 [[ 7.98671975e-01 6.01723597e-01 7.19639081e-03 1.89492662e+02] [-6.01703561e-01 7.98704298e-01 -4.92632078e-03 -3.21138534e+01] [-8.71207173e-03 -3.95579632e-04 9.99961971e-01 9.60484323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.52, Y:-32.13, Z:0.96 [[ 7.98375382e-01 6.02117098e-01 7.19377439e-03 1.89519684e+02] [-6.02097043e-01 7.98407693e-01 -4.93014192e-03 -3.21319994e+01] [-8.71208756e-03 -3.95246348e-04 9.99961971e-01 9.60648367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.55, Y:-32.15, Z:0.96 [[ 8.00180948e-01 5.99690015e-01 9.07396655e-03 1.89549034e+02] [-5.99657960e-01 8.00232259e-01 -6.21791443e-03 -3.21469431e+01] [-1.09901019e-02 -4.65819610e-04 9.99939499e-01 9.59537952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.58, Y:-32.16, Z:0.96 [[ 8.00611116e-01 5.99093561e-01 1.04281412e-02 1.89577397e+02] [-5.99051069e-01 8.00678859e-01 -7.15410202e-03 -3.21629987e+01] [-1.26355687e-02 -5.19335543e-04 9.99920033e-01 9.60296951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.61, Y:-32.17, Z:0.96 [[ 8.02224341e-01 5.96926896e-01 1.06952079e-02 1.89609373e+02] [-5.96881919e-01 8.02295481e-01 -7.34415435e-03 -3.21732863e+01] [-1.29646402e-02 -4.92116822e-04 9.99915834e-01 9.60724456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.64, Y:-32.19, Z:0.96 [[ 8.03416584e-01 5.95308228e-01 1.13976189e-02 1.89639455e+02] [-5.95256965e-01 8.03497273e-01 -7.82795868e-03 -3.21871331e+01] [-1.38180039e-02 -4.95400216e-04 9.99904404e-01 9.60079551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.67, Y:-32.20, Z:0.96 [[ 8.04270330e-01 5.94161962e-01 1.09908657e-02 1.89668861e+02] [-5.94114128e-01 8.04345296e-01 -7.55293025e-03 -3.22021176e+01] [-1.33281150e-02 -4.55230869e-04 9.99911073e-01 9.59731196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.70, Y:-32.22, Z:0.96 [[ 8.06062069e-01 5.91714387e-01 1.17483820e-02 1.89699459e+02] [-5.91659412e-01 8.06147561e-01 -8.07771463e-03 -3.22152204e+01] [-1.42506295e-02 -4.39901423e-04 9.99898358e-01 9.59089837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.73, Y:-32.23, Z:0.96 [[ 8.08667317e-01 5.88158362e-01 1.12654997e-02 1.89730253e+02] [-5.88107438e-01 8.08745703e-01 -7.74791439e-03 -3.22270610e+01] [-1.36679251e-02 -3.59839037e-04 9.99906525e-01 9.60948102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.76, Y:-32.24, Z:0.96 [[ 8.09964846e-01 5.86368754e-01 1.13416282e-02 1.89758106e+02] [-5.86316833e-01 8.10044184e-01 -7.80974141e-03 -3.22431773e+01] [-1.37666083e-02 -3.24171530e-04 9.99905183e-01 9.60772760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.79, Y:-32.26, Z:0.96 [[ 8.12731930e-01 5.82508564e-01 1.22712064e-02 1.89786969e+02] [-5.82447327e-01 8.12824517e-01 -8.45078422e-03 -3.22587356e+01] [-1.48969916e-02 -2.79109183e-04 9.99888995e-01 9.60014179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.82, Y:-32.28, Z:0.96 [[ 8.13351698e-01 5.81617183e-01 1.34337810e-02 1.89815576e+02] [-5.81543465e-01 8.13462584e-01 -9.26406550e-03 -3.22757352e+01] [-1.63160179e-02 -2.77384157e-04 9.99866846e-01 9.59697836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.84, Y:-32.29, Z:0.96 [[ 8.13501692e-01 5.81428973e-01 1.24638180e-02 1.89843925e+02] [-5.81365370e-01 8.13597129e-01 -8.60344205e-03 -3.22913380e+01] [-1.51428170e-02 -2.47117496e-04 9.99885310e-01 9.60675075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.88, Y:-32.30, Z:0.96 [[ 8.13735827e-01 5.81147004e-01 1.01075953e-02 1.89876291e+02] [-5.81105117e-01 8.13798576e-01 -6.98002013e-03 -3.23018794e+01] [-1.22819644e-02 -1.93682888e-04 9.99924555e-01 9.62700950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.91, Y:-32.31, Z:0.96 [[ 8.12808452e-01 5.82446002e-01 9.95362996e-03 1.89906530e+02] [-5.82405464e-01 8.12869369e-01 -6.87491527e-03 -3.23146570e+01] [-1.20952678e-02 -2.09059246e-04 9.99926828e-01 9.62733332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.93, Y:-32.33, Z:0.96 [[ 8.12387957e-01 5.83030009e-01 1.00903808e-02 1.89932701e+02] [-5.82988371e-01 8.12450589e-01 -6.97132395e-03 -3.23329758e+01] [-1.22624269e-02 -2.19155069e-04 9.99924790e-01 9.63099251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.96, Y:-32.35, Z:0.96 [[ 8.12494866e-01 5.82839358e-01 1.22627402e-02 1.89960412e+02] [-5.82777805e-01 8.12587358e-01 -8.47442474e-03 -3.23502534e+01] [-1.49037760e-02 -2.61026234e-04 9.99888898e-01 9.62387490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.99, Y:-32.37, Z:0.96 [[ 8.12947461e-01 5.82205487e-01 1.23772839e-02 1.89989612e+02] [-5.82142669e-01 8.13041640e-01 -8.55597205e-03 -3.23650085e+01] [-1.50445811e-02 -2.49789330e-04 9.99886793e-01 9.62312093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.02, Y:-32.38, Z:0.96 [[ 8.14712989e-01 5.79801109e-01 8.56853803e-03 1.90021693e+02] [-5.79770845e-01 8.14758034e-01 -5.92566788e-03 -3.23762554e+01] [-1.04169940e-02 -1.40069937e-04 9.99945732e-01 9.61350134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.05, Y:-32.39, Z:0.96 [[ 8.15351565e-01 5.78896034e-01 9.01146601e-03 1.90048670e+02] [-5.78862488e-01 8.15401351e-01 -6.23347470e-03 -3.23930744e+01] [-1.09564953e-02 -1.33926285e-04 9.99939967e-01 9.59901234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.08, Y:-32.41, Z:0.96 [[ 8.16706570e-01 5.76970395e-01 9.77457317e-03 1.90075070e+02] [-5.76930767e-01 8.16765052e-01 -6.76320171e-03 -3.24120160e+01] [-1.18856969e-02 -1.15700728e-04 9.99929356e-01 9.59058535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.10, Y:-32.43, Z:0.96 [[ 8.18202552e-01 5.74807113e-01 1.18898090e-02 1.90101733e+02] [-5.74748216e-01 8.18288930e-01 -8.22891698e-03 -3.24295335e+01] [-1.44593391e-02 -1.00725660e-04 9.99895453e-01 9.61335083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.13, Y:-32.45, Z:0.96 [[ 8.18675889e-01 5.74120505e-01 1.24673300e-02 1.90130184e+02] [-5.74055607e-01 8.18770809e-01 -8.63266661e-03 -3.24458346e+01] [-1.51640768e-02 -8.95846928e-05 9.99885015e-01 9.62290132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.16, Y:-32.46, Z:0.96 [[ 8.19862468e-01 5.72446674e-01 1.14165796e-02 1.90159489e+02] [-5.72392066e-01 8.19941951e-01 -7.90701225e-03 -3.24604429e+01] [-1.38872754e-02 -5.20970132e-05 9.99903566e-01 9.63072560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.19, Y:-32.48, Z:0.96 [[ 8.19947117e-01 5.72337760e-01 1.07802205e-02 1.90185996e+02] [-5.72289032e-01 8.20017979e-01 -7.46840353e-03 -3.24781066e+01] [-1.31144240e-02 -4.57060077e-05 9.99914001e-01 9.62857994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.21, Y:-32.50, Z:0.96 [[ 8.20705203e-01 5.71233178e-01 1.16458311e-02 1.90212766e+02] [-5.71176168e-01 8.20787826e-01 -8.07029375e-03 -3.24964634e+01] [-1.41687759e-02 -2.84891060e-05 9.99899617e-01 9.63473430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.24, Y:-32.51, Z:0.96 [[ 8.21431755e-01 5.70162602e-01 1.28249472e-02 1.90240112e+02] [-5.70093295e-01 8.21531866e-01 -8.88978654e-03 -3.25140716e+01] [-1.56047267e-02 -9.06346169e-06 9.99878239e-01 9.63516143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.27, Y:-32.53, Z:0.96 [[ 8.24261848e-01 5.66073042e-01 1.23982334e-02 1.90266035e+02] [-5.66007745e-01 8.24355085e-01 -8.59805257e-03 -3.25341054e+01] [-1.50876725e-02 6.95505633e-05 9.99886172e-01 9.63531708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.29, Y:-32.56, Z:0.96 [[ 8.25132541e-01 5.64797285e-01 1.26616200e-02 1.90290964e+02] [-5.64729003e-01 8.25229676e-01 -8.78269862e-03 -3.25551276e+01] [-1.54091889e-02 9.65063716e-05 9.99881267e-01 9.63605433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.32, Y:-32.57, Z:0.97 [[ 8.26009013e-01 5.63512902e-01 1.27404474e-02 1.90316940e+02] [-5.63443576e-01 8.26107253e-01 -8.83981339e-03 -3.25746082e+01] [-1.55063249e-02 1.23242307e-04 9.99879762e-01 9.65609983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.34, Y:-32.59, Z:0.97 [[ 8.25552662e-01 5.64202671e-01 1.17536616e-02 1.90343890e+02] [-5.64143668e-01 8.25636321e-01 -8.16008124e-03 -3.25931220e+01] [-1.43081896e-02 1.05823020e-04 9.99897627e-01 9.65992887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.37, Y:-32.61, Z:0.97 [[ 8.24723046e-01 5.65437379e-01 1.06051067e-02 1.90369835e+02] [-5.65389427e-01 8.24791225e-01 -7.36417307e-03 -3.26128006e+01] [-1.29109777e-02 7.73880349e-05 9.99916647e-01 9.65742268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.39, Y:-32.64, Z:0.96 [[ 8.23049875e-01 5.67903610e-01 8.62516721e-03 1.90393644e+02] [-5.67872008e-01 8.23095067e-01 -5.99110841e-03 -3.26353053e+01] [-1.05017047e-02 3.29900029e-05 9.99944855e-01 9.63496481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.42, Y:-32.66, Z:0.96 [[ 8.21579372e-01 5.70003280e-01 1.01782684e-02 1.90418638e+02] [-5.69959410e-01 8.21642417e-01 -7.07174521e-03 -3.26550053e+01] [-1.23938151e-02 8.80010311e-06 9.99923194e-01 9.62329019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.45, Y:-32.67, Z:0.96 [[ 8.21500832e-01 5.70111090e-01 1.04751296e-02 1.90445405e+02] [-5.70064589e-01 8.21567614e-01 -7.28146372e-03 -3.26747713e+01] [-1.27572704e-02 1.02280591e-05 9.99918623e-01 9.62054512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.47, Y:-32.70, Z:0.96 [[ 8.21097976e-01 5.70658899e-01 1.21051374e-02 1.90470761e+02] [-5.70596833e-01 8.21187202e-01 -8.41626100e-03 -3.26950712e+01] [-1.47433981e-02 3.42181652e-06 9.99891310e-01 9.62227181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.49, Y:-32.72, Z:0.96 [[ 8.20756651e-01 5.71164182e-01 1.14016036e-02 1.90494806e+02] [-5.71109138e-01 8.20835841e-01 -7.92939665e-03 -3.27166212e+01] [-1.38878322e-02 -3.45493631e-06 9.99903559e-01 9.64243631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.52, Y:-32.74, Z:0.96 [[ 8.19501891e-01 5.72977442e-01 1.06537223e-02 1.90521107e+02] [-5.72929508e-01 8.19571138e-01 -7.41142028e-03 -3.27359975e+01] [-1.29780599e-02 -3.01589413e-05 9.99915781e-01 9.62910578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.55, Y:-32.76, Z:0.96 [[ 8.19298106e-01 5.73266111e-01 1.07971966e-02 1.90547281e+02] [-5.73216854e-01 8.19369248e-01 -7.51483096e-03 -3.27558317e+01] [-1.31548888e-02 -3.22483135e-05 9.99913470e-01 9.60835825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.57, Y:-32.78, Z:0.96 [[ 8.18135715e-01 5.74925303e-01 1.07167459e-02 1.90572767e+02] [-5.74876785e-01 8.18205899e-01 -7.46914367e-03 -3.27774525e+01] [-1.30627044e-02 -5.00352288e-05 9.99914678e-01 9.59328273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.60, Y:-32.80, Z:0.96 [[ 8.15834479e-01 5.78153970e-01 1.23325002e-02 1.90596543e+02] [-5.78089974e-01 8.15927677e-01 -8.60273594e-03 -3.28003464e+01] [-1.50361342e-02 -1.10886138e-04 9.99886945e-01 9.60910328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.62, Y:-32.82, Z:0.96 [[ 8.14036898e-01 5.80681751e-01 1.23544938e-02 1.90623665e+02] [-5.80617664e-01 8.14130629e-01 -8.62823679e-03 -3.28197402e+01] [-1.50684315e-02 -1.49534225e-04 9.99886454e-01 9.61329953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.65, Y:-32.84, Z:0.96 [[ 8.10218706e-01 5.86024199e-01 1.10130322e-02 1.90649936e+02] [-5.85973730e-01 8.10293521e-01 -7.69402046e-03 -3.28388954e+01] [-1.34326708e-02 -2.19508280e-04 9.99909754e-01 9.64158756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.68, Y:-32.86, Z:0.96 [[ 8.06597747e-01 5.90970893e-01 1.23886343e-02 1.90675186e+02] [-5.90907585e-01 8.06692810e-01 -8.65660556e-03 -3.28585869e+01] [-1.51096241e-02 -3.38139415e-04 9.99885786e-01 9.64327715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.70, Y:-32.88, Z:0.97 [[ 8.05799642e-01 5.92066956e-01 1.19856875e-02 1.90702800e+02] [-5.92007647e-01 8.05888706e-01 -8.38687416e-03 -3.28762722e+01] [-1.46247212e-02 -3.37478460e-04 9.99892996e-01 9.65113476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.73, Y:-32.89, Z:0.96 [[ 8.05049299e-01 5.93081989e-01 1.22221181e-02 1.90731257e+02] [-5.93020293e-01 8.05141993e-01 -8.56174279e-03 -3.28938502e+01] [-1.49183560e-02 -3.55339049e-04 9.99888652e-01 9.64810964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.76, Y:-32.91, Z:0.96 [[ 8.04353872e-01 5.94017983e-01 1.25492949e-02 1.90756810e+02] [-5.93952929e-01 8.04451673e-01 -8.79904045e-03 -3.29128537e+01] [-1.53220895e-02 -3.76148203e-04 9.99882539e-01 9.63146157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.78, Y:-32.93, Z:0.96 [[ 8.04133887e-01 5.94310294e-01 1.28049747e-02 1.90784200e+02] [-5.94242436e-01 8.04235743e-01 -8.98871393e-03 -3.29311246e+01] [-1.56403035e-02 -3.81129880e-04 9.99877610e-01 9.63129198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.82, Y:-32.94, Z:0.96 [[ 8.04572112e-01 5.93744554e-01 1.14507961e-02 1.90815274e+02] [-5.93690125e-01 8.04653527e-01 -8.04587575e-03 -3.29433869e+01] [-1.39911184e-02 -3.24737317e-04 9.99902067e-01 9.64320067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.84, Y:-32.96, Z:0.97 [[ 8.04931730e-01 5.93282535e-01 1.00371325e-02 1.90843640e+02] [-5.93240676e-01 8.04994259e-01 -7.05288640e-03 -3.29590639e+01] [-1.22641884e-02 -2.77343248e-04 9.99924754e-01 9.65190193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.87, Y:-32.98, Z:0.96 [[ 8.05297817e-01 5.92803774e-01 8.89450921e-03 1.90869221e+02] [-5.92770854e-01 8.05346900e-01 -6.25184222e-03 -3.29786200e+01] [-1.08692811e-02 -2.37810931e-04 9.99940899e-01 9.64449189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.89, Y:-33.00, Z:0.96 [[ 8.05690172e-01 5.92270134e-01 8.91264263e-03 1.90894955e+02] [-5.92237028e-01 8.05739434e-01 -6.26635931e-03 -3.29977462e+01] [-1.08926451e-02 -2.29652875e-04 9.99940647e-01 9.63538134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.92, Y:-33.01, Z:0.96 [[ 8.06563288e-01 5.91063659e-01 9.97064393e-03 1.90923936e+02] [-5.91022111e-01 8.06624879e-01 -7.01210441e-03 -3.30128468e+01] [-1.21871695e-02 -2.37165031e-04 9.99925706e-01 9.63516526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.95, Y:-33.03, Z:0.96 [[ 8.06618018e-01 5.90959721e-01 1.15750213e-02 1.90952031e+02] [-5.90903684e-01 8.06701019e-01 -8.14257121e-03 -3.30290026e+01] [-1.41495131e-02 -2.71778068e-04 9.99899854e-01 9.63980425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.98, Y:-33.05, Z:0.96 [[ 8.06505308e-01 5.91089062e-01 1.27636139e-02 1.90979179e+02] [-5.91020903e-01 8.06606243e-01 -8.98114318e-03 -3.30464777e+01] [-1.56038662e-02 -3.00222994e-04 9.99878207e-01 9.64215470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.01, Y:-33.06, Z:0.96 [[ 8.05822393e-01 5.92055305e-01 1.09903118e-02 1.91006236e+02] [-5.92004830e-01 8.05897289e-01 -7.73561601e-03 -3.30640044e+01] [-1.34369750e-02 -2.72785050e-04 9.99909683e-01 9.64050514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.04, Y:-33.08, Z:0.96 [[ 8.04971301e-01 5.93248636e-01 8.78982133e-03 1.91035027e+02] [-5.93216401e-01 8.05019256e-01 -6.18868254e-03 -3.30788914e+01] [-1.07474029e-02 -2.32554343e-04 9.99942218e-01 9.64167405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.06, Y:-33.10, Z:0.96 [[ 8.04671436e-01 5.93643409e-01 9.55950189e-03 1.91062298e+02] [-5.93605287e-01 8.04728176e-01 -6.73241225e-03 -3.30965885e+01] [-1.16894527e-02 -2.57191039e-04 9.99931643e-01 9.62855076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.09, Y:-33.11, Z:0.96 [[ 8.04673215e-01 5.93657332e-01 8.48466599e-03 1.91088365e+02] [-5.93627284e-01 8.04717913e-01 -5.97722205e-03 -3.31148019e+01] [-1.03761844e-02 -2.27018748e-04 9.99946140e-01 9.64547316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.12, Y:-33.13, Z:0.97 [[ 8.05749565e-01 5.92179879e-01 9.52000406e-03 1.91116283e+02] [-5.92141926e-01 8.05805769e-01 -6.70838398e-03 -3.31314542e+01] [-1.16438442e-02 -2.31916070e-04 9.99932181e-01 9.66093150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.15, Y:-33.15, Z:0.97 [[ 8.07760796e-01 5.89402129e-01 1.12972113e-02 1.91145794e+02] [-5.89348381e-01 8.07839761e-01 -7.96282496e-03 -3.31456268e+01] [-1.38196424e-02 -2.25935350e-04 9.99904479e-01 9.67384105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.17, Y:-33.16, Z:0.97 [[ 8.08008024e-01 5.89055851e-01 1.16720883e-02 1.91173436e+02] [-5.88998385e-01 8.08092293e-01 -8.23091500e-03 -3.31633850e+01] [-1.42805932e-02 -2.24195785e-04 9.99898002e-01 9.66459831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.20, Y:-33.18, Z:0.97 [[ 8.08424914e-01 5.88516944e-01 9.84705166e-03 1.91201083e+02] [-5.88475984e-01 8.08484863e-01 -6.94565210e-03 -3.31807274e+01] [-1.20488262e-02 -1.79715205e-04 9.99927394e-01 9.65875697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.23, Y:-33.19, Z:0.96 [[ 8.08046366e-01 5.89038410e-01 9.73760395e-03 1.91231340e+02] [-5.88998370e-01 8.08105016e-01 -6.87039390e-03 -3.31934431e+01] [-1.19159325e-02 -1.83836027e-04 9.99928986e-01 9.63350383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.26, Y:-33.21, Z:0.96 [[ 8.07774866e-01 5.89396097e-01 1.05833165e-02 1.91259549e+02] [-5.89348804e-01 8.07844168e-01 -7.46909492e-03 -3.32094269e+01] [-1.29519259e-02 -2.03917774e-04 9.99916099e-01 9.63718041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.29, Y:-33.23, Z:0.96 [[ 8.07697757e-01 5.89501778e-01 1.05823408e-02 1.91285462e+02] [-5.89454477e-01 8.07767053e-01 -7.47047727e-03 -3.32276722e+01] [-1.29519259e-02 -2.03920438e-04 9.99916099e-01 9.63877673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.31, Y:-33.25, Z:0.96 [[ 8.07637256e-01 5.89589930e-01 1.02847515e-02 1.91311754e+02] [-5.89545233e-01 8.07702714e-01 -7.26243647e-03 -3.32462768e+01] [-1.25888811e-02 -1.97911942e-04 9.99920737e-01 9.64920763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.34, Y:-33.27, Z:0.97 [[ 8.07735273e-01 5.89478907e-01 8.85139857e-03 1.91337394e+02] [-5.89445774e-01 8.07783752e-01 -6.25214580e-03 -3.32665193e+01] [-1.08355240e-02 -1.67340790e-04 9.99941280e-01 9.65743691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.36, Y:-33.28, Z:0.96 [[ 8.08676667e-01 5.88175297e-01 9.58474022e-03 1.91364524e+02] [-5.88136349e-01 8.08733450e-01 -6.77060600e-03 -3.32819381e+01] [-1.17338032e-02 -1.61903029e-04 9.99931143e-01 9.64734194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.39, Y:-33.30, Z:0.96 [[ 8.08575463e-01 5.88275976e-01 1.17088449e-02 1.91392144e+02] [-5.88217847e-01 8.08660211e-01 -8.27212244e-03 -3.32966390e+01] [-1.43347679e-02 -1.98716302e-04 9.99897232e-01 9.64753810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.42, Y:-33.31, Z:0.96 [[ 8.07929687e-01 5.89128559e-01 1.33102406e-02 1.91421324e+02] [-5.89053564e-01 8.08039282e-01 -9.40302506e-03 -3.33086611e+01] [-1.62947878e-02 -2.43461552e-04 9.99867201e-01 9.64546842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.45, Y:-33.33, Z:0.97 [[ 8.07644789e-01 5.89531335e-01 1.27553960e-02 1.91447057e+02] [-5.89462512e-01 8.07745472e-01 -9.01105485e-03 -3.33256594e+01] [-1.56154125e-02 -2.41096252e-04 9.99878043e-01 9.66117098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.47, Y:-33.34, Z:0.97 [[ 8.07692470e-01 5.89478671e-01 1.21560678e-02 1.91471929e+02] [-5.89416158e-01 8.07783910e-01 -8.58765925e-03 -3.33428174e+01] [-1.48817180e-02 -2.28795091e-04 9.99889235e-01 9.67392154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.50, Y:-33.36, Z:0.97 [[ 8.07676571e-01 5.89533958e-01 1.04052307e-02 1.91497099e+02] [-5.89488179e-01 8.07743569e-01 -7.34936256e-03 -3.33587064e+01] [-1.27374570e-02 -1.97852579e-04 9.99918856e-01 9.67398962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77232058799999 meters Centerline goodness [0,1] 0.9999508309568296 Centerline is valid? [True, True] Translation: X:191.52, Y:-33.37, Z:0.97 [[ 8.09519112e-01 5.86994109e-01 1.08038298e-02 1.91523497e+02] [-5.86944660e-01 8.09591185e-01 -7.62104114e-03 -3.33711249e+01] [-1.32201916e-02 -1.71871749e-04 9.99912595e-01 9.66863307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.55, Y:-33.39, Z:0.97 [[ 8.10987844e-01 5.84942872e-01 1.18555115e-02 1.91547437e+02] [-5.84883243e-01 8.11074480e-01 -8.35345430e-03 -3.33859171e+01] [-1.45019964e-02 -1.59540122e-04 9.99894828e-01 9.67008793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.57, Y:-33.40, Z:0.97 [[ 8.13111880e-01 5.81979285e-01 1.22140173e-02 1.91571914e+02] [-5.81915777e-01 8.13203602e-01 -8.59826775e-03 -3.34015761e+01] [-1.49364966e-02 -1.16175723e-04 9.99888438e-01 9.69305221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.59, Y:-33.42, Z:0.97 [[ 8.13705345e-01 5.81149554e-01 1.21986669e-02 1.91594163e+02] [-5.81086260e-01 8.13796771e-01 -8.57753511e-03 -3.34185105e+01] [-1.49120664e-02 -1.08891540e-04 9.99888803e-01 9.70661361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.62, Y:-33.43, Z:0.97 [[ 8.14470917e-01 5.80090330e-01 1.15036507e-02 1.91617310e+02] [-5.80034044e-01 8.14552148e-01 -8.08124211e-03 -3.34349539e+01] [-1.40581738e-02 -9.05723916e-05 9.99901175e-01 9.71622632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.64, Y:-33.45, Z:0.97 [[ 8.16251064e-01 5.77604660e-01 1.03468535e-02 1.91642763e+02] [-5.77559019e-01 8.16316638e-01 -7.26119171e-03 -3.34492821e+01] [-1.26404068e-02 -4.89630881e-05 9.99920106e-01 9.70106363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.67, Y:-33.46, Z:0.97 [[ 8.18282631e-01 5.74667196e-01 1.30824375e-02 1.91667089e+02] [-5.74593984e-01 8.18387203e-01 -9.17278709e-03 -3.34646104e+01] [-1.59777993e-02 -1.11575121e-05 9.99872347e-01 9.65854407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.69, Y:-33.48, Z:0.97 [[ 8.19689589e-01 5.72664339e-01 1.28269823e-02 1.91688844e+02] [-5.72593873e-01 8.19789945e-01 -8.98347416e-03 -3.34823034e+01] [-1.56599464e-02 1.90087742e-05 9.99877375e-01 9.66166216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.71, Y:-33.50, Z:0.97 [[ 8.21138672e-01 5.70589610e-01 1.26007345e-02 1.91710415e+02] [-5.70521488e-01 8.21235347e-01 -8.81688095e-03 -3.35011826e+01] [-1.53789892e-02 5.08921289e-05 9.99881735e-01 9.65983183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.73, Y:-33.52, Z:0.97 [[ 8.22175411e-01 5.69090478e-01 1.27914826e-02 1.91732302e+02] [-5.69020078e-01 8.22274906e-01 -8.95154400e-03 -3.35216562e+01] [-1.56123536e-02 8.11289137e-05 9.99878116e-01 9.67583172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.76, Y:-33.54, Z:0.97 [[ 8.22130058e-01 5.69159356e-01 1.26410100e-02 1.91756469e+02] [-5.69090629e-01 8.22227232e-01 -8.84504597e-03 -3.35382102e+01] [-1.54280233e-02 7.78978330e-05 9.99880978e-01 9.69091510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.78, Y:-33.55, Z:0.97 [[ 8.21530247e-01 5.70056155e-01 1.11370683e-02 1.91780132e+02] [-5.70003025e-01 8.21605732e-01 -7.78282835e-03 -3.35539244e+01] [-1.35869283e-02 4.56662873e-05 9.99907692e-01 9.69739702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.80, Y:-33.57, Z:0.97 [[ 8.20863147e-01 5.71007422e-01 1.15852574e-02 1.91802715e+02] [-5.70950156e-01 8.20944896e-01 -8.08677481e-03 -3.35700455e+01] [-1.41284663e-02 2.35309157e-05 9.99900188e-01 9.69825703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.83, Y:-33.59, Z:0.97 [[ 8.17992195e-01 5.75152071e-01 9.42677540e-03 1.91825241e+02] [-5.75114416e-01 8.18046511e-01 -6.58140636e-03 -3.35901013e+01] [-1.14968502e-02 -3.79353946e-05 9.99933908e-01 9.70392064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.85, Y:-33.61, Z:0.97 [[ 8.17050093e-01 5.76507182e-01 8.28334936e-03 1.91847857e+02] [-5.76478258e-01 8.17092079e-01 -5.77508474e-03 -3.36078604e+01] [-1.00976370e-02 -5.66372881e-05 9.99949016e-01 9.71953833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.87, Y:-33.62, Z:0.97 [[ 8.15981409e-01 5.77980872e-01 1.06043544e-02 1.91872518e+02] [-5.77933675e-01 8.16050306e-01 -7.38680586e-03 -3.36231067e+01] [-1.29231191e-02 -1.01117247e-04 9.99916488e-01 9.72001747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.90, Y:-33.64, Z:0.97 [[ 8.17221782e-01 5.76211696e-01 1.13419424e-02 1.91896381e+02] [-5.76157660e-01 8.17300479e-01 -7.89161744e-03 -3.36384957e+01] [-1.38170172e-02 -8.55453171e-05 9.99904537e-01 9.72013898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.92, Y:-33.66, Z:0.97 [[ 8.18488817e-01 5.74418557e-01 1.09260414e-02 1.91919632e+02] [-5.74368336e-01 8.18561738e-01 -7.59578857e-03 -3.36563301e+01] [-1.33068014e-02 -5.85042487e-05 9.99911459e-01 9.72877496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.94, Y:-33.67, Z:0.97 [[ 8.19683101e-01 5.72717633e-01 1.06830166e-02 1.91941974e+02] [-5.72669575e-01 8.19752714e-01 -7.41934942e-03 -3.36740459e+01] [-1.30066241e-02 -3.63232428e-05 9.99915410e-01 9.73272814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.97, Y:-33.69, Z:0.97 [[ 8.21511873e-01 5.70112405e-01 9.49143063e-03 1.91966225e+02] [-5.70074374e-01 8.21566702e-01 -6.58505057e-03 -3.36901469e+01] [-1.15520624e-02 -1.12414138e-06 9.99933273e-01 9.73661063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.99, Y:-33.71, Z:0.97 [[ 8.22500352e-01 5.68681277e-01 9.73530439e-03 1.91989433e+02] [-5.68641258e-01 8.22557965e-01 -6.74642512e-03 -3.37054924e+01] [-1.18444178e-02 1.30413084e-05 9.99929852e-01 9.72604311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.01, Y:-33.72, Z:0.97 [[ 8.23330635e-01 5.67473040e-01 1.00505895e-02 1.92012057e+02] [-5.67430373e-01 8.23391977e-01 -6.95866913e-03 -3.37236965e+01] [-1.22244319e-02 2.62757255e-05 9.99925278e-01 9.70066221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.03, Y:-33.74, Z:0.97 [[ 8.24044138e-01 5.66442049e-01 9.72954015e-03 1.92034143e+02] [-5.66402071e-01 8.24101574e-01 -6.72976982e-03 -3.37421094e+01] [-1.18301540e-02 3.47956863e-05 9.99930021e-01 9.70107166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.06, Y:-33.76, Z:0.97 [[ 8.24641631e-01 5.65601714e-01 7.80258730e-03 1.92055935e+02] [-5.65575956e-01 8.24678543e-01 -5.39801482e-03 -3.37622174e+01] [-9.48775276e-03 3.84719685e-05 9.99954990e-01 9.71931829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.08, Y:-33.78, Z:0.97 [[ 8.24644921e-01 5.65595331e-01 7.91683430e-03 1.92079480e+02] [-5.65568820e-01 8.24682921e-01 -5.47630851e-03 -3.37803699e+01] [-9.62625256e-03 3.84953586e-05 9.99953666e-01 9.72759232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.10, Y:-33.80, Z:0.97 [[ 8.24524594e-01 5.65742373e-01 9.73450527e-03 1.92102679e+02] [-5.65702310e-01 8.24582055e-01 -6.73279409e-03 -3.37985735e+01] [-1.18359253e-02 4.45221895e-05 9.99929952e-01 9.72363914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.13, Y:-33.82, Z:0.97 [[ 8.24298056e-01 5.66070257e-01 9.85790062e-03 1.92128136e+02] [-5.66029175e-01 8.24356999e-01 -6.81987924e-03 -3.38175003e+01] [-1.19869602e-02 4.17538405e-05 9.99928153e-01 9.72455922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.15, Y:-33.84, Z:0.97 [[ 8.23631960e-01 5.67047337e-01 9.36545028e-03 1.92153186e+02] [-5.67010310e-01 8.23685205e-01 -6.48010003e-03 -3.38366249e+01] [-1.13887063e-02 2.69106276e-05 9.99935146e-01 9.72301112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.18, Y:-33.86, Z:0.97 [[ 8.22204516e-01 5.69139756e-01 7.72473788e-03 1.92177504e+02] [-5.69114640e-01 8.22240803e-01 -5.34684306e-03 -3.38582234e+01] [-9.39469563e-03 -6.29036243e-08 9.99955869e-01 9.73751064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.20, Y:-33.88, Z:0.98 [[ 8.19860951e-01 5.72485171e-01 9.42072080e-03 1.92201730e+02] [-5.72448031e-01 8.19915073e-01 -6.52107699e-03 -3.38782914e+01] [-1.14574109e-02 -4.64966916e-05 9.99934361e-01 9.76060933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.23, Y:-33.90, Z:0.98 [[ 8.18219951e-01 5.74803615e-01 1.08127537e-02 1.92227474e+02] [-5.74754858e-01 8.18291389e-01 -7.48707966e-03 -3.38975840e+01] [-1.31515837e-02 -8.86047420e-05 9.99913510e-01 9.77178049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.25, Y:-33.92, Z:0.98 [[ 8.16990557e-01 5.76546303e-01 1.09904531e-02 1.92253296e+02] [-5.76496060e-01 8.17064469e-01 -7.61224278e-03 -3.39168864e+01] [-1.33687192e-02 -1.16822469e-04 9.99910628e-01 9.76613256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.28, Y:-33.94, Z:0.98 [[ 8.13856777e-01 5.80993207e-01 9.16735512e-03 1.92278008e+02] [-5.80958510e-01 8.13908391e-01 -6.35141924e-03 -3.39372898e+01] [-1.11515187e-02 -1.56707391e-04 9.99937808e-01 9.75829578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.30, Y:-33.95, Z:0.98 [[ 8.10966941e-01 5.85004661e-01 1.01077707e-02 1.92304886e+02] [-5.84962768e-01 8.11029896e-01 -7.00483236e-03 -3.39549776e+01] [-1.22955638e-02 -2.31982060e-04 9.99924380e-01 9.75108359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.33, Y:-33.97, Z:0.98 [[ 8.09609510e-01 5.86874147e-01 1.05440352e-02 1.92332341e+02] [-5.86828692e-01 8.09678123e-01 -7.30919028e-03 -3.39714388e+01] [-1.28268494e-02 -2.69952415e-04 9.99917696e-01 9.76435511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.36, Y:-33.99, Z:0.98 [[ 8.08011439e-01 5.89033808e-01 1.25174772e-02 1.92360222e+02] [-5.88969967e-01 8.08108312e-01 -8.67947959e-03 -3.39878290e+01] [-1.52279843e-02 -3.59299334e-04 9.99883983e-01 9.77651230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.39, Y:-34.00, Z:0.98 [[ 8.05756233e-01 5.92081332e-01 1.40210260e-02 1.92388293e+02] [-5.92001620e-01 8.05878081e-01 -9.72626620e-03 -3.40030580e+01] [-1.70579782e-02 -4.63470487e-04 9.99854395e-01 9.79814831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.42, Y:-34.02, Z:0.98 [[ 8.04472216e-01 5.93808426e-01 1.46971738e-02 1.92415579e+02] [-5.93721084e-01 8.04606289e-01 -1.01977305e-02 -3.40208657e+01] [-1.78809368e-02 -5.22231143e-04 9.99839987e-01 9.79726979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.44, Y:-34.04, Z:0.98 [[ 8.02922247e-01 5.95919831e-01 1.39793109e-02 1.92443502e+02] [-5.95841085e-01 8.03043750e-01 -9.70238070e-03 -3.40368460e+01] [-1.70078393e-02 -5.39190460e-04 9.99855211e-01 9.77443970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.942320588 meters Centerline goodness [0,1] 0.9999507655949977 Centerline is valid? [True, True] Translation: X:192.47, Y:-34.05, Z:0.98 [[ 8.02395957e-01 5.96664946e-01 1.23154671e-02 1.92470870e+02] [-5.96603881e-01 8.02490315e-01 -8.55004989e-03 -3.40531754e+01] [-1.49845581e-02 -4.86930002e-04 9.99887607e-01 9.75474554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.50, Y:-34.06, Z:0.97 [[ 8.01621184e-01 5.97753918e-01 9.68144860e-03 1.92499412e+02] [-5.97716284e-01 8.01679545e-01 -6.71943074e-03 -3.40646579e+01] [-1.17779854e-02 -4.00321451e-04 9.99930557e-01 9.74877820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.53, Y:-34.08, Z:0.98 [[ 8.01259077e-01 5.98248653e-01 9.07973681e-03 1.92525416e+02] [-5.98215677e-01 8.01310426e-01 -6.29335156e-03 -3.40775370e+01] [-1.10406769e-02 -3.89035838e-04 9.99938974e-01 9.76185715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.55, Y:-34.09, Z:0.98 [[ 8.00264689e-01 5.99563729e-01 9.98811614e-03 1.92551142e+02] [-5.99523931e-01 8.00326892e-01 -6.92264272e-03 -3.40901313e+01] [-1.21443234e-02 -4.48168127e-04 9.99926155e-01 9.78864631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.58, Y:-34.10, Z:0.98 [[ 7.99042618e-01 6.01209988e-01 8.80031635e-03 1.92579020e+02] [-6.01179216e-01 7.99090968e-01 -6.09717411e-03 -3.40994842e+01] [-1.06979353e-02 -4.18665316e-04 9.99942688e-01 9.82401998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.60, Y:-34.11, Z:0.98 [[ 7.99598049e-01 6.00470782e-01 8.82040516e-03 1.92604259e+02] [-6.00439920e-01 7.99646588e-01 -6.10222163e-03 -3.41119310e+01] [-1.07174127e-02 -4.16798857e-04 9.99942480e-01 9.81975968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.63, Y:-34.12, Z:0.98 [[ 8.01581190e-01 5.97782078e-01 1.11437582e-02 1.92631852e+02] [-5.97732639e-01 8.01658500e-01 -7.70333721e-03 -3.41232673e+01] [-1.35384054e-02 -4.86137770e-04 9.99908233e-01 9.78375467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.66, Y:-34.14, Z:0.98 [[ 8.03753446e-01 5.94832911e-01 1.24180052e-02 1.92657259e+02] [-5.94771287e-01 8.03849218e-01 -8.57615623e-03 -3.41365363e+01] [-1.50835837e-02 -4.92757787e-04 9.99886115e-01 9.77857057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.69, Y:-34.15, Z:0.98 [[ 8.07320023e-01 5.90017349e-01 1.06727931e-02 1.92685907e+02] [-5.89971413e-01 8.07390493e-01 -7.37045928e-03 -3.41458257e+01] [-1.29658105e-02 -3.46323475e-04 9.99915880e-01 9.78614136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.71, Y:-34.16, Z:0.98 [[ 8.09545096e-01 5.86979228e-01 9.59806946e-03 1.92711870e+02] [-5.86941955e-01 8.09601946e-01 -6.62042632e-03 -3.41595216e+01] [-1.16566684e-02 -2.73975992e-04 9.99932021e-01 9.80330461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.74, Y:-34.17, Z:0.98 [[ 8.13174870e-01 5.81939037e-01 9.67410894e-03 1.92738017e+02] [-5.81900893e-01 8.13232386e-01 -6.66617956e-03 -3.41726686e+01] [-1.17466088e-02 -2.08602936e-04 9.99930984e-01 9.81804877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.76, Y:-34.19, Z:0.98 [[ 8.15354710e-01 5.78878843e-01 9.79703232e-03 1.92762857e+02] [-5.78839579e-01 8.15413549e-01 -6.74434543e-03 -3.41868441e+01] [-1.18927918e-02 -1.71876254e-04 9.99929263e-01 9.81399184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.79, Y:-34.20, Z:0.98 [[ 8.18825329e-01 5.73952647e-01 1.01705092e-02 1.92789418e+02] [-5.73910033e-01 8.18888483e-01 -6.99472082e-03 -3.41990053e+01] [-1.23431514e-02 -1.09502707e-04 9.99923814e-01 9.78719308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.81, Y:-34.21, Z:0.98 [[ 8.20972286e-01 5.70862536e-01 1.09759302e-02 1.92813850e+02] [-5.70812743e-01 8.21045650e-01 -7.54010291e-03 -3.42130835e+01] [-1.33161020e-02 -7.49853293e-05 9.99911334e-01 9.78231895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.84, Y:-34.23, Z:0.98 [[ 8.24975964e-01 5.65036294e-01 1.21920276e-02 1.92840216e+02] [-5.64974325e-01 8.25066050e-01 -8.36814987e-03 -3.42260954e+01] [-1.47875364e-02 1.53399472e-05 9.99890658e-01 9.77881076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.86, Y:-34.24, Z:0.98 [[ 8.25263650e-01 5.64615935e-01 1.21964505e-02 1.92862626e+02] [-5.64554016e-01 8.25353770e-01 -8.36170340e-03 -3.42418731e+01] [-1.47875374e-02 1.50547367e-05 9.99890658e-01 9.78019546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.89, Y:-34.26, Z:0.98 [[ 8.27016932e-01 5.62042048e-01 1.23178859e-02 1.92886647e+02] [-5.61978740e-01 8.27108659e-01 -8.43579668e-03 -3.42567492e+01] [-1.49295025e-02 5.41567138e-05 9.99888547e-01 9.78653643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.91, Y:-34.27, Z:0.98 [[ 8.30764275e-01 5.56498090e-01 1.18573227e-02 1.92908895e+02] [-5.56438966e-01 8.30848877e-01 -8.11301891e-03 -3.42745859e+01] [-1.43665228e-02 1.42129892e-04 9.99896786e-01 9.78331870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.93, Y:-34.29, Z:0.98 [[ 8.32481328e-01 5.53945937e-01 1.08966518e-02 1.92930045e+02] [-5.53895901e-01 8.32552624e-01 -7.44709936e-03 -3.42926425e+01] [-1.31973265e-02 1.63960375e-04 9.99912898e-01 9.78772361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.512320588 meters Centerline goodness [0,1] 0.9999508116084604 Centerline is valid? [True, True] Translation: X:192.95, Y:-34.31, Z:0.98 [[ 8.33889074e-01 5.51844268e-01 9.84461077e-03 1.92950835e+02] [-5.51803369e-01 8.33947165e-01 -6.72062673e-03 -3.43114699e+01] [-1.19186246e-02 1.71967806e-04 9.99928956e-01 9.80358309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.97, Y:-34.33, Z:0.98 [[ 8.34175319e-01 5.51411461e-01 9.84565408e-03 1.92973855e+02] [-5.51370609e-01 8.34233403e-01 -6.71419839e-03 -3.43271804e+01] [-1.19158595e-02 1.72214296e-04 9.99928989e-01 9.80900155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.00, Y:-34.34, Z:0.98 [[ 8.32005314e-01 5.54681450e-01 9.77989692e-03 1.92996825e+02] [-5.54641430e-01 8.32062783e-01 -6.66404418e-03 -3.43437724e+01] [-1.18339099e-02 1.20184154e-04 9.99929970e-01 9.81100064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.02, Y:-34.36, Z:0.98 [[ 8.30734719e-01 5.56598868e-01 8.80491369e-03 1.93018865e+02] [-5.56566604e-01 8.30781376e-01 -5.99345812e-03 -3.43622319e+01] [-1.06509103e-02 7.84528357e-05 9.99943274e-01 9.81096170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.04, Y:-34.38, Z:0.98 [[ 8.29190449e-01 5.58910646e-01 7.87960274e-03 1.93040471e+02] [-5.58884963e-01 8.29227886e-01 -5.35823236e-03 -3.43816965e+01] [-9.52875943e-03 3.92036131e-05 9.99954600e-01 9.80221616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.06, Y:-34.40, Z:0.98 [[ 8.26997614e-01 5.62148500e-01 8.00069433e-03 1.93060764e+02] [-5.62122228e-01 8.27036314e-01 -5.43473659e-03 -3.44009504e+01] [-9.67199376e-03 -2.85392999e-06 9.99953225e-01 9.80963609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.09, Y:-34.42, Z:0.98 [[ 8.25843024e-01 5.63822455e-01 9.35621483e-03 1.93085326e+02] [-5.63786631e-01 8.25896022e-01 -6.35574919e-03 -3.44151706e+01] [-1.13107747e-02 -2.60577083e-05 9.99936031e-01 9.81223072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.11, Y:-34.43, Z:0.98 [[ 8.25004228e-01 5.65048228e-01 9.40871060e-03 1.93108888e+02] [-5.65012186e-01 8.25057875e-01 -6.38221981e-03 -3.44296043e+01] [-1.13689928e-02 -5.06778164e-05 9.99935370e-01 9.81184167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.13, Y:-34.44, Z:0.98 [[ 8.24128183e-01 5.66319854e-01 9.72430497e-03 1.93133133e+02] [-5.66281511e-01 8.24185548e-01 -6.59034642e-03 -3.44447575e+01] [-1.17468756e-02 -7.54038901e-05 9.99931000e-01 9.81189161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.16, Y:-34.46, Z:0.98 [[ 8.22123192e-01 5.69221865e-01 9.99627585e-03 1.93158932e+02] [-5.69181641e-01 8.22183953e-01 -6.76809554e-03 -3.44586343e+01] [-1.20713256e-02 -1.25488379e-04 9.99927131e-01 9.80859296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.18, Y:-34.47, Z:0.98 [[ 8.21496264e-01 5.70140769e-01 9.13197649e-03 1.93183020e+02] [-5.70107341e-01 8.21547008e-01 -6.17527002e-03 -3.44723708e+01] [-1.10231212e-02 -1.33245584e-04 9.99939235e-01 9.81947042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.21, Y:-34.49, Z:0.98 [[ 8.21770671e-01 5.69748021e-01 8.95297990e-03 1.93205542e+02] [-5.69715941e-01 8.21819430e-01 -6.04739289e-03 -3.44884891e+01] [-1.08032230e-02 -1.31085254e-04 9.99941635e-01 9.81845966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.23, Y:-34.51, Z:0.98 [[ 8.21818012e-01 5.69661876e-01 1.00250594e-02 1.93229141e+02] [-5.69621716e-01 8.21879142e-01 -6.76581605e-03 -3.45057286e+01] [-1.20936147e-02 -1.50222040e-04 9.99926858e-01 9.81477652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.25, Y:-34.52, Z:0.98 [[ 8.23967718e-01 5.66553758e-01 9.69742368e-03 1.93254517e+02] [-5.66516040e-01 8.24024774e-01 -6.53819210e-03 -3.45197672e+01] [-1.16951547e-02 -1.06486842e-04 9.99931604e-01 9.82463307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.28, Y:-34.53, Z:0.98 [[ 8.25006557e-01 5.65016686e-01 1.09692993e-02 1.93280701e+02] [-5.64968380e-01 8.25079471e-01 -7.38887345e-03 -3.45331870e+01] [-1.32253804e-02 -1.01438207e-04 9.99912536e-01 9.82177305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.31, Y:-34.54, Z:0.98 [[ 8.26964056e-01 5.62120548e-01 1.22857313e-02 1.93307231e+02] [-5.62059769e-01 8.27055309e-01 -8.26631455e-03 -3.45431553e+01] [-1.48076445e-02 -6.93702654e-05 9.99890358e-01 9.82284051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.33, Y:-34.56, Z:0.98 [[ 8.28194188e-01 5.60330300e-01 1.11508241e-02 1.93330738e+02] [-5.60280165e-01 8.28269251e-01 -7.49560352e-03 -3.45595263e+01] [-1.34358985e-02 -3.97702738e-05 9.99909733e-01 9.84217933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.35, Y:-34.58, Z:0.98 [[ 8.28981715e-01 5.59183565e-01 1.01516758e-02 1.93354169e+02] [-5.59142009e-01 8.29043871e-01 -6.81709622e-03 -3.45762227e+01] [-1.22281928e-02 -2.49802894e-05 9.99925233e-01 9.84470120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.38, Y:-34.59, Z:0.98 [[ 8.30003641e-01 5.57692555e-01 8.54222792e-03 1.93378812e+02] [-5.57663115e-01 8.30047597e-01 -5.73033345e-03 -3.45917590e+01] [-1.02862201e-02 -7.48779848e-06 9.99947095e-01 9.84920592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.40, Y:-34.60, Z:0.98 [[ 8.31866462e-01 5.54910185e-01 8.53676069e-03 1.93404457e+02] [-5.54880704e-01 8.31910263e-01 -5.71995109e-03 -3.46042018e+01] [-1.02758780e-02 2.13516928e-05 9.99947202e-01 9.83714231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.43, Y:-34.62, Z:0.98 [[ 8.32952459e-01 5.53279338e-01 8.49566915e-03 1.93428873e+02] [-5.53250119e-01 8.32995782e-01 -5.68614612e-03 -3.46185828e+01] [-1.02228837e-02 3.60594147e-05 9.99947744e-01 9.82272330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.45, Y:-34.63, Z:0.98 [[ 8.34559187e-01 5.50864069e-01 7.72929968e-03 1.93453185e+02] [-5.50839836e-01 8.34594977e-01 -5.16723296e-03 -3.46319240e+01] [-9.29727766e-03 5.47555710e-05 9.99956778e-01 9.83074296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.48, Y:-34.65, Z:0.98 [[ 8.35353056e-01 5.49664173e-01 7.38702516e-03 1.93475574e+02] [-5.49642041e-01 8.35385715e-01 -4.93292042e-03 -3.46478215e+01] [-8.88246492e-03 6.05105678e-05 9.99960548e-01 9.83641498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.50, Y:-34.67, Z:0.98 [[ 8.36210202e-01 5.48351951e-01 7.91434800e-03 1.93498097e+02] [-5.48326529e-01 8.36247650e-01 -5.28063400e-03 -3.46660724e+01] [-9.51400087e-03 7.60730539e-05 9.99954738e-01 9.82912576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.52, Y:-34.68, Z:0.98 [[ 8.36692607e-01 5.47611462e-01 8.19566847e-03 1.93521585e+02] [-5.47584226e-01 8.36732741e-01 -5.46214424e-03 -3.46812745e+01] [-9.84871693e-03 8.23169239e-05 9.99951497e-01 9.82679662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.55, Y:-34.69, Z:0.98 [[ 8.36891692e-01 5.47295201e-01 8.95871802e-03 1.93545711e+02] [-5.47262707e-01 8.36939636e-01 -5.96447125e-03 -3.46949923e+01] [-1.07622327e-02 8.88441642e-05 9.99942082e-01 9.83149384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.57, Y:-34.71, Z:0.99 [[ 8.37562883e-01 5.46259993e-01 9.40407951e-03 1.93571031e+02] [-5.46224182e-01 8.37615669e-01 -6.25564218e-03 -3.47079519e+01] [-1.12942114e-02 1.02758057e-04 9.99936213e-01 9.85174367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.59, Y:-34.72, Z:0.99 [[ 8.38011792e-01 5.45587486e-01 8.39825064e-03 1.93593887e+02] [-5.45558961e-01 8.38053868e-01 -5.57979678e-03 -3.47245124e+01] [-1.00824537e-02 9.41946042e-05 9.99949166e-01 9.85539140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.62, Y:-34.74, Z:0.99 [[ 8.40309931e-01 5.42080935e-01 5.24213369e-03 1.93615846e+02] [-5.42069784e-01 8.40326278e-01 -3.47795333e-03 -3.47413663e+01] [-6.29043488e-03 8.09564510e-05 9.99980212e-01 9.85867112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.64, Y:-34.76, Z:0.99 [[ 8.41843149e-01 5.39690144e-01 5.88737805e-03 1.93639779e+02] [-5.39676041e-01 8.41863728e-01 -3.90316244e-03 -3.47571152e+01] [-7.06286833e-03 1.08573682e-04 9.99975052e-01 9.85875801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.66, Y:-34.77, Z:0.99 [[ 8.43874228e-01 5.36498416e-01 6.76291996e-03 1.93664410e+02] [-5.36479734e-01 8.43901313e-01 -4.47980525e-03 -3.47727035e+01] [-8.11064545e-03 1.52222694e-04 9.99967097e-01 9.86464034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.69, Y:-34.79, Z:0.99 [[ 8.46518113e-01 5.32284093e-01 8.98489653e-03 1.93686638e+02] [-5.32250930e-01 8.46565757e-01 -5.94701762e-03 -3.47909522e+01] [-1.07718086e-02 2.52038596e-04 9.99941951e-01 9.86521242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.71, Y:-34.81, Z:0.99 [[ 8.47288043e-01 5.31066237e-01 8.46309196e-03 1.93708035e+02] [-5.31036819e-01 8.47330273e-01 -5.59519410e-03 -3.48086906e+01] [-1.01424527e-02 2.46527623e-04 9.99948534e-01 9.85968147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.73, Y:-34.83, Z:0.99 [[ 8.47896845e-01 5.30132296e-01 5.53968413e-03 1.93731280e+02] [-5.30119699e-01 8.47914926e-01 -3.65841623e-03 -3.48262145e+01] [-6.63662545e-03 1.65263893e-04 9.99977964e-01 9.85653000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.75, Y:-34.84, Z:0.99 [[ 8.47940767e-01 5.30074368e-01 4.19758829e-03 1.93754490e+02] [-5.30067150e-01 8.47951148e-01 -2.76891494e-03 -3.48432659e+01] [-5.02708064e-03 1.22872200e-04 9.99987357e-01 9.85377302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.78, Y:-34.86, Z:0.99 [[ 8.47183754e-01 5.31269189e-01 5.72155037e-03 1.93776999e+02] [-5.31255824e-01 8.47203060e-01 -3.77161655e-03 -3.48620329e+01] [-6.85105864e-03 1.55645313e-04 9.99976519e-01 9.85602438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.80, Y:-34.88, Z:0.99 [[ 8.46966512e-01 5.31602009e-01 6.85800718e-03 1.93799318e+02] [-5.31582856e-01 8.46994258e-01 -4.51611181e-03 -3.48796392e+01] [-8.20946681e-03 1.79396428e-04 9.99966286e-01 9.86162575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.82, Y:-34.90, Z:0.99 [[ 8.46578675e-01 5.32226605e-01 6.27600130e-03 1.93821194e+02] [-5.32210611e-01 8.46601923e-01 -4.12911858e-03 -3.48981997e+01] [-7.51090154e-03 1.55469247e-04 9.99971781e-01 9.85848907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.84, Y:-34.91, Z:0.99 [[ 8.46842361e-01 5.31818011e-01 5.25530152e-03 1.93843211e+02] [-5.31806816e-01 8.46858658e-01 -3.45311233e-03 -3.49149072e+01] [-6.28692492e-03 1.29436630e-04 9.99980229e-01 9.85140736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.682320588 meters Centerline goodness [0,1] 0.9999507704425737 Centerline is valid? [True, True] Translation: X:193.87, Y:-34.93, Z:0.98 [[ 8.46989927e-01 5.31577885e-01 5.74591057e-03 1.93865223e+02] [-5.31564523e-01 8.47009405e-01 -3.77165869e-03 -3.49323292e+01] [-6.87177065e-03 1.40234708e-04 9.99976379e-01 9.84545721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71232058799998 meters Centerline goodness [0,1] 0.9999507534718802 Centerline is valid? [True, True] Translation: X:193.89, Y:-34.95, Z:0.99 [[ 8.46225691e-01 5.32770040e-01 7.62658810e-03 1.93886429e+02] [-5.32746588e-01 8.46260040e-01 -5.00177122e-03 -3.49514923e+01] [-9.11887061e-03 1.69588513e-04 9.99958408e-01 9.86921492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.91, Y:-34.97, Z:0.99 [[ 8.45234839e-01 5.34316791e-01 9.14516543e-03 1.93908591e+02] [-5.34283224e-01 8.45284292e-01 -5.99177625e-03 -3.49683839e+01] [-1.09317714e-02 1.78349558e-04 9.99940230e-01 9.87413981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.93, Y:-34.99, Z:0.99 [[ 8.43940053e-01 5.36361881e-01 9.00666049e-03 1.93931398e+02] [-5.36329490e-01 8.43988099e-01 -5.89635447e-03 -3.49861467e+01] [-1.07640940e-02 1.45632078e-04 9.99942055e-01 9.88514376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.95, Y:-35.00, Z:0.99 [[ 8.41741304e-01 5.39801948e-01 9.24309687e-03 1.93953712e+02] [-5.39768107e-01 8.41792045e-01 -6.04512509e-03 -3.50041307e+01] [-1.10439357e-02 9.93025700e-05 9.99939009e-01 9.86708221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.98, Y:-35.02, Z:0.99 [[ 8.40875016e-01 5.41141996e-01 9.72358602e-03 1.93976486e+02] [-5.41104719e-01 8.40931230e-01 -6.35213149e-03 -3.50200926e+01] [-1.16142723e-02 7.98703901e-05 9.99932549e-01 9.85528499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.00, Y:-35.04, Z:0.99 [[ 8.40525472e-01 5.41691845e-01 9.32074757e-03 1.93999005e+02] [-5.41657702e-01 8.40577148e-01 -6.08213255e-03 -3.50359079e+01] [-1.11294490e-02 6.35326212e-05 9.99938064e-01 9.86493678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.02, Y:-35.06, Z:0.99 [[ 8.40646984e-01 5.41515944e-01 8.55162837e-03 1.94019132e+02] [-5.41487260e-01 8.40690478e-01 -5.57385451e-03 -3.50567932e+01] [-1.02076036e-02 5.50461656e-05 9.99947900e-01 9.87110114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.04, Y:-35.08, Z:0.99 [[ 8.40968312e-01 5.41022803e-01 8.16239172e-03 1.94039995e+02] [-5.40996701e-01 8.41007921e-01 -5.31466332e-03 -3.50758435e+01] [-9.73999014e-03 5.36364493e-05 9.99952564e-01 9.88269770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.06, Y:-35.09, Z:0.99 [[ 8.40755354e-01 5.41352228e-01 8.25826247e-03 1.94061806e+02] [-5.41325587e-01 8.40795910e-01 -5.37081489e-03 -3.50935768e+01] [-9.85101592e-03 4.51325939e-05 9.99951477e-01 9.89199266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.08, Y:-35.11, Z:0.99 [[ 8.40244009e-01 5.42131530e-01 9.13284172e-03 1.94084194e+02] [-5.42099063e-01 8.40293641e-01 -5.93322663e-03 -3.51094677e+01] [-1.08908581e-02 3.44531962e-05 9.99940692e-01 9.89293130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.11, Y:-35.13, Z:0.99 [[ 8.38525818e-01 5.44733372e-01 1.18324355e-02 1.94108187e+02] [-5.44679220e-01 8.38609297e-01 -7.68075159e-03 -3.51256915e+01] [-1.41067522e-02 -4.37324758e-06 9.99900495e-01 9.88269816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.13, Y:-35.14, Z:0.99 [[ 8.37391619e-01 5.46441494e-01 1.33030226e-02 1.94130694e+02] [-5.46373388e-01 8.37497279e-01 -8.62720467e-03 -3.51436541e+01] [-1.58555079e-02 -4.40686680e-05 9.99874293e-01 9.87662415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.15, Y:-35.16, Z:0.99 [[ 8.36522039e-01 5.47761420e-01 1.37224142e-02 1.94152469e+02] [-5.47689272e-01 8.36634580e-01 -8.89047742e-03 -3.51621521e+01] [-1.63505068e-02 -7.85387475e-05 9.99866318e-01 9.87747135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.17, Y:-35.18, Z:0.99 [[ 8.35067840e-01 5.50005152e-01 1.24914301e-02 1.94173313e+02] [-5.49945765e-01 8.35161253e-01 -8.08316662e-03 -3.51816218e+01] [-1.48781417e-02 -1.19616573e-04 9.99889307e-01 9.85830072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.20, Y:-35.20, Z:0.99 [[ 8.34955922e-01 5.50176495e-01 1.24270970e-02 1.94195783e+02] [-5.50117874e-01 8.35048386e-01 -8.03230038e-03 -3.51975490e+01] [-1.47964102e-02 -1.29751420e-04 9.99890519e-01 9.85731622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.22, Y:-35.21, Z:0.99 [[ 8.34749129e-01 5.50523675e-01 1.08432054e-02 1.94220061e+02] [-5.50479164e-01 8.34819542e-01 -7.00163034e-03 -3.52135038e+01] [-1.29066831e-02 -1.24353835e-04 9.99916698e-01 9.86645280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.25, Y:-35.23, Z:0.99 [[ 8.34173496e-01 5.51381633e-01 1.15270500e-02 1.94246129e+02] [-5.51331510e-01 8.34253122e-01 -7.43602098e-03 -3.52267378e+01] [-1.37165629e-02 -1.52294279e-04 9.99905912e-01 9.90299068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.27, Y:-35.24, Z:0.99 [[ 8.33912124e-01 5.51780898e-01 1.13318352e-02 1.94270243e+02] [-5.51732614e-01 8.33989097e-01 -7.30129430e-03 -3.52404647e+01] [-1.34793417e-02 -1.63505203e-04 9.99909136e-01 9.91588484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.29, Y:-35.26, Z:0.99 [[ 8.33448752e-01 5.52467173e-01 1.19666039e-02 1.94294898e+02] [-5.52413502e-01 8.33534634e-01 -7.70306003e-03 -3.52554340e+01] [-1.42302666e-02 -1.90407779e-04 9.99898727e-01 9.90824089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.32, Y:-35.27, Z:0.99 [[ 8.33175586e-01 5.52892626e-01 1.13219415e-02 1.94317723e+02] [-5.52844740e-01 8.33252486e-01 -7.27921382e-03 -3.52723767e+01] [-1.34586595e-02 -1.94412553e-04 9.99909409e-01 9.89381476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.34, Y:-35.29, Z:0.99 [[ 8.33498971e-01 5.52400372e-01 1.15453420e-02 1.94340651e+02] [-5.52350645e-01 8.33578905e-01 -7.41447016e-03 -3.52890219e+01] [-1.37197096e-02 -1.97123876e-04 9.99905861e-01 9.88339716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.36, Y:-35.30, Z:0.99 [[ 8.33783818e-01 5.51970254e-01 1.15491599e-02 1.94363560e+02] [-5.51920569e-01 8.33863778e-01 -7.40852311e-03 -3.53041008e+01] [-1.37197105e-02 -1.97112198e-04 9.99905861e-01 9.88478246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.39, Y:-35.32, Z:0.99 [[ 8.35211880e-01 5.49750395e-01 1.39863584e-02 1.94388482e+02] [-5.49677345e-01 8.35328955e-01 -8.96405113e-03 -3.53177875e+01] [-1.66112008e-02 -2.01102368e-04 9.99862004e-01 9.87758889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.402320588 meters Centerline goodness [0,1] 0.9999506197224829 Centerline is valid? [True, True] Translation: X:194.41, Y:-35.33, Z:0.99 [[ 8.35968431e-01 5.48642913e-01 1.21546725e-02 1.94413481e+02] [-5.48587734e-01 8.36056773e-01 -7.78272111e-03 -3.53317204e+01] [-1.44319310e-02 -1.61795060e-04 9.99895841e-01 9.89009077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.44, Y:-35.35, Z:0.99 [[ 8.37233468e-01 5.46721321e-01 1.16583686e-02 1.94438138e+02] [-5.46670479e-01 8.37314624e-01 -7.45702258e-03 -3.53458634e+01] [-1.38386358e-02 -1.30017098e-04 9.99904233e-01 9.89823136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.46, Y:-35.36, Z:0.99 [[ 8.37782097e-01 5.45918714e-01 9.69107515e-03 1.94463079e+02] [-5.45883605e-01 8.37838139e-01 -6.19207074e-03 -3.53601485e+01] [-1.14999197e-02 -1.02593033e-04 9.99933868e-01 9.91330424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.49, Y:-35.38, Z:0.99 [[ 8.38348447e-01 5.45063533e-01 8.81060654e-03 1.94488241e+02] [-5.45034490e-01 8.38394739e-01 -5.62735256e-03 -3.53751852e+01] [-1.04540308e-02 -8.44021586e-05 9.99945352e-01 9.91975890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.51, Y:-35.39, Z:0.99 [[ 8.39428869e-01 5.43399541e-01 8.72430474e-03 1.94512160e+02] [-5.43371057e-01 8.39474201e-01 -5.56415151e-03 -3.53900092e+01] [-1.03473861e-02 -6.98252820e-05 9.99946462e-01 9.90532413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.54, Y:-35.41, Z:0.99 [[ 8.40031082e-01 5.42421758e-01 1.12435796e-02 1.94535929e+02] [-5.42374439e-01 8.40106321e-01 -7.16504407e-03 -3.54069802e+01] [-1.33322781e-02 -7.93704311e-05 9.99911118e-01 9.88665067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.56, Y:-35.42, Z:0.99 [[ 8.40281899e-01 5.41981982e-01 1.34856428e-02 1.94559302e+02] [-5.41913981e-01 8.40390102e-01 -8.58573851e-03 -3.54239059e+01] [-1.59865163e-02 -9.36176996e-05 9.99872203e-01 9.89180345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.58, Y:-35.44, Z:0.99 [[ 8.40401568e-01 5.41815684e-01 1.26873782e-02 1.94583089e+02] [-5.41755624e-01 8.40497327e-01 -8.06767483e-03 -3.54379865e+01] [-1.50349002e-02 -9.33719032e-05 9.99886965e-01 9.90259861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.61, Y:-35.45, Z:0.99 [[ 8.40241981e-01 5.42089587e-01 1.15018620e-02 1.94607609e+02] [-5.42040351e-01 8.40320695e-01 -7.30664587e-03 -3.54521502e+01] [-1.36261093e-02 -9.51226936e-05 9.99907156e-01 9.90661416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.63, Y:-35.47, Z:0.99 [[ 8.39109026e-01 5.43883115e-01 9.33808796e-03 1.94632652e+02] [-5.43850837e-01 8.39160977e-01 -5.92630426e-03 -3.54655100e+01] [-1.10593758e-02 -1.05711563e-04 9.99938838e-01 9.91699511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.66, Y:-35.48, Z:0.99 [[ 8.39120803e-01 5.43832218e-01 1.10813438e-02 1.94657132e+02] [-5.43786849e-01 8.39193960e-01 -7.02576197e-03 -3.54807164e+01] [-1.31202325e-02 -1.30425969e-04 9.99913918e-01 9.91654846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.68, Y:-35.50, Z:0.99 [[ 8.38787204e-01 5.44310727e-01 1.27223759e-02 1.94680960e+02] [-5.44251096e-01 8.38883666e-01 -8.05848147e-03 -3.54961308e+01] [-1.50589113e-02 -1.64815891e-04 9.99886595e-01 9.91668280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.70, Y:-35.51, Z:0.99 [[ 8.38630264e-01 5.44559081e-01 1.24373244e-02 1.94704889e+02] [-5.44502261e-01 8.38722467e-01 -7.86836526e-03 -3.55096534e+01] [-1.47162532e-02 -1.73502012e-04 9.99891695e-01 9.92386530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.73, Y:-35.52, Z:0.99 [[ 8.38947936e-01 5.44112438e-01 1.03930520e-02 1.94730281e+02] [-5.44072802e-01 8.39012297e-01 -6.56901866e-03 -3.55242666e+01] [-1.22941831e-02 -1.43512253e-04 9.99924413e-01 9.92571738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.822320588 meters Centerline goodness [0,1] 0.9999508527055586 Centerline is valid? [True, True] Translation: X:194.75, Y:-35.54, Z:0.99 [[ 8.38589844e-01 5.44692646e-01 8.77460459e-03 1.94754543e+02] [-5.44664502e-01 8.38635739e-01 -5.53876147e-03 -3.55382914e+01] [-1.03756197e-02 -1.34466513e-04 9.99946163e-01 9.92284633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.78, Y:-35.55, Z:0.99 [[ 8.38231332e-01 5.45220699e-01 1.01303797e-02 1.94781332e+02] [-5.45183289e-01 8.38292528e-01 -6.38899156e-03 -3.55495655e+01] [-1.19756321e-02 -1.67460844e-04 9.99928276e-01 9.92193016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.81, Y:-35.56, Z:0.99 [[ 8.37542858e-01 5.46242532e-01 1.18767478e-02 1.94806888e+02] [-5.46191222e-01 8.37627035e-01 -7.48991639e-03 -3.55620606e+01] [-1.40395959e-02 -2.13849392e-04 9.99901417e-01 9.93737492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.83, Y:-35.58, Z:0.99 [[ 8.37237336e-01 5.46688638e-01 1.28520775e-02 1.94832889e+02] [-5.46628754e-01 8.37335937e-01 -8.09523715e-03 -3.55750825e+01] [-1.51870805e-02 -2.47680321e-04 9.99884639e-01 9.94450078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.86, Y:-35.59, Z:1.00 [[ 8.36742719e-01 5.47434666e-01 1.33007343e-02 1.94858422e+02] [-5.47370753e-01 8.36848379e-01 -8.36954829e-03 -3.55886773e+01] [-1.57124788e-02 -2.77274365e-04 9.99876513e-01 9.95073192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.88, Y:-35.60, Z:0.99 [[ 8.36662934e-01 5.47578046e-01 1.23862222e-02 1.94882627e+02] [-5.47522774e-01 8.36754571e-01 -7.78467483e-03 -3.56022888e+01] [-1.46269451e-02 -2.68589858e-04 9.99892984e-01 9.94450000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.91, Y:-35.62, Z:0.99 [[ 8.37567031e-01 5.46206698e-01 1.18199441e-02 1.94908885e+02] [-5.46156327e-01 8.37650396e-01 -7.42164397e-03 -3.56152389e+01] [-1.39547325e-02 -2.39412943e-04 9.99902599e-01 9.93141780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.93, Y:-35.63, Z:0.99 [[ 8.38315295e-01 5.45033614e-01 1.28773385e-02 1.94934372e+02] [-5.44973833e-01 8.38414157e-01 -8.07606865e-03 -3.56276651e+01] [-1.51982717e-02 -2.47520628e-04 9.99884469e-01 9.93529485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.96, Y:-35.64, Z:0.99 [[ 8.40679084e-01 5.41332251e-01 1.47672500e-02 1.94961926e+02] [-5.41253238e-01 8.40808746e-01 -9.25116484e-03 -3.56357446e+01] [-1.74243869e-02 -2.15561107e-04 9.99848161e-01 9.92790406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.99, Y:-35.65, Z:0.99 [[ 8.42048165e-01 5.39234681e-01 1.34479584e-02 1.94986852e+02] [-5.39169019e-01 8.42155527e-01 -8.41648970e-03 -3.56501964e+01] [-1.58637357e-02 -1.63632842e-04 9.99874150e-01 9.93611636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.01, Y:-35.67, Z:0.99 [[ 8.43387548e-01 5.37149022e-01 1.29758336e-02 1.95010518e+02] [-5.37087769e-01 8.43487351e-01 -8.11273926e-03 -3.56665370e+01] [-1.53027015e-02 -1.26978244e-04 9.99882899e-01 9.93532728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.03, Y:-35.68, Z:0.99 [[ 8.44449197e-01 5.35507645e-01 1.17096465e-02 1.95034214e+02] [-5.35457708e-01 8.44530375e-01 -7.31360410e-03 -3.56833789e+01] [-1.38056431e-02 -9.40533726e-05 9.99904693e-01 9.93621287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.06, Y:-35.70, Z:0.99 [[ 8.46246595e-01 5.32680507e-01 1.08709903e-02 1.95059555e+02] [-5.32637323e-01 8.46316415e-01 -6.78289007e-03 -3.56971696e+01] [-1.28134108e-02 -5.02975221e-05 9.99917904e-01 9.92944737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.08, Y:-35.71, Z:0.99 [[ 8.46859197e-01 5.31684380e-01 1.18835950e-02 1.95084884e+02] [-5.31632777e-01 8.46942571e-01 -7.40762476e-03 -3.57103245e+01] [-1.40032408e-02 -4.44934300e-05 9.99901949e-01 9.92630040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.11, Y:-35.72, Z:0.99 [[ 8.47446159e-01 5.30710377e-01 1.34723100e-02 1.95110529e+02] [-5.30643981e-01 8.47553240e-01 -8.39473436e-03 -3.57231143e+01] [-1.58736726e-02 -3.49148216e-05 9.99874005e-01 9.92663706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.14, Y:-35.74, Z:0.99 [[ 8.48056231e-01 5.29718537e-01 1.41032067e-02 1.95135637e+02] [-5.29645804e-01 8.48173491e-01 -8.77791771e-03 -3.57374797e+01] [-1.66117917e-02 -2.55364214e-05 9.99862014e-01 9.93509300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.16, Y:-35.75, Z:0.99 [[ 8.49966188e-01 5.26680552e-01 1.28481795e-02 1.95160617e+02] [-5.26619967e-01 8.50063289e-01 -7.98844390e-03 -3.57522328e+01] [-1.51291238e-02 2.37993254e-05 9.99885548e-01 9.93470971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.18, Y:-35.77, Z:0.99 [[ 8.51423039e-01 5.24341761e-01 1.20218721e-02 1.95183659e+02] [-5.24288611e-01 8.51507906e-01 -7.46579370e-03 -3.57679239e+01] [-1.41513465e-02 5.36181485e-05 9.99899863e-01 9.93015032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.21, Y:-35.78, Z:0.99 [[ 8.53400401e-01 5.21157234e-01 1.01435857e-02 1.95207798e+02] [-5.21119245e-01 8.53460679e-01 -6.29306470e-03 -3.57841040e+01] [-1.19368277e-02 8.44862168e-05 9.99928750e-01 9.92077706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.23, Y:-35.80, Z:0.99 [[ 8.55857443e-01 5.17051495e-01 1.28758831e-02 1.95231050e+02] [-5.16989923e-01 8.55954275e-01 -7.98110032e-03 -3.58016688e+01] [-1.51478070e-02 1.73982320e-04 9.99885250e-01 9.91579401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.422320588 meters Centerline goodness [0,1] 0.9999508382085444 Centerline is valid? [True, True] Translation: X:195.25, Y:-35.82, Z:0.99 [[ 8.56754038e-01 5.15540358e-01 1.38078977e-02 1.95254938e+02] [-5.15469483e-01 8.56865273e-01 -8.55078652e-03 -3.58169357e+01] [-1.62397836e-02 2.08370968e-04 9.99868104e-01 9.92418144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.28, Y:-35.83, Z:0.99 [[ 8.57362866e-01 5.14551410e-01 1.28748624e-02 1.95278109e+02] [-5.14489818e-01 8.57459507e-01 -7.96375690e-03 -3.58317398e+01] [-1.51374355e-02 2.03843809e-04 9.99885402e-01 9.92592987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.30, Y:-35.85, Z:0.99 [[ 8.58451034e-01 5.12793109e-01 1.02493571e-02 1.95302645e+02] [-5.12754028e-01 8.58512198e-01 -6.33339022e-03 -3.58475488e+01] [-1.20469169e-02 1.81506253e-04 9.99927417e-01 9.93088318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.32, Y:-35.87, Z:0.99 [[ 8.58366700e-01 5.12957147e-01 9.03178408e-03 1.95324333e+02] [-5.12926870e-01 8.58414202e-01 -5.57538184e-03 -3.58679981e+01] [-1.06129437e-02 1.53077369e-04 9.99943669e-01 9.92888183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.35, Y:-35.89, Z:0.99 [[ 8.58296587e-01 5.13067539e-01 9.41645127e-03 1.95345675e+02] [-5.13034708e-01 8.58348226e-01 -5.80612638e-03 -3.58870700e+01] [-1.10615292e-02 1.52412120e-04 9.99938808e-01 9.93225664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.37, Y:-35.91, Z:0.99 [[ 8.58038116e-01 5.13455963e-01 1.15570527e-02 1.95367549e+02] [-5.13406623e-01 8.58115926e-01 -7.12012057e-03 -3.59068927e+01] [-1.35731593e-02 1.75867457e-04 9.99907865e-01 9.92703462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.39, Y:-35.93, Z:0.99 [[ 8.57356871e-01 5.14557642e-01 1.30241867e-02 1.95386943e+02] [-5.14495242e-01 8.57455774e-01 -8.01511544e-03 -3.59285075e+01] [-1.52919030e-02 1.70932218e-04 9.99883057e-01 9.94179436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.41, Y:-35.95, Z:0.99 [[ 8.56978087e-01 5.15214026e-01 1.19609875e-02 1.95410383e+02] [-5.15161561e-01 8.57061543e-01 -7.35377870e-03 -3.59459850e+01] [-1.40400723e-02 1.40186223e-04 9.99901423e-01 9.94938277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.43, Y:-35.96, Z:1.00 [[ 8.55741694e-01 5.17272285e-01 1.16419980e-02 1.95433745e+02] [-5.17222870e-01 8.55820877e-01 -7.15047945e-03 -3.59630635e+01] [-1.36622098e-02 9.74557826e-05 9.99906663e-01 9.95127684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.46, Y:-35.98, Z:1.00 [[ 8.52184729e-01 5.23127338e-01 1.09076384e-02 1.95455632e+02] [-5.23084527e-01 8.52254533e-01 -6.69252140e-03 -3.59830206e+01] [-1.27971252e-02 -2.35235794e-06 9.99918113e-01 9.95108414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.48, Y:-36.00, Z:1.00 [[ 8.50079484e-01 5.26527671e-01 1.15534364e-02 1.95477922e+02] [-5.26480048e-01 8.50157990e-01 -7.08177497e-03 -3.60014998e+01] [-1.35509968e-02 -6.25821612e-05 9.99908179e-01 9.95053760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.50, Y:-36.02, Z:1.00 [[ 8.48229306e-01 5.29504502e-01 1.14902742e-02 1.95501154e+02] [-5.29457758e-01 8.48307119e-01 -7.03661577e-03 -3.60195440e+01] [-1.34732011e-02 -1.14951088e-04 9.99909226e-01 9.95386216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.52, Y:-36.04, Z:0.99 [[ 8.44126500e-01 5.35985523e-01 1.30373057e-02 1.95524011e+02] [-5.35926235e-01 8.44227134e-01 -7.97599964e-03 -3.60374810e+01] [-1.52814676e-02 -2.54281528e-04 9.99883199e-01 9.94061633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.812320588 meters Centerline goodness [0,1] 0.999950731635217 Centerline is valid? [True, True] Translation: X:195.55, Y:-36.05, Z:0.99 [[ 8.42584047e-01 5.38394364e-01 1.35510994e-02 1.95547844e+02] [-5.38330754e-01 8.42692950e-01 -8.28195154e-03 -3.60525527e+01] [-1.58783720e-02 -3.16733341e-04 9.99873881e-01 9.94656191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.57, Y:-36.07, Z:1.00 [[ 8.41326837e-01 5.40359743e-01 1.34351115e-02 1.95571749e+02] [-5.40297602e-01 8.41434026e-01 -8.20248350e-03 -3.60685843e+01] [-1.57370518e-02 -3.57989010e-04 9.99876101e-01 9.95362636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.60, Y:-36.08, Z:1.00 [[ 8.39017273e-01 5.43926697e-01 1.39199054e-02 1.95596660e+02] [-5.43860617e-01 8.39132617e-01 -8.49005570e-03 -3.60828730e+01] [-1.62986146e-02 -4.47184962e-04 9.99867069e-01 9.97125398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.62, Y:-36.10, Z:1.00 [[ 8.37893165e-01 5.45691363e-01 1.24892372e-02 1.95621706e+02] [-5.45638482e-01 8.37986124e-01 -7.60936078e-03 -3.60960394e+01] [-1.46181699e-02 -4.38777028e-04 9.99893053e-01 9.97452448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.65, Y:-36.11, Z:1.00 [[ 8.36574954e-01 5.47732033e-01 1.14876289e-02 1.95647589e+02] [-5.47687588e-01 8.36653706e-01 -6.99160907e-03 -3.61093925e+01] [-1.34406956e-02 -4.42626731e-04 9.99909572e-01 9.97189241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.67, Y:-36.12, Z:1.00 [[ 8.33611422e-01 5.52228169e-01 1.16638586e-02 1.95674545e+02] [-5.52182778e-01 8.33692855e-01 -7.09949460e-03 -3.61210288e+01] [-1.36446165e-02 -5.22362075e-04 9.99906771e-01 9.95076947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99232058799998 meters Centerline goodness [0,1] 0.9999508696079394 Centerline is valid? [True, True] Translation: X:195.70, Y:-36.14, Z:0.99 [[ 8.32554093e-01 5.53801936e-01 1.25338300e-02 1.95699664e+02] [-5.53749843e-01 8.32648220e-01 -7.61922052e-03 -3.61351065e+01] [-1.46558104e-02 -5.97193187e-04 9.99892420e-01 9.94930920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02232058799999 meters Centerline goodness [0,1] 0.9999508647798742 Centerline is valid? [True, True] Translation: X:195.72, Y:-36.15, Z:1.00 [[ 8.31874750e-01 5.54802538e-01 1.33620197e-02 1.95724735e+02] [-5.54743587e-01 8.31981794e-01 -8.11462736e-03 -3.61489104e+01] [-1.56189729e-02 -6.62141100e-04 9.99877797e-01 9.95800121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.052320588 meters Centerline goodness [0,1] 0.9998032948119007 Centerline is valid? [True, True] Translation: X:195.75, Y:-36.16, Z:1.00 [[ 8.31023398e-01 5.56054743e-01 1.42560481e-02 1.95749817e+02] [-5.55987843e-01 8.31145346e-01 -8.65632230e-03 -3.61622423e+01] [-1.66622371e-02 -7.32583052e-04 9.99860907e-01 9.97102004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.082320588 meters Centerline goodness [0,1] 0.9998524057856932 Centerline is valid? [True, True] Translation: X:195.78, Y:-36.17, Z:1.00 [[ 8.29772472e-01 5.57941842e-01 1.33620825e-02 1.95777700e+02] [-5.57883468e-01 8.29879731e-01 -8.10363545e-03 -3.61722130e+01] [-1.56102788e-02 -7.30311332e-04 9.99877885e-01 9.97829788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.112320588 meters Centerline goodness [0,1] 0.9995092265410287 Centerline is valid? [True, True] Translation: X:195.80, Y:-36.18, Z:1.00 [[ 8.30037166e-01 5.57562028e-01 1.27627910e-02 1.95803344e+02] [-5.57508868e-01 8.30134987e-01 -7.73079184e-03 -3.61834905e+01] [-1.49052353e-02 -6.98524599e-04 9.99888667e-01 9.97167339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.142320588 meters Centerline goodness [0,1] 0.9997544083697627 Centerline is valid? [True, True] Translation: X:195.83, Y:-36.20, Z:1.00 [[ 8.30886835e-01 5.56335163e-01 1.08744545e-02 1.95830145e+02] [-5.56296551e-01 8.30957790e-01 -6.58022490e-03 -3.61954110e+01] [-1.26970232e-02 -5.81999300e-04 9.99919220e-01 9.96519104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.172320588 meters Centerline goodness [0,1] 0.9999509009672509 Centerline is valid? [True, True] Translation: X:195.86, Y:-36.20, Z:1.00 [[ 8.32917433e-01 5.53259175e-01 1.23626582e-02 1.95858338e+02] [-5.53209038e-01 8.33008948e-01 -7.47345579e-03 -3.62038583e+01] [-1.44329629e-02 -6.14362667e-04 9.99895651e-01 9.97005455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.202320588 meters Centerline goodness [0,1] 0.9999509009672509 Centerline is valid? [True, True] Translation: X:195.88, Y:-36.22, Z:1.00 [[ 8.33202848e-01 5.52829159e-01 1.23666814e-02 1.95881666e+02] [-5.52779073e-01 8.33294392e-01 -7.46679800e-03 -3.62182805e+01] [-1.44329499e-02 -6.14685320e-04 9.99895651e-01 9.97144040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.91, Y:-36.23, Z:1.00 [[ 8.33789820e-01 5.51900861e-01 1.41412481e-02 1.95908049e+02] [-5.51835366e-01 8.33909445e-01 -8.53034819e-03 -3.62310636e+01] [-1.65004268e-02 -6.91123324e-04 9.99863620e-01 9.97771793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.262320588 meters Centerline goodness [0,1] 0.9998528762689421 Centerline is valid? [True, True] Translation: X:195.93, Y:-36.24, Z:1.00 [[ 8.34756832e-01 5.50449385e-01 1.36567431e-02 1.95933909e+02] [-5.50388241e-01 8.34868287e-01 -8.22967154e-03 -3.62433392e+01] [-1.59315993e-02 -6.46736268e-04 9.99872875e-01 9.98840642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.96, Y:-36.25, Z:1.00 [[ 8.36554647e-01 5.47743511e-01 1.23842042e-02 1.95961149e+02] [-5.47693046e-01 8.36646130e-01 -7.45521557e-03 -3.62536101e+01] [-1.44447425e-02 -5.46047284e-04 9.99895520e-01 9.98229476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.322320588 meters Centerline goodness [0,1] 0.9998526812021213 Centerline is valid? [True, True] Translation: X:195.99, Y:-36.27, Z:1.00 [[ 8.37745629e-01 5.45944181e-01 1.12788908e-02 1.95987350e+02] [-5.45902244e-01 8.37821417e-01 -6.78330937e-03 -3.62668019e+01] [-1.31530045e-02 -4.74484025e-04 9.99913383e-01 9.97653655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.01, Y:-36.28, Z:1.00 [[ 8.38782681e-01 5.44357579e-01 1.08830779e-02 1.96012949e+02] [-5.44318489e-01 8.38853165e-01 -6.53828490e-03 -3.62808281e+01] [-1.26884693e-02 -4.39660400e-04 9.99919401e-01 9.95721190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.04, Y:-36.29, Z:1.00 [[ 8.40625699e-01 5.41511512e-01 1.06638052e-02 1.96039794e+02] [-5.41473826e-01 8.40693242e-01 -6.40064417e-03 -3.62930581e+01] [-1.24310115e-02 -3.93625434e-04 9.99922655e-01 9.97540280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.07, Y:-36.30, Z:1.00 [[ 8.41433578e-01 5.40268569e-01 9.97030394e-03 1.96065885e+02] [-5.40235612e-01 8.41492571e-01 -5.97803486e-03 -3.63047551e+01] [-1.16196810e-02 -3.56193989e-04 9.99932426e-01 9.99483334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.442320588 meters Centerline goodness [0,1] 0.999901927131859 Centerline is valid? [True, True] Translation: X:196.09, Y:-36.32, Z:1.00 [[ 8.42018376e-01 5.39356877e-01 9.96060507e-03 1.96092317e+02] [-5.39323991e-01 8.42077216e-01 -5.96618270e-03 -3.63157136e+01] [-1.16055003e-02 -3.48357811e-04 9.99932593e-01 1.00095258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.472320588 meters Centerline goodness [0,1] 0.9999509033778476 Centerline is valid? [True, True] Translation: X:196.12, Y:-36.33, Z:1.00 [[ 8.43670987e-01 5.36769888e-01 9.86679295e-03 1.96120522e+02] [-5.36737504e-01 8.43728623e-01 -5.90453573e-03 -3.63254987e+01] [-1.14942726e-02 -3.14392330e-04 9.99933889e-01 1.00198787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.15, Y:-36.34, Z:1.00 [[ 8.44733944e-01 5.35077624e-01 1.07935325e-02 1.96146213e+02] [-5.35038806e-01 8.44802836e-01 -6.45325295e-03 -3.63394776e+01] [-1.25713981e-02 -3.23676913e-04 9.99920924e-01 1.00289092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.17, Y:-36.35, Z:1.00 [[ 8.45402613e-01 5.34004244e-01 1.15710360e-02 1.96170034e+02] [-5.33959645e-01 8.45481729e-01 -6.90963069e-03 -3.63534214e+01] [-1.34728716e-02 -3.37046446e-04 9.99909180e-01 1.00212710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.562320588 meters Centerline goodness [0,1] 0.9999017247309715 Centerline is valid? [True, True] Translation: X:196.20, Y:-36.37, Z:1.00 [[ 8.46511426e-01 5.32253518e-01 1.11623599e-02 1.96195587e+02] [-5.32211946e-01 8.46584964e-01 -6.65913603e-03 -3.63660560e+01] [-1.29942346e-02 -3.03706515e-04 9.99915525e-01 1.00080822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.592320588 meters Centerline goodness [0,1] 0.9999508406253073 Centerline is valid? [True, True] Translation: X:196.22, Y:-36.38, Z:1.00 [[ 8.47254443e-01 5.31105078e-01 9.34369267e-03 1.96221930e+02] [-5.31075939e-01 8.47305929e-01 -5.56871916e-03 -3.63790144e+01] [-1.08745412e-02 -2.44088300e-04 9.99940841e-01 1.00104207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.622320588 meters Centerline goodness [0,1] 0.9999019463646615 Centerline is valid? [True, True] Translation: X:196.25, Y:-36.39, Z:1.00 [[ 8.47939629e-01 5.30008754e-01 9.43963755e-03 1.96247036e+02] [-5.29979023e-01 8.47992137e-01 -5.61879092e-03 -3.63904428e+01] [-1.09827468e-02 -2.38414409e-04 9.99939659e-01 1.00119873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.652320588 meters Centerline goodness [0,1] 0.9999509467281468 Centerline is valid? [True, True] Translation: X:196.27, Y:-36.40, Z:1.00 [[ 8.48806140e-01 5.28640892e-01 8.18188197e-03 1.96273655e+02] [-5.28618540e-01 8.48845551e-01 -4.86521807e-03 -3.64021903e+01] [-9.51710733e-03 -1.95467534e-04 9.99954692e-01 1.00205576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.30, Y:-36.41, Z:1.00 [[ 8.49526011e-01 5.27480265e-01 8.37417620e-03 1.96299539e+02] [-5.27456853e-01 8.49567262e-01 -4.97347306e-03 -3.64132255e+01] [-9.73783483e-03 -1.91921898e-04 9.99952568e-01 1.00280992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.32, Y:-36.43, Z:1.00 [[ 8.50319709e-01 5.26199603e-01 8.38865625e-03 1.96324867e+02] [-5.26176093e-01 8.50361067e-01 -4.97741433e-03 -3.64273118e+01] [-9.75250013e-03 -1.81516865e-04 9.99952427e-01 1.00305229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.35, Y:-36.44, Z:1.00 [[ 8.51259696e-01 5.24651565e-01 9.88256044e-03 1.96349134e+02] [-5.24618908e-01 8.51317036e-01 -5.85707681e-03 -3.64401894e+01] [-1.14861166e-02 -1.98684638e-04 9.99934013e-01 1.00236805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77232058799999 meters Centerline goodness [0,1] 0.9999018067556952 Centerline is valid? [True, True] Translation: X:196.37, Y:-36.45, Z:1.00 [[ 8.52303221e-01 5.22957089e-01 9.75205363e-03 1.96374925e+02] [-5.22925240e-01 8.52358992e-01 -5.77425374e-03 -3.64536491e+01] [-1.13319375e-02 -1.78179918e-04 9.99935776e-01 1.00272035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.40, Y:-36.46, Z:1.00 [[ 8.54297704e-01 5.19691533e-01 9.80528658e-03 1.96401434e+02] [-5.19659188e-01 8.54353961e-01 -5.79982487e-03 -3.64648117e+01] [-1.13913053e-02 -1.40630183e-04 9.99935107e-01 1.00140885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.43, Y:-36.48, Z:1.00 [[ 8.54716560e-01 5.18985776e-01 1.06473558e-02 1.96426174e+02] [-5.18947673e-01 8.54782863e-01 -6.29050893e-03 -3.64773490e+01] [-1.23658619e-02 -1.48818365e-04 9.99923529e-01 1.00144782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.45, Y:-36.49, Z:1.00 [[ 8.55037850e-01 5.18464958e-01 1.02157808e-02 1.96451660e+02] [-5.18429929e-01 8.55098864e-01 -6.02843018e-03 -3.64898805e+01] [-1.18610324e-02 -1.41630560e-04 9.99929645e-01 1.00215246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.48, Y:-36.50, Z:1.00 [[ 8.55709711e-01 5.17385045e-01 8.57941789e-03 1.96477702e+02] [-5.17360336e-01 8.55752712e-01 -5.05759060e-03 -3.65028843e+01] [-9.95858186e-03 -1.10821137e-04 9.99950406e-01 1.00340673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.922320588 meters Centerline goodness [0,1] 0.9999508333743056 Centerline is valid? [True, True] Translation: X:196.50, Y:-36.52, Z:1.00 [[ 8.56436334e-01 5.16190592e-01 8.00488031e-03 1.96502057e+02] [-5.16169076e-01 8.56473738e-01 -4.71401016e-03 -3.65189105e+01] [-9.28929746e-03 -9.46220897e-05 9.99956849e-01 1.00341656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.53, Y:-36.53, Z:1.00 [[ 8.57092014e-01 5.15084315e-01 9.02376339e-03 1.96525508e+02] [-5.15056976e-01 8.57139509e-01 -5.30777718e-03 -3.65347685e+01] [-1.04685769e-02 -9.84988563e-05 9.99945198e-01 1.00166770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.55, Y:-36.55, Z:1.00 [[ 8.58483542e-01 5.12729882e-01 1.06805929e-02 1.96549963e+02] [-5.12691482e-01 8.58549975e-01 -6.27567539e-03 -3.65473683e+01] [-1.23875491e-02 -8.82849539e-05 9.99923267e-01 1.00112244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.58, Y:-36.56, Z:1.00 [[ 8.59839520e-01 5.10469016e-01 9.86830433e-03 1.96575890e+02] [-5.10436151e-01 8.59896145e-01 -5.79271632e-03 -3.65604588e+01] [-1.14427191e-02 -5.63328518e-05 9.99934528e-01 1.00187655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.042320588 meters Centerline goodness [0,1] 0.9999509996079968 Centerline is valid? [True, True] Translation: X:196.60, Y:-36.57, Z:1.00 [[ 8.61232935e-01 5.08114166e-01 9.89071536e-03 1.96600637e+02] [-5.08081077e-01 8.61289727e-01 -5.79879486e-03 -3.65741277e+01] [-1.14652213e-02 -3.11721952e-05 9.99934272e-01 1.00152439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.62, Y:-36.59, Z:1.00 [[ 8.62256674e-01 5.06377760e-01 9.74640944e-03 1.96624157e+02] [-5.06345593e-01 8.62311755e-01 -5.70758449e-03 -3.65892419e+01] [-1.12946373e-02 -1.36486565e-05 9.99936213e-01 1.00155138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.65, Y:-36.61, Z:1.00 [[ 8.63908394e-01 5.03599684e-01 7.04596443e-03 1.96646668e+02] [-5.03582818e-01 8.63937126e-01 -4.12157610e-03 -3.66069166e+01] [-8.16289469e-03 1.24375693e-05 9.99966683e-01 1.00187083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.67, Y:-36.62, Z:1.00 [[ 8.64625709e-01 5.02383890e-01 5.72810237e-03 1.96669326e+02] [-5.02372747e-01 8.64644683e-01 -3.34597014e-03 -3.66231133e+01] [-6.63373475e-03 1.53692765e-05 9.99977996e-01 1.00266924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.69, Y:-36.64, Z:1.00 [[ 8.64976293e-01 5.01769752e-01 6.56727887e-03 1.96691748e+02] [-5.01755119e-01 8.65001223e-01 -3.83215822e-03 -3.66392322e+01] [-7.60356533e-03 1.95602209e-05 9.99971092e-01 1.00218987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.71, Y:-36.66, Z:1.00 [[ 8.64799597e-01 5.02069609e-01 6.91126690e-03 1.96713948e+02] [-5.02053448e-01 8.64827213e-01 -4.02840642e-03 -3.66560380e+01] [-7.99959213e-03 1.39388722e-05 9.99968003e-01 1.00203752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.74, Y:-36.67, Z:1.00 [[ 8.64538353e-01 5.02529483e-01 6.12820657e-03 1.96736888e+02] [-5.02516821e-01 8.64560072e-01 -3.56744691e-03 -3.66713865e+01] [-7.09094997e-03 4.66779642e-06 9.99974859e-01 1.00310717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.76, Y:-36.69, Z:1.00 [[ 8.64198541e-01 5.03115680e-01 5.95774435e-03 1.96759436e+02] [-5.03103754e-01 8.64219077e-01 -3.46408563e-03 -3.66870674e+01] [-6.89163211e-03 -3.70580021e-06 9.99976252e-01 1.00380788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.78, Y:-36.71, Z:1.00 [[ 8.62555189e-01 5.05922266e-01 6.41922403e-03 1.96781033e+02] [-5.05908523e-01 8.62579074e-01 -3.72920710e-03 -3.67064811e+01] [-7.42377723e-03 -3.08932179e-05 9.99972443e-01 1.00382257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.80, Y:-36.72, Z:1.00 [[ 8.61953095e-01 5.06947430e-01 6.41594921e-03 1.96803888e+02] [-5.06933764e-01 8.61976973e-01 -3.72259632e-03 -3.67234750e+01] [-7.41756112e-03 -4.37578591e-05 9.99972489e-01 1.00468983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.83, Y:-36.74, Z:1.00 [[ 8.60147877e-01 5.10008457e-01 6.08307797e-03 1.96827559e+02] [-5.09996272e-01 8.60169384e-01 -3.52611589e-03 -3.67403058e+01] [-7.03082635e-03 -6.93659902e-05 9.99975281e-01 1.00357331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.85, Y:-36.75, Z:1.00 [[ 8.59046948e-01 5.11857113e-01 6.37474779e-03 1.96852106e+02] [-5.11843787e-01 8.59070595e-01 -3.69449106e-03 -3.67543305e+01] [-7.36740991e-03 -8.91337834e-05 9.99972856e-01 1.00316901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.88, Y:-36.77, Z:1.00 [[ 8.58866771e-01 5.12158807e-01 6.42083218e-03 1.96876714e+02] [-5.12145340e-01 8.58890766e-01 -3.71530314e-03 -3.67684264e+01] [-7.41761869e-03 -9.74488711e-05 9.99972484e-01 1.00340419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.90, Y:-36.78, Z:1.00 [[ 8.58117384e-01 5.13396863e-01 7.62989216e-03 1.96900932e+02] [-5.13377928e-01 8.58151294e-01 -4.41130910e-03 -3.67833535e+01] [-8.81235408e-03 -1.31597202e-04 9.99961162e-01 1.00306303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.92, Y:-36.80, Z:1.00 [[ 8.58085005e-01 5.13451875e-01 7.56948189e-03 1.96924805e+02] [-5.13433289e-01 8.58118380e-01 -4.37087136e-03 -3.67985581e+01] [-8.73974363e-03 -1.35844806e-04 9.99961798e-01 1.00496144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.95, Y:-36.82, Z:1.01 [[ 8.57062044e-01 5.15138639e-01 8.76562584e-03 1.96947974e+02] [-5.15113847e-01 8.57106849e-01 -5.05714741e-03 -3.68154207e+01] [-1.01182100e-02 -1.81006154e-04 9.99948793e-01 1.00784486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.97, Y:-36.83, Z:1.01 [[ 8.57216960e-01 5.14886886e-01 8.40106402e-03 1.96971894e+02] [-5.14864162e-01 8.57258108e-01 -4.84060716e-03 -3.68307095e+01] [-9.69424540e-03 -1.75956228e-04 9.99952994e-01 1.00861245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.00, Y:-36.84, Z:1.01 [[ 8.57701414e-01 5.14088543e-01 7.82648896e-03 1.96996568e+02] [-5.14068838e-01 8.57737107e-01 -4.50401115e-03 -3.68441734e+01] [-9.02853053e-03 -1.60257352e-04 9.99959229e-01 1.00631354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.02, Y:-36.86, Z:1.00 [[ 8.58355619e-01 5.12981271e-01 8.70902145e-03 1.97021563e+02] [-5.12956870e-01 8.58399782e-01 -5.00632790e-03 -3.68566126e+01] [-1.00439746e-02 -1.70142694e-04 9.99949544e-01 1.00458822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.05, Y:-36.87, Z:1.01 [[ 8.58611794e-01 5.12549719e-01 8.86406853e-03 1.97047036e+02] [-5.12524480e-01 8.58657531e-01 -5.08946081e-03 -3.68690016e+01] [-1.02198009e-02 -1.73181034e-04 9.99947761e-01 1.00534203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.07, Y:-36.88, Z:1.01 [[ 8.58804882e-01 5.12231994e-01 8.51817983e-03 1.97071823e+02] [-5.12208729e-01 8.58847109e-01 -4.88482728e-03 -3.68827921e+01] [-9.81797893e-03 -1.67972550e-04 9.99951788e-01 1.00581070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.09, Y:-36.90, Z:1.01 [[ 8.59345535e-01 5.11333243e-01 7.97281082e-03 1.97094636e+02] [-5.11312874e-01 8.59382506e-01 -4.56646902e-03 -3.68984997e+01] [-9.18668155e-03 -1.52426056e-04 9.99957790e-01 1.00809334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.12, Y:-36.91, Z:1.01 [[ 8.59842740e-01 5.10495884e-01 8.02588349e-03 1.97118006e+02] [-5.10475257e-01 8.59880184e-01 -4.59147245e-03 -3.69131523e+01] [-9.24522596e-03 -1.49070683e-04 9.99957251e-01 1.00785496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.14, Y:-36.93, Z:1.01 [[ 8.60614650e-01 5.09181170e-01 8.77271747e-03 1.97142362e+02] [-5.09156510e-01 8.60659348e-01 -5.01351340e-03 -3.69277452e+01] [-1.01031079e-02 -1.51983139e-04 9.99948951e-01 1.00637396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.17, Y:-36.94, Z:1.00 [[ 8.61557005e-01 5.07569039e-01 9.65388874e-03 1.97166418e+02] [-5.07539146e-01 8.61611077e-01 -5.51072086e-03 -3.69413297e+01] [-1.11149688e-02 -1.51926291e-04 9.99938215e-01 1.00458734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.19, Y:-36.95, Z:1.00 [[ 8.63154802e-01 5.04841340e-01 9.95032580e-03 1.97191813e+02] [-5.04809463e-01 8.63212144e-01 -5.67452694e-03 -3.69542943e+01] [-1.14539779e-02 -1.25023445e-04 9.99934393e-01 1.00350869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.22, Y:-36.97, Z:1.00 [[ 8.64353963e-01 5.02780498e-01 1.01979168e-02 1.97216961e+02] [-5.02746955e-01 8.64414113e-01 -5.80855997e-03 -3.69671518e+01] [-1.17356539e-02 -1.06319785e-04 9.99931129e-01 1.00405514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.24, Y:-36.98, Z:1.01 [[ 8.64874623e-01 5.01891965e-01 9.81542688e-03 1.97241732e+02] [-5.01860910e-01 8.64930313e-01 -5.58399823e-03 -3.69794966e+01] [-1.12922241e-02 -9.65207014e-05 9.99936236e-01 1.00526134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.27, Y:-36.99, Z:1.01 [[ 8.65323234e-01 5.01134164e-01 8.95829687e-03 1.97267406e+02] [-5.01108308e-01 8.65369599e-01 -5.09122287e-03 -3.69924882e+01] [-1.03036235e-02 -8.35235526e-05 9.99946913e-01 1.00731786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.29, Y:-37.01, Z:1.01 [[ 8.66136056e-01 4.99733183e-01 8.66480847e-03 1.97290803e+02] [-4.99708986e-01 8.66179393e-01 -4.91815930e-03 -3.70068070e+01] [-9.96304594e-03 -7.00875634e-05 9.99950365e-01 1.00732077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.31, Y:-37.02, Z:1.01 [[ 8.66803734e-01 4.98581609e-01 8.22594814e-03 1.97314522e+02] [-4.98559803e-01 8.66842763e-01 -4.66333315e-03 -3.70223427e+01] [-9.45565576e-03 -5.89325030e-05 9.99955293e-01 1.00705612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.34, Y:-37.04, Z:1.00 [[ 8.68242176e-01 4.96051066e-01 9.42676334e-03 1.97337559e+02] [-4.96022343e-01 8.68293348e-01 -5.33817500e-03 -3.70386843e+01] [-1.08332033e-02 -4.10565636e-05 9.99941318e-01 1.00460858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.36, Y:-37.05, Z:1.01 [[ 8.69521331e-01 4.93794932e-01 9.96093948e-03 1.97361540e+02] [-4.93762790e-01 8.69578383e-01 -5.63410808e-03 -3.70528203e+01] [-1.14439117e-02 -1.93641079e-05 9.99934516e-01 1.00554214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.39, Y:-37.07, Z:1.01 [[ 8.70538924e-01 4.91989825e-01 1.03920223e-02 1.97385868e+02] [-4.91954793e-01 8.70600949e-01 -5.87111604e-03 -3.70667468e+01] [-1.19358338e-02 -1.37013174e-06 9.99928765e-01 1.00628712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.41, Y:-37.08, Z:1.01 [[ 8.73555587e-01 4.86658482e-01 8.00991790e-03 1.97410441e+02] [-4.86637491e-01 8.73592307e-01 -4.52035333e-03 -3.70813020e+01] [-9.19727095e-03 5.08535568e-05 9.99957703e-01 1.00844989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.43, Y:-37.10, Z:1.01 [[ 8.74327059e-01 4.85280792e-01 7.39912913e-03 1.97433315e+02] [-4.85262877e-01 8.74358365e-01 -4.17014210e-03 -3.70974502e+01] [-8.49318031e-03 5.55453853e-05 9.99963931e-01 1.00829857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.46, Y:-37.11, Z:1.01 [[ 8.74912038e-01 4.84211257e-01 8.26944520e-03 1.97456295e+02] [-4.84188871e-01 8.74951115e-01 -4.65659346e-03 -3.71145322e+01] [-9.49013527e-03 7.01363405e-05 9.99954965e-01 1.00783441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.48, Y:-37.13, Z:1.01 [[ 8.75153394e-01 4.83774858e-01 8.27191263e-03 1.97479993e+02] [-4.83752493e-01 8.75192483e-01 -4.65221037e-03 -3.71282523e+01] [-9.49013816e-03 6.98393378e-05 9.99954965e-01 1.00797285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.50, Y:-37.15, Z:1.01 [[ 8.75380950e-01 4.83333211e-01 9.85899910e-03 1.97503394e+02] [-4.83301467e-01 8.75436463e-01 -5.54006389e-03 -3.71461811e+01] [-1.13086242e-02 8.47976641e-05 9.99936052e-01 1.00890800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.53, Y:-37.16, Z:1.01 [[ 8.75270975e-01 4.83514296e-01 1.07072447e-02 1.97525519e+02] [-4.83476957e-01 8.75336460e-01 -6.00948509e-03 -3.71646522e+01] [-1.22781137e-02 8.32217764e-05 9.99924618e-01 1.00851407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.55, Y:-37.18, Z:1.01 [[ 8.75343282e-01 4.83425905e-01 8.57518696e-03 1.97549612e+02] [-4.83402002e-01 8.75385281e-01 -4.80771785e-03 -3.71807109e+01] [-9.83076780e-03 6.31409753e-05 9.99951675e-01 1.00938396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.57, Y:-37.20, Z:1.01 [[ 8.75198113e-01 4.83706513e-01 7.50148397e-03 1.97573331e+02] [-4.83688272e-01 8.75230259e-01 -4.20102762e-03 -3.71974564e+01] [-8.59759018e-03 4.83516288e-05 9.99963039e-01 1.00941645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.59, Y:-37.22, Z:1.01 [[ 8.74474923e-01 4.85012898e-01 7.48985735e-03 1.97593978e+02] [-4.84994807e-01 8.74506997e-01 -4.18920109e-03 -3.72184585e+01] [-8.58174922e-03 3.08093868e-05 9.99963176e-01 1.00967304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.62, Y:-37.24, Z:1.01 [[ 8.74420659e-01 4.85096406e-01 8.36594273e-03 1.97615830e+02] [-4.85073888e-01 8.74460677e-01 -4.67405192e-03 -3.72355805e+01] [-9.58305373e-03 2.89871898e-05 9.99954081e-01 1.00979841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.64, Y:-37.25, Z:1.01 [[ 8.74491276e-01 4.84974742e-01 8.03167133e-03 1.97638897e+02] [-4.84954034e-01 8.74528158e-01 -4.48177494e-03 -3.72516896e+01] [-9.19747038e-03 2.42816794e-05 9.99957702e-01 1.00930301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.66, Y:-37.27, Z:1.01 [[ 8.73374209e-01 4.86964403e-01 9.11926923e-03 1.97661091e+02] [-4.86937862e-01 8.73421817e-01 -5.08411842e-03 -3.72707289e+01] [-1.04407534e-02 -1.79557852e-07 9.99945494e-01 1.00829509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.68, Y:-37.29, Z:1.01 [[ 8.72694884e-01 4.88183232e-01 8.98725048e-03 1.97684075e+02] [-4.88157585e-01 8.72741159e-01 -5.00404438e-03 -3.72870004e+01] [-1.02864340e-02 -2.01905570e-05 9.99947093e-01 1.00924388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.71, Y:-37.30, Z:1.01 [[ 8.70918225e-01 4.91344139e-01 9.07650589e-03 1.97707540e+02] [-4.91318202e-01 8.70965518e-01 -5.04889201e-03 -3.73045362e+01] [-1.03860671e-02 -6.22804838e-05 9.99946061e-01 1.01055181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.73, Y:-37.32, Z:1.01 [[ 8.69641623e-01 4.93591281e-01 9.54438091e-03 1.97731703e+02] [-4.93562739e-01 8.69693991e-01 -5.30894858e-03 -3.73193564e+01] [-1.09211415e-02 -9.38681259e-05 9.99940358e-01 1.01155685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.76, Y:-37.33, Z:1.01 [[ 8.68987411e-01 4.94738980e-01 9.70671023e-03 1.97757100e+02] [-4.94709611e-01 8.69041615e-01 -5.39194649e-03 -3.73338055e+01] [-1.11031412e-02 -1.16469217e-04 9.99938351e-01 1.01201787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.78, Y:-37.35, Z:1.01 [[ 8.67786324e-01 4.96856536e-01 8.97097055e-03 1.97782106e+02] [-4.96831619e-01 8.67832682e-01 -4.97782896e-03 -3.73485947e+01] [-1.02585683e-02 -1.37369920e-04 9.99947370e-01 1.01175258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.81, Y:-37.36, Z:1.01 [[ 8.66620482e-01 4.98883557e-01 9.17258797e-03 1.97806857e+02] [-4.98857676e-01 8.66669007e-01 -5.08444267e-03 -3.73630546e+01] [-1.04861426e-02 -1.69533759e-04 9.99945005e-01 1.01164932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.83, Y:-37.38, Z:1.01 [[ 8.64628950e-01 5.02332465e-01 8.88110761e-03 1.97831424e+02] [-5.02308437e-01 8.64674535e-01 -4.91759637e-03 -3.73786911e+01] [-1.01495359e-02 -2.09159101e-04 9.99948470e-01 1.00965802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.632320588 meters Centerline goodness [0,1] 0.9999509033778476 Centerline is valid? [True, True] Translation: X:197.86, Y:-37.39, Z:1.01 [[ 8.64205504e-01 5.03037357e-01 1.01126092e-02 1.97856658e+02] [-5.03006316e-01 8.64264632e-01 -5.59393514e-03 -3.73932419e+01] [-1.15539288e-02 -2.52396761e-04 9.99933219e-01 1.00974598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.88, Y:-37.41, Z:1.01 [[ 8.63678707e-01 5.03936443e-01 1.03514481e-02 1.97881513e+02] [-5.03903989e-01 8.63740695e-01 -5.72559723e-03 -3.74068111e+01] [-1.18263040e-02 -2.71059555e-04 9.99930030e-01 1.01113319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.91, Y:-37.42, Z:1.01 [[ 8.63205410e-01 5.04756429e-01 9.86746528e-03 1.97907913e+02] [-5.04727077e-01 8.63261763e-01 -5.45037472e-03 -3.74188015e+01] [-1.12693172e-02 -2.75583951e-04 9.99936461e-01 1.01351666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.93, Y:-37.43, Z:1.01 [[ 8.62699858e-01 5.05609660e-01 1.03839488e-02 1.97933293e+02] [-5.05577287e-01 8.62762295e-01 -5.72973270e-03 -3.74317501e+01] [-1.18558877e-02 -3.06849054e-04 9.99929669e-01 1.01325488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.96, Y:-37.44, Z:1.01 [[ 8.62852313e-01 5.05333511e-01 1.11323646e-02 1.97959450e+02] [-5.05296360e-01 8.62924060e-01 -6.13638236e-03 -3.74442600e+01] [-1.27073049e-02 -3.30351603e-04 9.99919204e-01 1.01313319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.99, Y:-37.46, Z:1.01 [[ 8.62754217e-01 5.05502638e-01 1.10564068e-02 1.97986436e+02] [-5.05466088e-01 8.62824994e-01 -6.08799357e-03 -3.74554162e+01] [-1.26172409e-02 -3.36196551e-04 9.99920343e-01 1.01172089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.01, Y:-37.47, Z:1.01 [[ 8.63008229e-01 5.05089975e-01 1.00455757e-02 1.98012114e+02] [-5.05059844e-01 8.63066639e-01 -5.52538616e-03 -3.74674500e+01] [-1.14608184e-02 -3.05163167e-04 9.99934276e-01 1.01159919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.04, Y:-37.48, Z:1.01 [[ 8.63303106e-01 5.04603804e-01 9.09660747e-03 1.98038303e+02] [-5.04579127e-01 8.63350986e-01 -4.99789026e-03 -3.74796562e+01] [-1.03755195e-02 -2.75264074e-04 9.99946135e-01 1.01107505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.06, Y:-37.49, Z:1.01 [[ 8.63813277e-01 5.03754120e-01 7.64256440e-03 1.98064779e+02] [-5.03736711e-01 8.63847056e-01 -4.19415148e-03 -3.74916990e+01] [-8.71482784e-03 -2.26876516e-04 9.99961999e-01 1.01166162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.09, Y:-37.50, Z:1.01 [[ 8.65338718e-01 5.01093712e-01 9.69512196e-03 1.98091725e+02] [-5.01065584e-01 8.65392989e-01 -5.31556989e-03 -3.75015896e+01] [-1.10536892e-02 -2.58123519e-04 9.99938873e-01 1.01211932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.12, Y:-37.51, Z:1.01 [[ 8.66748632e-01 4.98634952e-01 1.04877936e-02 1.98117676e+02] [-4.98601926e-01 8.66812045e-01 -5.74431588e-03 -3.75144941e+01] [-1.19552624e-02 -2.50356137e-04 9.99928502e-01 1.01280038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.14, Y:-37.53, Z:1.01 [[ 8.70243115e-01 4.92537365e-01 9.15775456e-03 1.98143641e+02] [-4.92511903e-01 8.70291285e-01 -5.01038082e-03 -3.75265020e+01] [-1.04377138e-02 -1.50053711e-04 9.99945514e-01 1.01304187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.17, Y:-37.54, Z:1.01 [[ 8.72117142e-01 4.89230425e-01 8.07972014e-03 1.98170110e+02] [-4.89210505e-01 8.72154562e-01 -4.41599968e-03 -3.75390030e+01] [-9.20720618e-03 -1.01414946e-04 9.99957608e-01 1.01301555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.20, Y:-37.55, Z:1.01 [[ 8.74013349e-01 4.85833351e-01 8.16215907e-03 1.98195598e+02] [-4.85812920e-01 8.74051457e-01 -4.45610864e-03 -3.75513332e+01] [-9.29907322e-03 -7.05838970e-05 9.99956760e-01 1.01228024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.22, Y:-37.56, Z:1.01 [[ 8.75757801e-01 4.82691658e-01 7.55231321e-03 1.98221273e+02] [-4.82674088e-01 8.75790364e-01 -4.11864766e-03 -3.75649724e+01] [-8.60228000e-03 -3.83680799e-05 9.99962999e-01 1.01229404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.25, Y:-37.58, Z:1.01 [[ 8.78804396e-01 4.77097850e-01 8.97085946e-03 1.98245522e+02] [-4.77072815e-01 8.78850182e-01 -4.88751665e-03 -3.75797320e+01] [-1.02158651e-02 1.54179410e-05 9.99947817e-01 1.01306462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.27, Y:-37.59, Z:1.01 [[ 8.80383015e-01 4.74203327e-01 7.54658224e-03 1.98269135e+02] [-4.74185554e-01 8.80415358e-01 -4.10582807e-03 -3.75943614e+01] [-8.59112424e-03 3.62210190e-05 9.99963095e-01 1.01419810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.29, Y:-37.61, Z:1.01 [[ 8.82168392e-01 4.70881868e-01 7.01386006e-03 1.98291580e+02] [-4.70866448e-01 8.82196272e-01 -3.81122767e-03 -3.76105211e+01] [-7.98223921e-03 5.95532151e-05 9.99968140e-01 1.01389406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.32, Y:-37.63, Z:1.01 [[ 8.82812332e-01 4.69662468e-01 7.71709940e-03 1.98315754e+02] [-4.69643787e-01 8.82846057e-01 -4.18960187e-03 -3.76261930e+01] [-8.78070953e-03 7.43444086e-05 9.99961446e-01 1.01305298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.34, Y:-37.64, Z:1.01 [[ 8.83402602e-01 4.68544151e-01 8.13761646e-03 1.98340239e+02] [-4.68523372e-01 8.83440078e-01 -4.41347891e-03 -3.76421743e+01] [-9.25700625e-03 8.62152484e-05 9.99957149e-01 1.01362476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.36, Y:-37.66, Z:1.01 [[ 8.84057310e-01 4.67301768e-01 8.46941244e-03 1.98363947e+02] [-4.67279247e-01 8.84097873e-01 -4.58876402e-03 -3.76578738e+01] [-9.63212706e-03 9.91497012e-05 9.99953605e-01 1.01381896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.262320588 meters Centerline goodness [0,1] 0.9999017778214321 Centerline is valid? [True, True] Translation: X:198.39, Y:-37.68, Z:1.01 [[ 8.84107426e-01 4.67196272e-01 9.03895282e-03 1.98385908e+02] [-4.67170678e-01 8.84153625e-01 -4.89133423e-03 -3.76766065e+01] [-1.02770360e-02 1.01731199e-04 9.99947185e-01 1.01349307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.41, Y:-37.69, Z:1.01 [[ 8.83705840e-01 4.67945219e-01 9.55305951e-03 1.98408600e+02] [-4.67916738e-01 8.83757469e-01 -5.16356122e-03 -3.76934947e+01] [-1.08588515e-02 9.30327608e-05 9.99941037e-01 1.01296879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.43, Y:-37.71, Z:1.01 [[ 8.83452363e-01 4.68432290e-01 9.11663479e-03 1.98431850e+02] [-4.68406441e-01 8.83499397e-01 -4.92160995e-03 -3.77101316e+01] [-1.03599824e-02 7.77174856e-05 9.99946331e-01 1.01331540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.45, Y:-37.73, Z:1.01 [[ 8.82335747e-01 4.70494668e-01 1.08810308e-02 1.98454670e+02] [-4.70458067e-01 8.82402835e-01 -5.86880869e-03 -3.77274644e+01] [-1.23626956e-02 5.91909698e-05 9.99923577e-01 1.01398375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.48, Y:-37.74, Z:1.01 [[ 8.82141834e-01 4.70871372e-01 1.02925303e-02 1.98478451e+02] [-4.70838733e-01 8.82201876e-01 -5.54418782e-03 -3.77422364e+01] [-1.16906889e-02 4.46380636e-05 9.99931661e-01 1.01333904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.50, Y:-37.76, Z:1.01 [[ 8.81267366e-01 4.72513941e-01 9.91996535e-03 1.98502717e+02] [-4.72483746e-01 8.81323196e-01 -5.34177373e-03 -3.77579714e+01] [-1.12667581e-02 2.05084775e-05 9.99936528e-01 1.01290532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.442320588 meters Centerline goodness [0,1] 0.9999508720216164 Centerline is valid? [True, True] Translation: X:198.53, Y:-37.78, Z:1.01 [[ 8.79013117e-01 4.76661509e-01 1.13906109e-02 1.98525883e+02] [-4.76622142e-01 8.79086915e-01 -6.12617219e-03 -3.77759639e+01] [-1.29334474e-02 -4.40316431e-05 9.99916359e-01 1.01221386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.55, Y:-37.79, Z:1.01 [[ 8.78298248e-01 4.77960711e-01 1.20725706e-02 1.98550580e+02] [-4.77916705e-01 8.78381212e-01 -6.48612032e-03 -3.77914258e+01] [-1.37044299e-02 -7.29350589e-05 9.99906087e-01 1.01209323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.57, Y:-37.81, Z:1.01 [[ 8.77034839e-01 4.80288508e-01 1.15255867e-02 1.98574566e+02] [-4.80248707e-01 8.77110561e-01 -6.18409248e-03 -3.78066209e+01] [-1.30793623e-02 -1.11483547e-04 9.99914455e-01 1.01248300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.60, Y:-37.82, Z:1.01 [[ 8.74455461e-01 4.85027544e-01 8.71373274e-03 1.98599346e+02] [-4.85005049e-01 8.74498864e-01 -4.67333145e-03 -3.78219047e+01] [-9.88684385e-03 -1.39584167e-04 9.99951114e-01 1.01257987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.62, Y:-37.84, Z:1.01 [[ 8.73611972e-01 4.86549273e-01 8.48098550e-03 1.98624820e+02] [-4.86528095e-01 8.73653124e-01 -4.54229683e-03 -3.78351535e+01] [-9.61949069e-03 -1.58032828e-04 9.99953719e-01 1.01232259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.65, Y:-37.85, Z:1.01 [[ 8.72861802e-01 4.87905275e-01 7.79217237e-03 1.98651296e+02] [-4.87887489e-01 8.72896567e-01 -4.16914549e-03 -3.78474747e+01] [-8.83590859e-03 -1.62615571e-04 9.99960949e-01 1.01253690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.68, Y:-37.86, Z:1.01 [[ 8.71302377e-01 4.90678504e-01 8.17151101e-03 1.98677683e+02] [-4.90659111e-01 8.71340671e-01 -4.36718998e-03 -3.78595158e+01] [-9.26305613e-03 -2.04283313e-04 9.99957076e-01 1.01370295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.70, Y:-37.87, Z:1.01 [[ 8.71146571e-01 4.90952878e-01 8.30205107e-03 1.98703157e+02] [-4.90932919e-01 8.71186103e-01 -4.43214463e-03 -3.78734095e+01] [-9.40860568e-03 -2.14702566e-04 9.99955715e-01 1.01385444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.73, Y:-37.89, Z:1.01 [[ 8.70920564e-01 4.91342474e-01 8.94116859e-03 1.98728844e+02] [-4.91319394e-01 8.70966426e-01 -4.76834681e-03 -3.78866019e+01] [-1.01303490e-02 -2.40118242e-04 9.99948658e-01 1.01319550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.76, Y:-37.90, Z:1.01 [[ 8.70946716e-01 4.91298761e-01 8.79457451e-03 1.98756022e+02] [-4.91276493e-01 8.70991084e-01 -4.68383847e-03 -3.78951510e+01] [-9.96116002e-03 -2.41193990e-04 9.99950357e-01 1.01411906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.78, Y:-37.91, Z:1.01 [[ 8.71029079e-01 4.91143227e-01 9.30991078e-03 1.98782663e+02] [-4.91118308e-01 8.71078794e-01 -4.95409973e-03 -3.79058026e+01] [-1.05428384e-02 -2.57102708e-04 9.99944390e-01 1.01429142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.81, Y:-37.92, Z:1.01 [[ 8.71548698e-01 4.90205141e-01 1.00889655e-02 1.98808079e+02] [-4.90175895e-01 8.71607048e-01 -5.36150636e-03 -3.79182148e+01] [-1.14218514e-02 -2.72553803e-04 9.99934731e-01 1.01385031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.83, Y:-37.93, Z:1.01 [[ 8.71679803e-01 4.89956543e-01 1.08123367e-02 1.98833273e+02] [-4.89923004e-01 8.71746809e-01 -5.74027254e-03 -3.79321593e+01] [-1.22381041e-02 -2.93532845e-04 9.99925069e-01 1.01379034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.86, Y:-37.95, Z:1.01 [[ 8.72652337e-01 4.88239372e-01 1.00106850e-02 1.98858927e+02] [-4.88210577e-01 8.72709717e-01 -5.30862683e-03 -3.79450298e+01] [-1.13283027e-02 -2.54736704e-04 9.99935800e-01 1.01345453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.89, Y:-37.96, Z:1.01 [[ 8.73014997e-01 4.87607625e-01 9.14434337e-03 1.98885345e+02] [-4.87583621e-01 8.73062857e-01 -4.84369977e-03 -3.79560193e+01] [-1.03454115e-02 -2.30009505e-04 9.99946458e-01 1.01430966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.91, Y:-37.97, Z:1.01 [[ 8.73577644e-01 4.86604605e-01 8.83512454e-03 1.98912587e+02] [-4.86582198e-01 8.73622294e-01 -4.67467151e-03 -3.79669595e+01] [-9.99327845e-03 -2.15325795e-04 9.99950043e-01 1.01433059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.94, Y:-37.98, Z:1.01 [[ 8.74069911e-01 4.85704381e-01 9.64598834e-03 1.98938763e+02] [-4.85677689e-01 8.74123104e-01 -5.09716163e-03 -3.79778452e+01] [-1.09074950e-02 -2.29565708e-04 9.99940485e-01 1.01445318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.97, Y:-37.99, Z:1.02 [[ 8.74230107e-01 4.85410933e-01 9.89683577e-03 1.98965338e+02] [-4.85382888e-01 8.74286092e-01 -5.22322190e-03 -3.79867265e+01] [-1.11880749e-02 -2.37456893e-04 9.99937383e-01 1.01558463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.99, Y:-38.00, Z:1.02 [[ 8.74162639e-01 4.85554375e-01 8.75387338e-03 1.98991614e+02] [-4.85532458e-01 8.74206442e-01 -4.61834556e-03 -3.79976249e+01] [-9.89515040e-03 -2.13104511e-04 9.99951019e-01 1.01574922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.02, Y:-38.01, Z:1.02 [[ 8.74421398e-01 4.85088171e-01 8.75699345e-03 1.99015707e+02] [-4.85066290e-01 8.74465220e-01 -4.61242890e-03 -3.80106617e+01] [-9.89512090e-03 -2.14515794e-04 9.99951019e-01 1.01588748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.04, Y:-38.02, Z:1.02 [[ 8.74894300e-01 4.84243031e-01 8.28556386e-03 1.99040929e+02] [-4.84223459e-01 8.74933510e-01 -4.35831410e-03 -3.80227732e+01] [-9.35980070e-03 -1.99000227e-04 9.99956176e-01 1.01509099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.07, Y:-38.03, Z:1.02 [[ 8.75026986e-01 4.84004022e-01 8.23894646e-03 1.99066745e+02] [-4.83984708e-01 8.75065750e-01 -4.32854097e-03 -3.80342697e+01] [-9.30465110e-03 -1.99933936e-04 9.99956691e-01 1.01574277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.09, Y:-38.05, Z:1.02 [[ 8.75149461e-01 4.83766644e-01 9.12445905e-03 1.99092613e+02] [-4.83742988e-01 8.75196998e-01 -4.78922754e-03 -3.80472341e+01] [-1.03025677e-02 -2.22603182e-04 9.99946902e-01 1.01622138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.12, Y:-38.06, Z:1.02 [[ 8.74966550e-01 4.84105571e-01 8.67943184e-03 1.99118201e+02] [-4.84084244e-01 8.75009570e-01 -4.54947245e-03 -3.80583944e+01] [-9.79701088e-03 -2.20939984e-04 9.99951984e-01 1.01605340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.15, Y:-38.06, Z:1.02 [[ 8.74349633e-01 4.85254559e-01 6.38220296e-03 1.99146473e+02] [-4.85243093e-01 8.74372908e-01 -3.34044685e-03 -3.80639908e+01] [-7.20139243e-03 -1.76201430e-04 9.99974054e-01 1.01514166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.17, Y:-38.08, Z:1.02 [[ 8.73693951e-01 4.86430332e-01 6.66431992e-03 1.99173279e+02] [-4.86417889e-01 8.73719345e-01 -3.48481035e-03 -3.80751787e+01] [-7.51786269e-03 -1.96986706e-04 9.99971721e-01 1.01529249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.20, Y:-38.09, Z:1.02 [[ 8.73444850e-01 4.86856612e-01 8.04565052e-03 1.99198827e+02] [-4.86838531e-01 8.73481871e-01 -4.20307108e-03 -3.80873655e+01] [-9.07402282e-03 -2.45781891e-04 9.99958800e-01 1.01536997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.23, Y:-38.10, Z:1.02 [[ 8.73873771e-01 4.86106327e-01 6.72839620e-03 1.99225092e+02] [-4.86093692e-01 8.73899649e-01 -3.51068105e-03 -3.80988776e+01] [-7.58650735e-03 -2.02738861e-04 9.99971201e-01 1.01796584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.25, Y:-38.11, Z:1.02 [[ 8.74290018e-01 4.85363479e-01 6.26558523e-03 1.99250611e+02] [-4.85352536e-01 8.74312449e-01 -3.26456066e-03 -3.81106940e+01] [-7.06257769e-03 -1.86844882e-04 9.99975042e-01 1.01768481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.28, Y:-38.12, Z:1.02 [[ 8.74973679e-01 4.84138490e-01 5.56630364e-03 1.99276447e+02] [-4.84129848e-01 8.74991370e-01 -2.89708087e-03 -3.81224902e+01] [-6.27305600e-03 -1.59944228e-04 9.99980311e-01 1.01702499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.30, Y:-38.13, Z:1.02 [[ 8.75922555e-01 4.82402572e-01 6.88735415e-03 1.99303808e+02] [-4.82389313e-01 8.75949613e-01 -3.58135256e-03 -3.81324955e+01] [-7.76062888e-03 -1.85398556e-04 9.99969869e-01 1.01710401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.33, Y:-38.14, Z:1.02 [[ 8.76468541e-01 4.81422128e-01 5.96920437e-03 1.99330569e+02] [-4.81412172e-01 8.76488853e-01 -3.10014926e-03 -3.81430468e+01] [-6.72442155e-03 -1.56464346e-04 9.99977379e-01 1.01764784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.36, Y:-38.15, Z:1.02 [[ 8.76748176e-01 4.80915942e-01 5.70026311e-03 1.99357123e+02] [-4.80906876e-01 8.76766693e-01 -2.95669972e-03 -3.81534759e+01] [-6.41972487e-03 -1.49014637e-04 9.99979382e-01 1.01841562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.38, Y:-38.16, Z:1.02 [[ 8.75661335e-01 4.82903835e-01 4.59473596e-03 1.99384623e+02] [-4.82897987e-01 8.75673380e-01 -2.38036453e-03 -3.81619352e+01] [-5.17297512e-03 -1.34395564e-04 9.99986611e-01 1.01827055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.41, Y:-38.17, Z:1.02 [[ 8.75673369e-01 4.82882686e-01 4.52340888e-03 1.99410321e+02] [-4.82877035e-01 8.75685042e-01 -2.34006121e-03 -3.81718765e+01] [-5.09105654e-03 -1.35120986e-04 9.99987031e-01 1.01939409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.44, Y:-38.18, Z:1.02 [[ 8.75155470e-01 4.83803183e-01 6.11412910e-03 1.99437033e+02] [-4.83792895e-01 8.75176807e-01 -3.16091672e-03 -3.81823642e+01] [-6.88020555e-03 -1.91678662e-04 9.99976313e-01 1.02037642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.47, Y:-38.19, Z:1.02 [[ 8.74674610e-01 4.84683734e-01 5.09945345e-03 1.99465294e+02] [-4.84676609e-01 8.74689459e-01 -2.63346259e-03 -3.81901016e+01] [-5.73683466e-03 -1.68162938e-04 9.99983530e-01 1.01893488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.552320588 meters Centerline goodness [0,1] 0.9999509298787967 Centerline is valid? [True, True] Translation: X:199.49, Y:-38.20, Z:1.02 [[ 8.74670545e-01 4.84694435e-01 4.76890174e-03 1.99491145e+02] [-4.84688224e-01 8.74683531e-01 -2.45891743e-03 -3.82011912e+01] [-5.36310340e-03 -1.60687864e-04 9.99985606e-01 1.01812059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.52, Y:-38.21, Z:1.02 [[ 8.75273945e-01 4.83591668e-01 5.88380016e-03 1.99517781e+02] [-4.83582210e-01 8.75293700e-01 -3.03071247e-03 -3.82105645e+01] [-6.61568051e-03 -1.92597419e-04 9.99978098e-01 1.01830117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.55, Y:-38.22, Z:1.02 [[ 8.76131778e-01 4.81990199e-01 8.86312970e-03 1.99545341e+02] [-4.81968696e-01 8.76176565e-01 -4.56110439e-03 -3.82184647e+01] [-9.96407414e-03 -2.75622559e-04 9.99950319e-01 1.01885806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.58, Y:-38.22, Z:1.02 [[ 8.78400812e-01 4.77808618e-01 1.05326963e-02 1.99575932e+02] [-4.77778002e-01 8.78463914e-01 -5.41588722e-03 -3.82227402e+01] [-1.18403512e-02 -2.74970853e-04 9.99929863e-01 1.02098820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.60, Y:-38.23, Z:1.02 [[ 8.79603289e-01 4.75625421e-01 8.86071653e-03 1.99602573e+02] [-4.75603698e-01 8.79647892e-01 -4.55065486e-03 -3.82345007e+01] [-9.95871776e-03 -2.11418565e-04 9.99950388e-01 1.02087441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.63, Y:-38.25, Z:1.02 [[ 8.81193148e-01 4.72706523e-01 6.86865588e-03 1.99628525e+02] [-4.72693415e-01 8.81219906e-01 -3.52319831e-03 -3.82459479e+01] [-7.71823511e-03 -1.42150197e-04 9.99970204e-01 1.02070891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.66, Y:-38.25, Z:1.02 [[ 8.83257216e-01 4.68840799e-01 6.70779163e-03 1.99658332e+02] [-4.68828215e-01 8.83282680e-01 -3.43686766e-03 -3.82515482e+01] [-7.53621995e-03 -1.09163809e-04 9.99971596e-01 1.02100203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.762320588 meters Centerline goodness [0,1] 0.9999509900019604 Centerline is valid? [True, True] Translation: X:199.69, Y:-38.26, Z:1.02 [[ 8.83952643e-01 4.67504410e-01 8.20684625e-03 1.99685193e+02] [-4.67485560e-01 8.83990730e-01 -4.19994693e-03 -3.82599320e+01] [-9.21826972e-03 -1.24027927e-04 9.99957503e-01 1.02113815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.71, Y:-38.27, Z:1.02 [[ 8.85452952e-01 4.64646978e-01 8.73242404e-03 1.99713339e+02] [-4.64625539e-01 8.85496005e-01 -4.46462289e-03 -3.82683158e+01] [-9.80700013e-03 -1.04093707e-04 9.99951905e-01 1.02104601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.74, Y:-38.28, Z:1.02 [[ 8.86463401e-01 4.62724185e-01 8.30465828e-03 1.99739560e+02] [-4.62704750e-01 8.86502297e-01 -4.24172940e-03 -3.82811674e+01] [-9.32484942e-03 -8.24669670e-05 9.99956519e-01 1.02019095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.77, Y:-38.29, Z:1.02 [[ 8.87844596e-01 4.60069802e-01 8.23109630e-03 1.99765310e+02] [-4.60050640e-01 8.87882748e-01 -4.19936849e-03 -3.82934507e+01] [-9.24025103e-03 -5.83344999e-05 9.99957306e-01 1.01993304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.79, Y:-38.30, Z:1.02 [[ 8.91472698e-01 4.53024907e-01 6.69791040e-03 1.99791867e+02] [-4.53012051e-01 8.91497859e-01 -3.41299648e-03 -3.83044001e+01] [-7.51734520e-03 8.35905166e-06 9.99971744e-01 1.01947494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.912320588 meters Centerline goodness [0,1] 0.9999510116102484 Centerline is valid? [True, True] Translation: X:199.82, Y:-38.32, Z:1.02 [[ 8.93570741e-01 4.48853518e-01 7.86448389e-03 1.99818617e+02] [-4.48835666e-01 8.93605347e-01 -4.00353925e-03 -3.83159529e+01] [-8.82474754e-03 4.75846753e-05 9.99961060e-01 1.01835420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.84, Y:-38.33, Z:1.02 [[ 8.95622302e-01 4.44753428e-01 7.42154222e-03 1.99844895e+02] [-4.44737423e-01 8.95653048e-01 -3.77398145e-03 -3.83269520e+01] [-8.32561810e-03 7.94243937e-05 9.99965338e-01 1.01943277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.87, Y:-38.34, Z:1.02 [[ 8.97082391e-01 4.41791526e-01 7.96433899e-03 1.99871443e+02] [-4.41773013e-01 8.97117738e-01 -4.04591507e-03 -3.83383328e+01] [-8.93240077e-03 1.11089134e-04 9.99960099e-01 1.01989662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.90, Y:-38.35, Z:1.02 [[ 8.98587178e-01 4.38736543e-01 7.16444829e-03 1.99898045e+02] [-4.38721498e-01 8.98615730e-01 -3.63546822e-03 -3.83483708e+01] [-8.03309869e-03 1.23587647e-04 9.99967727e-01 1.02111390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.92, Y:-38.36, Z:1.02 [[ 8.98870927e-01 4.38175369e-01 5.77950738e-03 1.99922135e+02] [-4.38165594e-01 8.98889502e-01 -2.92847589e-03 -3.83616501e+01] [-6.47832451e-03 9.99405544e-05 9.99979010e-01 1.02123961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.062320588 meters Centerline goodness [0,1] 0.9999509154272812 Centerline is valid? [True, True] Translation: X:199.95, Y:-38.38, Z:1.02 [[ 8.98947278e-01 4.38028009e-01 5.02537863e-03 1.99946361e+02] [-4.38020636e-01 8.98961321e-01 -2.54292530e-03 -3.83756403e+01] [-5.63149352e-03 8.47362305e-05 9.99984139e-01 1.02151951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.97, Y:-38.39, Z:1.02 [[ 8.98971900e-01 4.37960112e-01 6.36105454e-03 1.99970396e+02] [-4.37948319e-01 8.98994399e-01 -3.21565097e-03 -3.83897745e+01] [-7.12687926e-03 1.04966721e-04 9.99974598e-01 1.02145667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.00, Y:-38.41, Z:1.02 [[ 8.99222934e-01 4.37369691e-01 1.02892236e-02 1.99995096e+02] [-4.37338837e-01 8.99281782e-01 -5.19792803e-03 -3.84050793e+01] [-1.15263275e-02 1.74219032e-04 9.99933555e-01 1.02179462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.152320588 meters Centerline goodness [0,1] 0.9999508937340404 Centerline is valid? [True, True] Translation: X:200.02, Y:-38.42, Z:1.02 [[ 8.99683228e-01 4.36411078e-01 1.07452461e-02 2.00020498e+02] [-4.36377427e-01 8.99747373e-01 -5.42276508e-03 -3.84188500e+01] [-1.20345617e-02 1.89787962e-04 9.99927564e-01 1.02310420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.182320588 meters Centerline goodness [0,1] 0.999951028403526 Centerline is valid? [True, True] Translation: X:200.05, Y:-38.43, Z:1.02 [[ 9.00332685e-01 4.35051097e-01 1.14716605e-02 2.00045644e+02] [-4.35012707e-01 9.00405739e-01 -5.78348774e-03 -3.84319289e+01] [-1.28452616e-02 2.16744973e-04 9.99917473e-01 1.02208110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21232058799998 meters Centerline goodness [0,1] 0.9999509491342522 Centerline is valid? [True, True] Translation: X:200.07, Y:-38.44, Z:1.02 [[ 9.01758543e-01 4.32152647e-01 8.69602711e-03 2.00070057e+02] [-4.32130512e-01 9.01800451e-01 -4.37801458e-03 -3.84442417e+01] [-9.73405176e-03 1.90093396e-04 9.99952605e-01 1.02317363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24232058799998 meters Centerline goodness [0,1] 0.9999509611612397 Centerline is valid? [True, True] Translation: X:200.09, Y:-38.46, Z:1.02 [[ 9.02251542e-01 4.31135269e-01 8.03333854e-03 2.00093804e+02] [-4.31116384e-01 9.02287286e-01 -4.03940357e-03 -3.84584490e+01] [-8.98990857e-03 1.81254237e-04 9.99959574e-01 1.02235154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.12, Y:-38.47, Z:1.02 [[ 9.02538812e-01 4.30537903e-01 7.79787605e-03 2.00117276e+02] [-4.30520127e-01 9.02572481e-01 -3.91626857e-03 -3.84733192e+01] [-8.72425039e-03 1.77441797e-04 9.99961927e-01 1.02171415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.14, Y:-38.49, Z:1.02 [[ 9.02952567e-01 4.29650704e-01 8.77121689e-03 2.00141743e+02] [-4.29628210e-01 9.02995144e-01 -4.40114983e-03 -3.84878489e+01] [-9.81132339e-03 2.05667324e-04 9.99951847e-01 1.02101589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.17, Y:-38.50, Z:1.02 [[ 9.03027513e-01 4.29460759e-01 1.02356009e-02 2.00165807e+02] [-4.29430172e-01 9.03085489e-01 -5.13102582e-03 -3.85041861e+01] [-1.14471969e-02 2.37981644e-04 9.99934450e-01 1.02057512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.19, Y:-38.52, Z:1.02 [[ 9.02857696e-01 4.29829254e-01 9.73613771e-03 2.00189935e+02] [-4.29801657e-01 9.02910165e-01 -4.87548898e-03 -3.85192181e+01] [-1.08864855e-02 2.17264625e-04 9.99940717e-01 1.02146617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.21, Y:-38.54, Z:1.02 [[ 9.01365477e-01 4.32989994e-01 7.74227695e-03 2.00212607e+02] [-4.32972699e-01 9.01398716e-01 -3.87248696e-03 -3.85373112e+01] [-8.65562661e-03 1.38331509e-04 9.99962530e-01 1.02216710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.24, Y:-38.55, Z:1.02 [[ 9.00698681e-01 4.34385485e-01 7.15096384e-03 2.00237404e+02] [-4.34370806e-01 9.00727061e-01 -3.57273589e-03 -3.85523411e+01] [-7.99301126e-03 1.11788578e-04 9.99968049e-01 1.02262573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.26, Y:-38.57, Z:1.02 [[ 9.00175666e-01 4.35430128e-01 9.18552707e-03 2.00261303e+02] [-4.35406017e-01 9.00222521e-01 -4.58398778e-03 -3.85668499e+01] [-1.02650247e-02 1.26960495e-04 9.99947305e-01 1.02108683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.28, Y:-38.59, Z:1.02 [[ 8.98758171e-01 4.38294571e-01 1.14725678e-02 2.00283351e+02] [-4.38257272e-01 8.98831384e-01 -5.71898452e-03 -3.85853530e+01] [-1.28185039e-02 1.12047790e-04 9.99917833e-01 1.01961534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.31, Y:-38.60, Z:1.02 [[ 8.98433416e-01 4.38974445e-01 1.09011107e-02 2.00307197e+02] [-4.38940888e-01 8.98499543e-01 -5.42847349e-03 -3.86013906e+01] [-1.21776041e-02 9.21787657e-05 9.99925846e-01 1.01891498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.33, Y:-38.62, Z:1.02 [[ 8.97922039e-01 4.40035299e-01 1.02443368e-02 2.00331707e+02] [-4.40005799e-01 8.97980473e-01 -5.09573096e-03 -3.86165375e+01] [-1.14415159e-02 6.80015463e-05 9.99934541e-01 1.02005365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.36, Y:-38.63, Z:1.02 [[ 8.96668862e-01 4.42569848e-01 1.08111546e-02 2.00355561e+02] [-4.42537260e-01 8.96734035e-01 -5.37073945e-03 -3.86302604e+01] [-1.20716576e-02 3.14361143e-05 9.99927134e-01 1.02207354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.38, Y:-38.64, Z:1.02 [[ 8.96254058e-01 4.43377234e-01 1.20537189e-02 2.00380999e+02] [-4.43336876e-01 8.96335109e-01 -5.98216942e-03 -3.86426516e+01] [-1.34565292e-02 1.76855545e-05 9.99909457e-01 1.02266302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.41, Y:-38.65, Z:1.02 [[ 8.95524553e-01 4.44833171e-01 1.26183984e-02 2.00406374e+02] [-4.44789193e-01 8.95613449e-01 -6.25492905e-03 -3.86549470e+01] [-1.40836072e-02 -1.10847017e-05 9.99900821e-01 1.02389194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.43, Y:-38.67, Z:1.02 [[ 8.95190255e-01 4.45516824e-01 1.22133690e-02 2.00431388e+02] [-4.45475797e-01 8.95273567e-01 -6.04610826e-03 -3.86682165e+01] [-1.36279494e-02 -2.83431044e-05 9.99907135e-01 1.02336463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.46, Y:-38.68, Z:1.02 [[ 8.94329220e-01 4.47242232e-01 1.22323991e-02 2.00455113e+02] [-4.47201342e-01 8.94412870e-01 -6.04798690e-03 -3.86840409e+01] [-1.36457304e-02 -6.14538958e-05 9.99906891e-01 1.02109421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.48, Y:-38.70, Z:1.02 [[ 8.94173715e-01 4.47536193e-01 1.28344453e-02 2.00480328e+02] [-4.47491301e-01 8.94265816e-01 -6.33917012e-03 -3.86988231e+01] [-1.43144138e-02 -7.49833429e-05 9.99897541e-01 1.02116552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.51, Y:-38.71, Z:1.02 [[ 8.94197300e-01 4.47454590e-01 1.39849413e-02 2.00505266e+02] [-4.47401395e-01 8.94306649e-01 -6.89998249e-03 -3.87122955e+01] [-1.55942548e-02 -8.69365251e-05 9.99878398e-01 1.02250999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.53, Y:-38.72, Z:1.02 [[ 8.94335078e-01 4.47199764e-01 1.33093676e-02 2.00531521e+02] [-4.47151686e-01 8.94434102e-01 -6.55788487e-03 -3.87226924e+01] [-1.48370368e-02 -8.63596908e-05 9.99889921e-01 1.02381376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.56, Y:-38.73, Z:1.02 [[ 8.94419329e-01 4.46996086e-01 1.44416791e-02 2.00557971e+02] [-4.46939570e-01 8.94535907e-01 -7.10851175e-03 -3.87342793e+01] [-1.60960774e-02 -9.65675247e-05 9.99870445e-01 1.02405925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.58, Y:-38.75, Z:1.02 [[ 8.94201392e-01 4.47489303e-01 1.25376825e-02 2.00584360e+02] [-4.47446856e-01 8.94289279e-01 -6.16418437e-03 -3.87459977e+01] [-1.39707216e-02 -9.79243674e-05 9.99902400e-01 1.02478368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.61, Y:-38.76, Z:1.02 [[ 8.94406736e-01 4.47072511e-01 1.27577826e-02 2.00609510e+02] [-4.47028635e-01 8.94497714e-01 -6.26419604e-03 -3.87589643e+01] [-1.42123572e-02 -1.00355013e-04 9.99898994e-01 1.02482499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.63, Y:-38.77, Z:1.02 [[ 8.94885354e-01 4.46092402e-01 1.34822780e-02 2.00634494e+02] [-4.46043414e-01 8.94986904e-01 -6.61165494e-03 -3.87720194e+01] [-1.50158713e-02 -9.70081159e-05 9.99887251e-01 1.02463741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.66, Y:-38.79, Z:1.02 [[ 8.96667381e-01 4.42435858e-01 1.54310793e-02 2.00659661e+02] [-4.42371272e-01 8.96800150e-01 -7.55971036e-03 -3.87850598e+01] [-1.71832811e-02 -4.77204601e-05 9.99852355e-01 1.02456798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.68, Y:-38.80, Z:1.02 [[ 8.96887687e-01 4.41988958e-01 1.54349766e-02 2.00684085e+02] [-4.41924441e-01 8.97020490e-01 -7.55175137e-03 -3.87973924e+01] [-1.71832810e-02 -4.80205915e-05 9.99852355e-01 1.02470642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.71, Y:-38.81, Z:1.02 [[ 8.98118776e-01 4.39444732e-01 1.64618334e-02 2.00709735e+02] [-4.39371071e-01 8.98269629e-01 -8.04578308e-03 -3.88101637e+01] [-1.83228419e-02 -6.78450983e-06 9.99832123e-01 1.02362040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.74, Y:-38.82, Z:1.03 [[ 8.99232942e-01 4.37249825e-01 1.38818776e-02 2.00735493e+02] [-4.37197303e-01 8.99340086e-01 -6.77699840e-03 -3.88233458e+01] [-1.54477704e-02 2.49807329e-05 9.99880676e-01 1.02626040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.76, Y:-38.84, Z:1.03 [[ 9.00688141e-01 4.34232743e-01 1.42407266e-02 2.00760749e+02] [-4.34177213e-01 9.00800710e-01 -6.94464366e-03 -3.88373531e+01] [-1.58436483e-02 7.19591829e-05 9.99874479e-01 1.02656184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.79, Y:-38.85, Z:1.03 [[ 9.01402615e-01 4.32770515e-01 1.35280303e-02 2.00785392e+02] [-4.32720370e-01 9.01504118e-01 -6.58841061e-03 -3.88503069e+01] [-1.50468449e-02 8.49562599e-05 9.99886786e-01 1.02810416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.81, Y:-38.86, Z:1.03 [[ 9.01669780e-01 4.32197333e-01 1.40382906e-02 2.00810151e+02] [-4.32143396e-01 9.01779051e-01 -6.82846373e-03 -3.88639442e+01] [-1.56106802e-02 9.04647883e-05 9.99878142e-01 1.02846081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.83, Y:-38.88, Z:1.03 [[ 9.02590690e-01 4.30296480e-01 1.32281971e-02 2.00834876e+02] [-4.30248504e-01 9.02687613e-01 -6.42626961e-03 -3.88778642e+01] [-1.47061309e-02 1.08879108e-04 9.99891853e-01 1.02784409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.86, Y:-38.90, Z:1.03 [[ 9.02967103e-01 4.29478634e-01 1.40894630e-02 2.00857613e+02] [-4.29424145e-01 9.03077010e-01 -6.84228985e-03 -3.88957534e+01] [-1.56624874e-02 1.28007045e-04 9.99877328e-01 1.02587604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.88, Y:-38.91, Z:1.03 [[ 9.03159558e-01 4.29048705e-01 1.48331609e-02 2.00882274e+02] [-4.28988402e-01 9.03281347e-01 -7.19443882e-03 -3.89113669e+01] [-1.64852822e-02 1.34472206e-04 9.99864099e-01 1.02631040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.91, Y:-38.93, Z:1.03 [[ 9.02911613e-01 4.29583563e-01 1.44423443e-02 2.00905915e+02] [-4.29526611e-01 9.03027103e-01 -6.99576404e-03 -3.89259229e+01] [-1.60470936e-02 1.13185369e-04 9.99871231e-01 1.02588793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.93, Y:-38.94, Z:1.02 [[ 9.01613773e-01 4.32371551e-01 1.21427336e-02 2.00930809e+02] [-4.32331634e-01 9.01695536e-01 -5.87527608e-03 -3.89407312e+01] [-1.34893509e-02 4.75420042e-05 9.99909013e-01 1.02478365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.96, Y:-38.95, Z:1.02 [[ 9.00912794e-01 4.33837873e-01 1.18675415e-02 2.00955056e+02] [-4.33799965e-01 9.00990954e-01 -5.73506632e-03 -3.89535423e+01] [-1.31806365e-02 1.86555470e-05 9.99913131e-01 1.02483503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.98, Y:-38.97, Z:1.02 [[ 8.99892819e-01 4.35907999e-01 1.33090254e-02 2.00980390e+02] [-4.35860649e-01 8.99991231e-01 -6.42489361e-03 -3.89671895e+01] [-1.47786687e-02 -1.91648209e-05 9.99890789e-01 1.02462274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.00, Y:-38.98, Z:1.03 [[ 8.98042386e-01 4.39618090e-01 1.59940202e-02 2.01004933e+02] [-4.39550436e-01 8.98184794e-01 -7.71298197e-03 -3.89822166e+01] [-1.77563522e-02 -1.03593838e-04 9.99842338e-01 1.02576464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.03, Y:-39.00, Z:1.03 [[ 8.97758921e-01 4.40189393e-01 1.61931711e-02 2.01029458e+02] [-4.40120320e-01 8.97904941e-01 -7.79878150e-03 -3.89950015e+01] [-1.79728692e-02 -1.25517974e-04 9.99838467e-01 1.02592811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.05, Y:-39.01, Z:1.03 [[ 8.97716552e-01 4.40263690e-01 1.65189312e-02 2.01054236e+02] [-4.40192009e-01 8.97868512e-01 -7.94552238e-03 -3.90073488e+01] [-1.83299532e-02 -1.38674565e-04 9.99831983e-01 1.02610901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.08, Y:-39.02, Z:1.03 [[ 8.98061646e-01 4.39548798e-01 1.67968775e-02 2.01079082e+02] [-4.39474750e-01 8.98218702e-01 -8.06895829e-03 -3.90199295e+01] [-1.86339704e-02 -1.35381597e-04 9.99826363e-01 1.02590022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.10, Y:-39.04, Z:1.03 [[ 8.98120328e-01 4.39422945e-01 1.69514197e-02 2.01102964e+02] [-4.39347704e-01 8.98280276e-01 -8.13269404e-03 -3.90353988e+01] [-1.88008184e-02 -1.43429489e-04 9.99823239e-01 1.02595911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.13, Y:-39.05, Z:1.03 [[ 8.98199886e-01 4.39230825e-01 1.76987723e-02 2.01128270e+02] [-4.39148944e-01 8.98374231e-01 -8.48213025e-03 -3.90490541e+01] [-1.96257340e-02 -1.53748722e-04 9.99807385e-01 1.02586894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.15, Y:-39.06, Z:1.03 [[ 8.98319387e-01 4.38994799e-01 1.74884118e-02 2.01153911e+02] [-4.38915023e-01 8.98489589e-01 -8.37022429e-03 -3.90608245e+01] [-1.93876408e-02 -1.56791901e-04 9.99812030e-01 1.02680422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.18, Y:-39.07, Z:1.03 [[ 8.98237274e-01 4.39166501e-01 1.73949220e-02 2.01179493e+02] [-4.39087815e-01 8.98405674e-01 -8.31478035e-03 -3.90709034e+01] [-1.92792697e-02 -1.69252668e-04 9.99814123e-01 1.02684998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.20, Y:-39.08, Z:1.03 [[ 8.99039808e-01 4.37528288e-01 1.72168572e-02 2.01204246e+02] [-4.37451105e-01 8.99204636e-01 -8.21907598e-03 -3.90827121e+01] [-1.90775561e-02 -1.42256737e-04 9.99817997e-01 1.02662584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.23, Y:-39.10, Z:1.03 [[ 8.99644883e-01 4.36301589e-01 1.67334605e-02 2.01229515e+02] [-4.36228632e-01 8.99800483e-01 -7.97944673e-03 -3.90963513e+01] [-1.85382211e-02 -1.20946161e-04 9.99828145e-01 1.02583109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.25, Y:-39.11, Z:1.03 [[ 9.01509756e-01 4.32443301e-01 1.65212367e-02 2.01254191e+02] [-4.32371699e-01 9.01661127e-01 -7.86928516e-03 -3.91111533e+01] [-1.82995766e-02 -4.90778460e-05 9.99832548e-01 1.02518305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.28, Y:-39.13, Z:1.02 [[ 9.02547958e-01 4.30241018e-01 1.73161644e-02 2.01279470e+02] [-4.30162129e-01 9.02714056e-01 -8.23876034e-03 -3.91252611e+01] [-1.91761976e-02 -1.28818062e-05 9.99816120e-01 1.02291856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.30, Y:-39.14, Z:1.02 [[ 9.03498102e-01 4.28309599e-01 1.55585274e-02 2.01304464e+02] [-4.28245776e-01 9.03632053e-01 -7.39380717e-03 -3.91390155e+01] [-1.72260227e-02 1.74170825e-05 9.99851621e-01 1.02342774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.33, Y:-39.15, Z:1.02 [[ 9.04316900e-01 4.26585169e-01 1.53635575e-02 2.01329677e+02] [-4.26522851e-01 9.04447396e-01 -7.29145265e-03 -3.91517421e+01] [-1.70059551e-02 4.08755178e-05 9.99855387e-01 1.02355475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.36, Y:-39.16, Z:1.03 [[ 9.05028212e-01 4.24994951e-01 1.74134323e-02 2.01355794e+02] [-4.24914618e-01 9.05195716e-01 -8.26329868e-03 -3.91627453e+01] [-1.92744245e-02 7.92964826e-05 9.99814228e-01 1.02571458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.38, Y:-39.18, Z:1.03 [[ 9.05495586e-01 4.24047168e-01 1.61784807e-02 2.01381716e+02] [-4.23977856e-01 9.05640101e-01 -7.66713452e-03 -3.91750810e+01] [-1.79031076e-02 8.32388982e-05 9.99839723e-01 1.02828721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.41, Y:-39.19, Z:1.03 [[ 9.05901054e-01 4.23199973e-01 1.56544944e-02 2.01406818e+02] [-4.23135124e-01 9.06036299e-01 -7.40886048e-03 -3.91881283e+01] [-1.73189697e-02 8.77280854e-05 9.99850012e-01 1.02808688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.43, Y:-39.20, Z:1.03 [[ 9.06310678e-01 4.22371800e-01 1.42484142e-02 2.01432458e+02] [-4.22318083e-01 9.06422669e-01 -6.73664003e-03 -3.92022426e+01] [-1.57604524e-02 8.81258437e-05 9.99875792e-01 1.02772838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.46, Y:-39.22, Z:1.03 [[ 9.06835465e-01 4.21230800e-01 1.46305674e-02 2.01456904e+02] [-4.21174140e-01 9.06953473e-01 -6.90949353e-03 -3.92177823e+01] [-1.61797354e-02 1.03757119e-04 9.99869094e-01 1.02567206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.48, Y:-39.23, Z:1.03 [[ 9.06888340e-01 4.21062248e-01 1.61282763e-02 2.01482035e+02] [-4.20993515e-01 9.07031736e-01 -7.60849036e-03 -3.92311569e+01] [-1.78325065e-02 1.10151441e-04 9.99840982e-01 1.02565488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.51, Y:-39.24, Z:1.03 [[ 9.07318542e-01 4.20127230e-01 1.63148466e-02 2.01506800e+02] [-4.20056928e-01 9.07465204e-01 -7.68642060e-03 -3.92434896e+01] [-1.80344302e-02 1.20867579e-04 9.99837359e-01 1.02589152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.53, Y:-39.26, Z:1.03 [[ 9.08186439e-01 4.18312272e-01 1.45682826e-02 2.01533070e+02] [-4.18256106e-01 9.08303267e-01 -6.85597513e-03 -3.92560640e+01] [-1.61003572e-02 1.33230478e-04 9.99870372e-01 1.02731110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.56, Y:-39.27, Z:1.03 [[ 9.08579610e-01 4.17451626e-01 1.47388082e-02 2.01557463e+02] [-4.17394174e-01 9.08699136e-01 -6.92703835e-03 -3.92685674e+01] [-1.62848457e-02 1.41873123e-04 9.99867383e-01 1.02767963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.58, Y:-39.28, Z:1.03 [[ 9.09006516e-01 4.16500251e-01 1.53197602e-02 2.01583079e+02] [-4.16438174e-01 9.09135587e-01 -7.19244783e-03 -3.92821188e+01] [-1.69233955e-02 1.58248978e-04 9.99856777e-01 1.02771476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.61, Y:-39.30, Z:1.03 [[ 9.09666280e-01 4.15086689e-01 1.45017321e-02 2.01607230e+02] [-4.15031032e-01 9.09781849e-01 -6.79921929e-03 -3.92972085e+01] [-1.60156780e-02 1.66351684e-04 9.99871727e-01 1.02665776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.63, Y:-39.31, Z:1.03 [[ 9.09997568e-01 4.14356142e-01 1.46087288e-02 2.01632234e+02] [-4.14299707e-01 9.10114805e-01 -6.84065793e-03 -3.93101173e+01] [-1.61300890e-02 1.72590005e-04 9.99869887e-01 1.02693834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.66, Y:-39.32, Z:1.03 [[ 9.10371729e-01 4.13491429e-01 1.57528909e-02 2.01658200e+02] [-4.13425812e-01 9.10507990e-01 -7.36867330e-03 -3.93226209e+01] [-1.73900162e-02 1.95580152e-04 9.99848763e-01 1.02634047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.162320588 meters Centerline goodness [0,1] 0.9999508985564176 Centerline is valid? [True, True] Translation: X:201.68, Y:-39.34, Z:1.03 [[ 9.10190894e-01 4.13891318e-01 1.57007542e-02 2.01682401e+02] [-4.13826364e-01 9.10326285e-01 -7.33456588e-03 -3.93359947e+01] [-1.73285223e-02 1.78469071e-04 9.99849834e-01 1.02714057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.71, Y:-39.35, Z:1.03 [[ 9.10506097e-01 4.13191065e-01 1.58679419e-02 2.01707442e+02] [-4.13124780e-01 9.10644337e-01 -7.40316862e-03 -3.93490929e+01] [-1.75089745e-02 1.85190177e-04 9.99846689e-01 1.02647935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.73, Y:-39.36, Z:1.03 [[ 9.10860050e-01 4.12477460e-01 1.40112151e-02 2.01733155e+02] [-4.12425798e-01 9.10967791e-01 -6.53029648e-03 -3.93627188e+01] [-1.54573657e-02 1.69599620e-04 9.99880513e-01 1.02640999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.252320588 meters Centerline goodness [0,1] 0.9999509130178676 Centerline is valid? [True, True] Translation: X:201.76, Y:-39.38, Z:1.03 [[ 9.11521412e-01 4.11072121e-01 1.21830385e-02 2.01758729e+02] [-4.11033030e-01 9.11602811e-01 -5.67127079e-03 -3.93763023e+01] [-1.34373934e-02 1.61853536e-04 9.99909701e-01 1.02610633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.78, Y:-39.39, Z:1.03 [[ 9.12140303e-01 4.09665453e-01 1.32016684e-02 2.01784392e+02] [-4.09619501e-01 9.12235814e-01 -6.13875345e-03 -3.93899413e+01] [-1.45578699e-02 1.91743628e-04 9.99894010e-01 1.02562321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.312320588 meters Centerline goodness [0,1] 0.9999508551208964 Centerline is valid? [True, True] Translation: X:201.81, Y:-39.41, Z:1.03 [[ 9.12496037e-01 4.08869833e-01 1.32831236e-02 2.01807941e+02] [-4.08823349e-01 9.12592691e-01 -6.16839158e-03 -3.94060603e+01] [-1.46441508e-02 1.98181781e-04 9.99892749e-01 1.02767070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.83, Y:-39.42, Z:1.03 [[ 9.13175440e-01 4.07373882e-01 1.25354099e-02 2.01832384e+02] [-4.07332450e-01 9.13261452e-01 -5.81347921e-03 -3.94202477e+01] [-1.38163663e-02 2.02647188e-04 9.99904529e-01 1.02774435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.86, Y:-39.44, Z:1.03 [[ 9.13533037e-01 4.06581709e-01 1.21944458e-02 2.01855944e+02] [-4.06542526e-01 9.13614401e-01 -5.64810541e-03 -3.94350465e+01] [-1.34374376e-02 2.02170090e-04 9.99909693e-01 1.02849695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.88, Y:-39.45, Z:1.03 [[ 9.13826090e-01 4.05933343e-01 1.18321125e-02 2.01878920e+02] [-4.05896494e-01 9.13902665e-01 -5.47311080e-03 -3.94516507e+01] [-1.30351173e-02 1.98858453e-04 9.99915019e-01 1.02692232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.90, Y:-39.46, Z:1.03 [[ 9.14163589e-01 4.05193695e-01 1.10906755e-02 2.01903806e+02] [-4.05161346e-01 9.14230843e-01 -5.12347110e-03 -3.94646651e+01] [-1.22154358e-02 1.90177693e-04 9.99925371e-01 1.02792408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46232058799998 meters Centerline goodness [0,1] 0.9999507510465403 Centerline is valid? [True, True] Translation: X:201.93, Y:-39.48, Z:1.03 [[ 9.14362504e-01 4.04739328e-01 1.12821624e-02 2.01929038e+02] [-4.04705901e-01 9.14432086e-01 -5.20524865e-03 -3.94775479e+01] [-1.24235401e-02 1.93526505e-04 9.99922806e-01 1.02803143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49232058799998 meters Centerline goodness [0,1] 0.9999508067689886 Centerline is valid? [True, True] Translation: X:201.95, Y:-39.50, Z:1.03 [[ 9.14285499e-01 4.04930666e-01 1.06387290e-02 2.01952606e+02] [-4.04901019e-01 9.14347376e-01 -4.90302445e-03 -3.94954766e+01] [-1.17128789e-02 1.75131938e-04 9.99931387e-01 1.02739452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52232058799999 meters Centerline goodness [0,1] 0.9999508454581203 Centerline is valid? [True, True] Translation: X:201.98, Y:-39.51, Z:1.03 [[ 9.14525098e-01 4.04384478e-01 1.08184994e-02 2.01975838e+02] [-4.04353862e-01 9.14589067e-01 -4.97915172e-03 -3.95107469e+01] [-1.19079729e-02 1.79057207e-04 9.99929082e-01 1.02831939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.00, Y:-39.52, Z:1.03 [[ 9.14675456e-01 4.04048349e-01 1.06649769e-02 2.02000168e+02] [-4.04018648e-01 9.14737613e-01 -4.90215646e-03 -3.95249813e+01] [-1.17363638e-02 1.75032634e-04 9.99931111e-01 1.02978239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.03, Y:-39.54, Z:1.03 [[ 9.14981237e-01 4.03296658e-01 1.26941258e-02 2.02025339e+02] [-4.03254587e-01 9.15069265e-01 -5.82908967e-03 -3.95384609e+01] [-1.39668568e-02 2.14543211e-04 9.99902436e-01 1.02904037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.05, Y:-39.56, Z:1.03 [[ 9.15144760e-01 4.02954711e-01 1.17289621e-02 2.02048995e+02] [-4.02918847e-01 9.15219898e-01 -5.37964827e-03 -3.95558504e+01] [-1.29023341e-02 1.97337057e-04 9.99916742e-01 1.02749738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.07, Y:-39.57, Z:1.03 [[ 9.15412250e-01 4.02337694e-01 1.20329658e-02 2.02072084e+02] [-4.02299992e-01 9.15491310e-01 -5.51161121e-03 -3.95718973e+01] [-1.32336045e-02 2.04534390e-04 9.99912411e-01 1.02688911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.672320588 meters Centerline goodness [0,1] 0.9999508333743056 Centerline is valid? [True, True] Translation: X:202.10, Y:-39.59, Z:1.03 [[ 9.15738811e-01 4.01565021e-01 1.29600652e-02 2.02096172e+02] [-4.01521297e-01 9.15830488e-01 -5.93006856e-03 -3.95880573e+01] [-1.42505309e-02 2.26651753e-04 9.99898430e-01 1.02617612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.12, Y:-39.60, Z:1.03 [[ 9.15472970e-01 4.02157147e-01 1.33742421e-02 2.02119112e+02] [-4.02110767e-01 9.15570632e-01 -6.11137166e-03 -3.96046033e+01] [-1.47027950e-02 2.16868825e-04 9.99891885e-01 1.03005493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.14, Y:-39.62, Z:1.03 [[ 9.15091232e-01 4.03068869e-01 1.19801046e-02 2.02144331e+02] [-4.03031815e-01 9.15169632e-01 -5.46812687e-03 -3.96178874e+01] [-1.31678597e-02 1.75471642e-04 9.99913285e-01 1.03189023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.17, Y:-39.63, Z:1.03 [[ 9.14866349e-01 4.03572276e-01 1.22058080e-02 2.02168571e+02] [-4.03533959e-01 9.14947753e-01 -5.56357073e-03 -3.96309194e+01] [-1.34129795e-02 1.64465606e-04 9.99910028e-01 1.03198792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.19, Y:-39.65, Z:1.03 [[ 9.14358922e-01 4.04678729e-01 1.35235938e-02 2.02191530e+02] [-4.04631929e-01 9.14458912e-01 -6.15630878e-03 -3.96479806e+01] [-1.48580981e-02 1.56998027e-04 9.99889600e-01 1.02984631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.22, Y:-39.66, Z:1.03 [[ 9.14560034e-01 4.04223917e-01 1.35266468e-02 2.02216344e+02] [-4.04177166e-01 9.14660046e-01 -6.14959933e-03 -3.96596331e+01] [-1.48580985e-02 1.57016010e-04 9.99889600e-01 1.02998483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.24, Y:-39.68, Z:1.03 [[ 9.14414342e-01 4.04561744e-01 1.32742840e-02 2.02240198e+02] [-4.04516875e-01 9.14510675e-01 -6.02684749e-03 -3.96752196e+01] [-1.45777064e-02 1.41363885e-04 9.99893730e-01 1.02971868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.26, Y:-39.69, Z:1.03 [[ 9.14340219e-01 4.04707439e-01 1.39230986e-02 2.02263269e+02] [-4.04658210e-01 9.14446209e-01 -6.31380593e-03 -3.96908064e+01] [-1.52871690e-02 1.38870538e-04 9.99883135e-01 1.02937313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.912320588 meters Centerline goodness [0,1] 0.9999507389162562 Centerline is valid? [True, True] Translation: X:202.29, Y:-39.71, Z:1.03 [[ 9.14632542e-01 4.04047828e-01 1.38804200e-02 2.02287232e+02] [-4.03998957e-01 9.14737849e-01 -6.28570145e-03 -3.97059997e+01] [-1.52366695e-02 1.41431910e-04 9.99883905e-01 1.02894211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.31, Y:-39.72, Z:1.03 [[ 9.14850271e-01 4.03631514e-01 1.14273224e-02 2.02310523e+02] [-4.03598436e-01 9.14921629e-01 -5.16863725e-03 -3.97239052e+01] [-1.25413293e-02 1.16479741e-04 9.99921348e-01 1.02972659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.33, Y:-39.74, Z:1.03 [[ 9.14527442e-01 4.04386359e-01 1.05465745e-02 2.02334892e+02] [-4.04358295e-01 9.14588248e-01 -4.76507652e-03 -3.97392586e+01] [-1.15727050e-02 9.31983684e-05 9.99933030e-01 1.03070801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.36, Y:-39.75, Z:1.03 [[ 9.14242659e-01 4.05019086e-01 1.09498938e-02 2.02359136e+02] [-4.04988966e-01 9.14308227e-01 -4.94008134e-03 -3.97540697e+01] [-1.20124052e-02 8.18469329e-05 9.99927845e-01 1.03006321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.38, Y:-39.77, Z:1.03 [[ 9.13697358e-01 4.06220509e-01 1.19178955e-02 2.02382809e+02] [-4.06185022e-01 9.13775078e-01 -5.36973188e-03 -3.97683119e+01] [-1.30715711e-02 6.54391730e-05 9.99914561e-01 1.03084295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.41, Y:-39.79, Z:1.03 [[ 9.11698934e-01 4.10688190e-01 1.18433119e-02 2.02405500e+02] [-4.10653618e-01 9.11775855e-01 -5.32875982e-03 -3.97854271e+01] [-1.29869046e-02 -5.27422191e-06 9.99915667e-01 1.03132391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.43, Y:-39.80, Z:1.03 [[ 9.10311423e-01 4.13741487e-01 1.22920681e-02 2.02430433e+02] [-4.13704597e-01 9.10394408e-01 -5.52517378e-03 -3.98004432e+01] [-1.34766236e-02 -5.56562502e-05 9.99909185e-01 1.03100531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.46, Y:-39.81, Z:1.03 [[ 9.09008894e-01 4.16591636e-01 1.24192930e-02 2.02455500e+02] [-4.16554339e-01 9.09093723e-01 -5.57541512e-03 -3.98145308e+01] [-1.36129727e-02 -1.05208458e-04 9.99907334e-01 1.03074204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.48, Y:-39.83, Z:1.03 [[ 9.06469500e-01 4.22082486e-01 1.26261606e-02 2.02480601e+02] [-4.22044560e-01 9.06557409e-01 -5.66152880e-03 -3.98281477e+01] [-1.38359716e-02 -1.96799197e-04 9.99904259e-01 1.03128205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.51, Y:-39.84, Z:1.03 [[ 9.05261722e-01 4.24660807e-01 1.28223785e-02 2.02506871e+02] [-4.24622049e-01 9.05352494e-01 -5.74257960e-03 -3.98398654e+01] [-1.40474208e-02 -2.46127115e-04 9.99901300e-01 1.03134395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.53, Y:-39.85, Z:1.03 [[ 9.04028197e-01 4.27282939e-01 1.27400709e-02 2.02533637e+02] [-4.27245032e-01 9.04117916e-01 -5.69883729e-03 -3.98512710e+01] [-1.39535423e-02 -2.91222426e-04 9.99902602e-01 1.03429295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.56, Y:-39.86, Z:1.03 [[ 9.02867036e-01 4.29685166e-01 1.42046959e-02 2.02559911e+02] [-4.29638455e-01 9.02978693e-01 -6.34653343e-03 -3.98624892e+01] [-1.55535490e-02 -3.72807763e-04 9.99878967e-01 1.03442666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.59, Y:-39.87, Z:1.04 [[ 9.02244055e-01 4.30990823e-01 1.42329030e-02 2.02587764e+02] [-4.30944209e-01 9.02356220e-01 -6.35141628e-03 -3.98712505e+01] [-1.55805507e-02 -4.03059540e-04 9.99878535e-01 1.03611222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.61, Y:-39.88, Z:1.03 [[ 9.02260560e-01 4.30974922e-01 1.36564416e-02 2.02614174e+02] [-4.30932141e-01 9.02363819e-01 -6.08514867e-03 -3.98805831e+01] [-1.49456253e-02 -3.94609959e-04 9.99888230e-01 1.03434222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.64, Y:-39.89, Z:1.03 [[ 9.02382581e-01 4.30741791e-01 1.29300942e-02 2.02640795e+02] [-4.30703532e-01 9.02475134e-01 -5.75327365e-03 -3.98898723e+01] [-1.41472639e-02 -3.77383303e-04 9.99899851e-01 1.03240915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.67, Y:-39.90, Z:1.03 [[ 9.02499207e-01 4.30483630e-01 1.33800533e-02 2.02667848e+02] [-4.30442733e-01 9.02598300e-01 -5.94669916e-03 -3.98998170e+01] [-1.46367700e-02 -3.92455428e-04 9.99892800e-01 1.03184931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.70, Y:-39.91, Z:1.03 [[ 9.02795916e-01 4.29770701e-01 1.60211929e-02 2.02696304e+02] [-4.29712096e-01 9.02937943e-01 -7.11232098e-03 -3.99074660e+01] [-1.75228102e-02 -4.63526069e-04 9.99846356e-01 1.03437610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.72, Y:-39.92, Z:1.04 [[ 9.03373069e-01 4.28538420e-01 1.64900338e-02 2.02723011e+02] [-4.28476320e-01 9.03523442e-01 -7.30986851e-03 -3.99163504e+01] [-1.80316916e-02 -4.62050650e-04 9.99837309e-01 1.03569602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.75, Y:-39.92, Z:1.04 [[ 9.05309540e-01 4.24480475e-01 1.51974904e-02 2.02751654e+02] [-4.24427279e-01 9.05437021e-01 -6.72948932e-03 -3.99238356e+01] [-1.66169073e-02 -3.57958622e-04 9.99861866e-01 1.03563536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.78, Y:-39.93, Z:1.03 [[ 9.06744903e-01 4.21439231e-01 1.42356990e-02 2.02779358e+02] [-4.21392294e-01 9.06856599e-01 -6.29634299e-03 -3.99335046e+01] [-1.55632635e-02 -2.89636934e-04 9.99878843e-01 1.03456900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.81, Y:-39.94, Z:1.03 [[ 9.08081046e-01 4.18564321e-01 1.38825029e-02 2.02806734e+02] [-4.18519466e-01 9.08187123e-01 -6.13236349e-03 -3.99433911e+01] [-1.51746990e-02 -2.41414662e-04 9.99884828e-01 1.03307324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.83, Y:-39.95, Z:1.03 [[ 9.09314880e-01 4.15878292e-01 1.38454409e-02 2.02833385e+02] [-4.15833478e-01 9.09420258e-01 -6.10845457e-03 -3.99535213e+01] [-1.51316981e-02 -2.02889225e-04 9.99885489e-01 1.03351533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.86, Y:-39.96, Z:1.03 [[ 9.10874124e-01 4.12421278e-01 1.47315907e-02 2.02860056e+02] [-4.12370241e-01 9.10993229e-01 -6.49011110e-03 -3.99627432e+01] [-1.60970393e-02 -1.63195363e-04 9.99870421e-01 1.03443750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.89, Y:-39.97, Z:1.04 [[ 9.13441681e-01 4.06694033e-01 1.49752418e-02 2.02888426e+02] [-4.06640649e-01 9.13564425e-01 -6.58970231e-03 -3.99707092e+01] [-1.63608408e-02 -7.02332896e-05 9.99866150e-01 1.03504454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.92, Y:-39.98, Z:1.03 [[ 9.14698620e-01 4.03893636e-01 1.40130194e-02 2.02915118e+02] [-4.03846679e-01 9.14805952e-01 -6.15870593e-03 -3.99825215e+01] [-1.53066557e-02 -2.57515231e-05 9.99882846e-01 1.03451944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.94, Y:-40.00, Z:1.03 [[ 9.16284837e-01 4.00267942e-01 1.44108179e-02 2.02940480e+02] [-4.00217975e-01 9.16398152e-01 -6.32445315e-03 -3.99953468e+01] [-1.57375228e-02 2.75321676e-05 9.99876157e-01 1.03249275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.97, Y:-40.01, Z:1.03 [[ 9.19324770e-01 3.93222966e-01 1.47534909e-02 2.02965071e+02] [-3.93169804e-01 9.19443135e-01 -6.46742320e-03 -4.00118571e+01] [-1.61081353e-02 1.45035217e-04 9.99870245e-01 1.03076889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.722320588 meters Centerline goodness [0,1] 0.99995085995086 Centerline is valid? [True, True] Translation: X:202.99, Y:-40.02, Z:1.03 [[ 9.20822306e-01 3.89672220e-01 1.55512671e-02 2.02991074e+02] [-3.89612779e-01 9.20953591e-01 -6.80922742e-03 -4.00246542e+01] [-1.69753620e-02 2.11116105e-04 9.99855886e-01 1.03190107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.02, Y:-40.04, Z:1.03 [[ 9.21845822e-01 3.87257936e-01 1.52174478e-02 2.03016504e+02] [-3.87200823e-01 9.21971384e-01 -6.65509898e-03 -4.00372598e+01] [-1.66072913e-02 2.42766872e-04 9.99862060e-01 1.03326444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.04, Y:-40.05, Z:1.03 [[ 9.22987047e-01 3.84532698e-01 1.51497472e-02 2.03041113e+02] [-3.84475853e-01 9.23111328e-01 -6.61774192e-03 -4.00524333e+01] [-1.65296414e-02 2.83378085e-04 9.99863336e-01 1.03379185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.07, Y:-40.07, Z:1.03 [[ 9.23402782e-01 3.83511827e-01 1.56837822e-02 2.03066303e+02] [-3.83450892e-01 9.23535915e-01 -6.84307014e-03 -4.00669043e+01] [-1.71089345e-02 3.04949736e-04 9.99853585e-01 1.03325026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.09, Y:-40.08, Z:1.03 [[ 9.23847760e-01 3.82440381e-01 1.56419567e-02 2.03090316e+02] [-3.82379782e-01 9.23980116e-01 -6.81519881e-03 -4.00806870e+01] [-1.70592642e-02 3.15038139e-04 9.99854431e-01 1.03271015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.11, Y:-40.10, Z:1.03 [[ 9.23862441e-01 3.82427829e-01 1.50713474e-02 2.03113021e+02] [-3.82371691e-01 9.23985318e-01 -6.55909983e-03 -4.00999391e+01] [-1.64340861e-02 2.96849375e-04 9.99864907e-01 1.03258011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.14, Y:-40.12, Z:1.03 [[ 9.23603067e-01 3.83059096e-01 1.49366590e-02 2.03137250e+02] [-3.83004166e-01 9.23723797e-01 -6.49278338e-03 -4.01164840e+01] [-1.62844671e-02 2.75952033e-04 9.99867361e-01 1.03300023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.16, Y:-40.13, Z:1.03 [[ 9.23428995e-01 3.83493698e-01 1.45422019e-02 2.03161586e+02] [-3.83441805e-01 9.23543458e-01 -6.31371393e-03 -4.01329327e+01] [-1.58516249e-02 2.54178354e-04 9.99874323e-01 1.03293279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.18, Y:-40.15, Z:1.03 [[ 9.22778457e-01 3.85115814e-01 1.28735588e-02 2.03184635e+02] [-3.85075403e-01 9.22868231e-01 -5.58221739e-03 -4.01521874e+01] [-1.40303987e-02 1.93859084e-04 9.99901550e-01 1.03473239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99232058799998 meters Centerline goodness [0,1] 0.9999507146377525 Centerline is valid? [True, True] Translation: X:203.21, Y:-40.17, Z:1.04 [[ 9.22584651e-01 3.85585498e-01 1.27037913e-02 2.03208403e+02] [-3.85546302e-01 9.22672094e-01 -5.50056962e-03 -4.01670784e+01] [-1.38423736e-02 1.76841330e-04 9.99904174e-01 1.03588501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.23, Y:-40.18, Z:1.04 [[ 9.22192215e-01 3.86553727e-01 1.17360229e-02 2.03232491e+02] [-3.86520432e-01 9.22266878e-01 -5.07548113e-03 -4.01829393e+01] [-1.27856914e-02 1.44356535e-04 9.99918249e-01 1.03722877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.26, Y:-40.20, Z:1.04 [[ 9.21211339e-01 3.88873593e-01 1.21242250e-02 2.03255710e+02] [-3.88838343e-01 9.21291114e-01 -5.23702232e-03 -4.02024368e+01] [-1.32064805e-02 1.10040767e-04 9.99912785e-01 1.03765077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.28, Y:-40.22, Z:1.04 [[ 9.20559042e-01 3.90412903e-01 1.21989803e-02 2.03279747e+02] [-3.90377456e-01 9.20639864e-01 -5.26148127e-03 -4.02161094e+01] [-1.32850178e-02 8.12972464e-05 9.99911747e-01 1.03672969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.112320588 meters Centerline goodness [0,1] 0.9999508091888435 Centerline is valid? [True, True] Translation: X:203.30, Y:-40.23, Z:1.04 [[ 9.19733375e-01 3.92350647e-01 1.23080823e-02 2.03303956e+02] [-3.92314837e-01 9.19815725e-01 -5.30104091e-03 -4.02293582e+01] [-1.34010344e-02 4.69009525e-05 9.99910201e-01 1.03613175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.33, Y:-40.25, Z:1.03 [[ 9.17956893e-01 3.96464434e-01 1.30802905e-02 2.03328962e+02] [-3.96424383e-01 9.18050081e-01 -5.63527161e-03 -4.02460872e+01] [-1.42425466e-02 -1.24096830e-05 9.99898570e-01 1.03487000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.36, Y:-40.26, Z:1.04 [[ 9.17074754e-01 3.98536436e-01 1.19417228e-02 2.03355373e+02] [-3.98503225e-01 9.17152500e-01 -5.14507672e-03 -4.02606461e+01] [-1.30028814e-02 -4.03950725e-05 9.99915458e-01 1.03585492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.202320588 meters Centerline goodness [0,1] 0.9999508285391159 Centerline is valid? [True, True] Translation: X:203.38, Y:-40.27, Z:1.04 [[ 9.15977849e-01 4.01041239e-01 1.22680359e-02 2.03382241e+02] [-4.01006413e-01 9.16059997e-01 -5.28566831e-03 -4.02746430e+01] [-1.33580279e-02 -7.80059656e-05 9.99910775e-01 1.03778783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.41, Y:-40.29, Z:1.04 [[ 9.15221910e-01 4.02792668e-01 1.12659830e-02 2.03410043e+02] [-4.02763432e-01 9.15291242e-01 -4.85393506e-03 -4.02878018e+01] [-1.22667850e-02 -9.50982610e-05 9.99924756e-01 1.03861333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.44, Y:-40.30, Z:1.04 [[ 9.13586205e-01 4.06463704e-01 1.21451044e-02 2.03437141e+02] [-4.06430067e-01 9.13666916e-01 -5.23140905e-03 -4.02993097e+01] [-1.32229579e-02 -1.56792435e-04 9.99912561e-01 1.04003069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.46, Y:-40.31, Z:1.04 [[ 9.12743631e-01 4.08289779e-01 1.40897564e-02 2.03464743e+02] [-4.08244741e-01 9.12852349e-01 -6.06801654e-03 -4.03101781e+01] [-1.53393764e-02 -2.13525509e-04 9.99882322e-01 1.03927037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.49, Y:-40.32, Z:1.04 [[ 9.12479947e-01 4.08830415e-01 1.54284769e-02 2.03492855e+02] [-4.08776482e-01 9.12610340e-01 -6.64495411e-03 -4.03210725e+01] [-1.67968469e-02 -2.43411125e-04 9.99858893e-01 1.03838888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.52, Y:-40.33, Z:1.04 [[ 9.11953025e-01 4.09965944e-01 1.64196499e-02 2.03522440e+02] [-4.09905012e-01 9.12100788e-01 -7.07346709e-03 -4.03323862e+01] [-1.78762562e-02 -2.79827067e-04 9.99840168e-01 1.03752578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.55, Y:-40.34, Z:1.04 [[ 9.11900450e-01 4.10196344e-01 1.32864292e-02 2.03551873e+02] [-4.10156478e-01 9.11997207e-01 -5.72340991e-03 -4.03411437e+01] [-1.44649082e-02 -2.30334950e-04 9.99895351e-01 1.03750647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.58, Y:-40.35, Z:1.04 [[ 9.11883432e-01 4.10263538e-01 1.23464574e-02 2.03578713e+02] [-4.10229243e-01 9.11966984e-01 -5.30929275e-03 -4.03508528e+01] [-1.34377707e-02 -2.23421770e-04 9.99909684e-01 1.03792088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.61, Y:-40.36, Z:1.04 [[ 9.12302892e-01 4.09317447e-01 1.27538423e-02 2.03605426e+02] [-4.09280873e-01 9.12392009e-01 -5.47628173e-03 -4.03602060e+01] [-1.38780415e-02 -2.23876060e-04 9.99903670e-01 1.03735710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.63, Y:-40.37, Z:1.04 [[ 9.13083187e-01 4.07489625e-01 1.52085029e-02 2.03634721e+02] [-4.07437485e-01 9.13209805e-01 -6.52290292e-03 -4.03657603e+01] [-1.65465692e-02 -2.40561188e-04 9.99863067e-01 1.03734444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.66, Y:-40.37, Z:1.04 [[ 9.14030364e-01 4.05335685e-01 1.58579655e-02 2.03662112e+02] [-4.05278846e-01 9.14167892e-01 -6.79137643e-03 -4.03733329e+01] [-1.72496301e-02 -2.19373697e-04 9.99851190e-01 1.03710297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.69, Y:-40.38, Z:1.04 [[ 9.15278968e-01 4.02506678e-01 1.58992459e-02 2.03689512e+02] [-4.02449258e-01 9.15417033e-01 -6.80079630e-03 -4.03823455e+01] [-1.72918064e-02 -1.74013893e-04 9.99850470e-01 1.03658514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.72, Y:-40.39, Z:1.04 [[ 9.18310759e-01 3.95627124e-01 1.35841698e-02 2.03716089e+02] [-3.95584567e-01 9.18411224e-01 -5.80286318e-03 -4.03923990e+01] [-1.47716241e-02 -4.48562556e-05 9.99890893e-01 1.03657728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.74, Y:-40.40, Z:1.04 [[ 9.20255291e-01 3.91037290e-01 1.48336403e-02 2.03743189e+02] [-3.90986072e-01 9.20374835e-01 -6.32883271e-03 -4.04028789e+01] [-1.61273188e-02 2.43950380e-05 9.99869946e-01 1.03569566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.77, Y:-40.41, Z:1.04 [[ 9.21901417e-01 3.87080075e-01 1.63337916e-02 2.03769979e+02] [-3.87017373e-01 9.22046097e-01 -6.96763924e-03 -4.04122126e+01] [-1.77575431e-02 1.02015357e-04 9.99842317e-01 1.03656605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.80, Y:-40.42, Z:1.04 [[ 9.23803502e-01 3.82502804e-01 1.66941492e-02 2.03796991e+02] [-3.82436744e-01 9.23954312e-01 -7.11097908e-03 -4.04219272e+01] [-1.81446006e-02 1.84691309e-04 9.99835356e-01 1.03689913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68232058799998 meters Centerline goodness [0,1] 0.9999506148451776 Centerline is valid? [True, True] Translation: X:203.82, Y:-40.44, Z:1.04 [[ 9.26779807e-01 3.75374442e-01 1.31612480e-02 2.03822518e+02] [-3.75332768e-01 9.26873220e-01 -5.59884525e-03 -4.04364954e+01] [-1.43004717e-02 2.49049075e-04 9.99897712e-01 1.03747366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.85, Y:-40.45, Z:1.04 [[ 9.28013360e-01 3.72336154e-01 1.25296543e-02 2.03847736e+02] [-3.72298197e-01 9.28097900e-01 -5.32354524e-03 -4.04497265e+01] [-1.36108942e-02 2.75553407e-04 9.99907330e-01 1.03587182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.87, Y:-40.46, Z:1.04 [[ 9.28197355e-01 3.71877143e-01 1.25323951e-02 2.03872869e+02] [-3.71839231e-01 9.28281916e-01 -5.31709137e-03 -4.04607476e+01] [-1.36109005e-02 2.75273971e-04 9.99907330e-01 1.03601033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77232058799999 meters Centerline goodness [0,1] 0.9999507461951436 Centerline is valid? [True, True] Translation: X:203.90, Y:-40.47, Z:1.04 [[ 9.29315771e-01 3.69133743e-01 1.06055232e-02 2.03899025e+02] [-3.69106478e-01 9.29376248e-01 -4.49411450e-03 -4.04735040e+01] [-1.15154507e-02 2.61884161e-04 9.99933661e-01 1.03678777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.802320588 meters Centerline goodness [0,1] 0.9999508140278393 Centerline is valid? [True, True] Translation: X:203.93, Y:-40.49, Z:1.04 [[ 9.30230750e-01 3.66791552e-01 1.16063902e-02 2.03925007e+02] [-3.66758786e-01 9.30303101e-01 -4.91260431e-03 -4.04858191e+01] [-1.25993625e-02 3.13110018e-04 9.99920576e-01 1.03684710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.95, Y:-40.50, Z:1.04 [[ 9.31179911e-01 3.64172418e-01 1.68054452e-02 2.03950058e+02] [-3.64103258e-01 9.31331409e-01 -7.11504258e-03 -4.05030280e+01] [-1.82425412e-02 5.06467392e-04 9.99833463e-01 1.03765287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.862320588 meters Centerline goodness [0,1] 0.9998033044846577 Centerline is valid? [True, True] Translation: X:203.98, Y:-40.52, Z:1.04 [[ 9.31588816e-01 3.63014837e-01 1.90396064e-02 2.03975529e+02] [-3.62925850e-01 9.31783167e-01 -8.05962555e-03 -4.05193290e+01] [-2.06665484e-02 5.98291702e-04 9.99786245e-01 1.03722972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.892320588 meters Centerline goodness [0,1] 0.9999507437690868 Centerline is valid? [True, True] Translation: X:204.00, Y:-40.54, Z:1.04 [[ 9.32056891e-01 3.61854550e-01 1.81998853e-02 2.04002988e+02] [-3.61772980e-01 9.32234373e-01 -7.70611387e-03 -4.05356422e+01] [-1.97550510e-02 5.98309789e-04 9.99804671e-01 1.03717295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.922320588 meters Centerline goodness [0,1] 0.9999507534718802 Centerline is valid? [True, True] Translation: X:204.03, Y:-40.55, Z:1.03 [[ 9.31960962e-01 3.62271233e-01 1.44332738e-02 2.04029083e+02] [-3.62219967e-01 9.32072601e-01 -6.11237411e-03 -4.05534208e+01] [-1.56671964e-02 4.68474082e-04 9.99877152e-01 1.03472406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.06, Y:-40.57, Z:1.03 [[ 9.31457236e-01 3.63572445e-01 1.42300261e-02 2.04057087e+02] [-3.63522746e-01 9.31565823e-01 -6.02751031e-03 -4.05688303e+01] [-1.54476426e-02 4.41429930e-04 9.99880581e-01 1.03378183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.08, Y:-40.58, Z:1.03 [[ 9.30984164e-01 3.64806776e-01 1.35831436e-02 2.04084948e+02] [-3.64761608e-01 9.31083161e-01 -5.75464499e-03 -4.05845504e+01] [-1.47463698e-02 4.02874051e-04 9.99891185e-01 1.03488708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.012320588 meters Centerline goodness [0,1] 0.9999507170666798 Centerline is valid? [True, True] Translation: X:204.11, Y:-40.61, Z:1.04 [[ 9.29922558e-01 3.67506509e-01 1.35278078e-02 2.04111014e+02] [-3.67461950e-01 9.30020879e-01 -5.73410541e-03 -4.06059157e+01] [-1.46884647e-02 3.61319344e-04 9.99892053e-01 1.03723156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.14, Y:-40.62, Z:1.04 [[ 9.29374508e-01 3.68883398e-01 1.37136127e-02 2.04138476e+02] [-3.68837729e-01 9.29475615e-01 -5.81471092e-03 -4.06231510e+01] [-1.48914190e-02 3.45946329e-04 9.99889057e-01 1.03629976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.17, Y:-40.64, Z:1.03 [[ 9.28477545e-01 3.71114926e-01 1.42534219e-02 2.04166156e+02] [-3.71065821e-01 9.28586887e-01 -6.04565738e-03 -4.06410890e+01] [-1.54791744e-02 3.24299425e-04 9.99880138e-01 1.03471027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.102320588 meters Centerline goodness [0,1] 0.9999507655949977 Centerline is valid? [True, True] Translation: X:204.19, Y:-40.66, Z:1.03 [[ 9.26694160e-01 3.75555182e-01 1.40085527e-02 2.04193209e+02] [-3.75508213e-01 9.26800002e-01 -5.94458531e-03 -4.06607202e+01] [-1.52156465e-02 2.48485885e-04 9.99884204e-01 1.03479542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.22, Y:-40.68, Z:1.04 [[ 9.25661575e-01 3.78104130e-01 1.37082241e-02 2.04221590e+02] [-3.78059395e-01 9.25763050e-01 -5.81971781e-03 -4.06752128e+01] [-1.48910267e-02 2.04566233e-04 9.99889102e-01 1.03573722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.25, Y:-40.69, Z:1.04 [[ 9.24514497e-01 3.80893522e-01 1.38949299e-02 2.04249853e+02] [-3.80847845e-01 9.24618894e-01 -5.90092461e-03 -4.06898417e+01] [-1.50951387e-02 1.63636240e-04 9.99886049e-01 1.03636312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.28, Y:-40.71, Z:1.04 [[ 9.21850812e-01 3.87326710e-01 1.30038428e-02 2.04275741e+02] [-3.87287304e-01 9.21942523e-01 -5.52521002e-03 -4.07104806e+01] [-1.41288571e-02 5.71961151e-05 9.99900181e-01 1.03833840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.30, Y:-40.73, Z:1.04 [[ 9.20787339e-01 3.89886519e-01 1.17973690e-02 2.04303608e+02] [-3.89854274e-01 9.20862911e-01 -5.01435582e-03 -4.07265603e+01] [-1.28187893e-02 1.79006474e-05 9.99917836e-01 1.03928815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.33, Y:-40.74, Z:1.04 [[ 9.19801998e-01 3.92183550e-01 1.25039217e-02 2.04332357e+02] [-3.92147512e-01 9.19886984e-01 -5.31656153e-03 -4.07416504e+01] [-1.35872628e-02 -1.31978879e-05 9.99907689e-01 1.03867503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.282320588 meters Centerline goodness [0,1] 0.999950768018905 Centerline is valid? [True, True] Translation: X:204.36, Y:-40.76, Z:1.04 [[ 9.19146137e-01 3.93761504e-01 1.10569619e-02 2.04360556e+02] [-3.93733409e-01 9.19212640e-01 -4.70372961e-03 -4.07579092e+01] [-1.20158468e-02 -3.00804112e-05 9.99927807e-01 1.03954249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.39, Y:-40.77, Z:1.04 [[ 9.18925916e-01 3.94236005e-01 1.23747191e-02 2.04388182e+02] [-3.94200836e-01 9.19009233e-01 -5.26599137e-03 -4.07742736e+01] [-1.34485245e-02 -3.90686754e-05 9.99909564e-01 1.03844055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.42, Y:-40.79, Z:1.04 [[ 9.18583758e-01 3.95066554e-01 1.12381852e-02 2.04416489e+02] [-3.95037588e-01 9.18652500e-01 -4.78417379e-03 -4.07910568e+01] [-1.22140540e-02 -4.48412455e-05 9.99925405e-01 1.03897455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.45, Y:-40.81, Z:1.04 [[ 9.18078290e-01 3.96229223e-01 1.16041318e-02 2.04445459e+02] [-3.96198313e-01 9.18151622e-01 -4.94941126e-03 -4.08064228e+01] [-1.26154538e-02 -5.35904023e-05 9.99920421e-01 1.03771300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.48, Y:-40.82, Z:1.04 [[ 9.16956056e-01 3.98812265e-01 1.18477559e-02 2.04475336e+02] [-3.98780164e-01 9.17032590e-01 -5.06067760e-03 -4.08210748e+01] [-1.28830385e-02 -8.42310614e-05 9.99917007e-01 1.03808211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.51, Y:-40.83, Z:1.04 [[ 9.16241464e-01 4.00456749e-01 1.16607016e-02 2.04505224e+02] [-4.00425767e-01 9.16315656e-01 -4.98240273e-03 -4.08343410e+01] [-1.26801202e-02 -1.04161393e-04 9.99919599e-01 1.03881818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.54, Y:-40.85, Z:1.04 [[ 9.15116151e-01 4.03059717e-01 1.02613365e-02 2.04535143e+02] [-4.03035795e-01 9.15173673e-01 -4.39278722e-03 -4.08491045e+01] [-1.11614606e-02 -1.15775396e-04 9.99937702e-01 1.04043592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.56, Y:-40.87, Z:1.04 [[ 9.13587992e-01 4.06523802e-01 9.76623149e-03 2.04562724e+02] [-4.06502276e-01 9.13640179e-01 -4.18599418e-03 -4.08653775e+01] [-1.06245278e-02 -1.45721311e-04 9.99943547e-01 1.04030611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.59, Y:-40.88, Z:1.04 [[ 9.12797579e-01 4.08306742e-01 9.28355562e-03 2.04592611e+02] [-4.08287319e-01 9.12844774e-01 -3.98545688e-03 -4.08798001e+01] [-1.01017341e-02 -1.52442648e-04 9.99948965e-01 1.03989383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.62, Y:-40.89, Z:1.04 [[ 9.12447478e-01 4.09113076e-01 8.12965797e-03 2.04623017e+02] [-4.09098165e-01 9.12483684e-01 -3.49555013e-03 -4.08938522e+01] [-8.84825552e-03 -1.36322254e-04 9.99960844e-01 1.04007917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.65, Y:-40.91, Z:1.04 [[ 9.12224460e-01 4.09591834e-01 9.00357576e-03 2.04653290e+02] [-4.09573515e-01 9.12268879e-01 -3.87672618e-03 -4.09077527e+01] [-9.80155735e-03 -1.51181730e-04 9.99951952e-01 1.03992683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.68, Y:-40.92, Z:1.04 [[ 9.12698650e-01 4.08553858e-01 8.05731508e-03 2.04682561e+02] [-4.08539108e-01 9.12734206e-01 -3.47367650e-03 -4.09214203e+01] [-8.77337101e-03 -1.21308471e-04 9.99961506e-01 1.04048986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.71, Y:-40.93, Z:1.04 [[ 9.12750004e-01 4.08429928e-01 8.51023095e-03 2.04712612e+02] [-4.08413416e-01 9.12789669e-01 -3.67456664e-03 -4.09340835e+01] [-9.26885387e-03 -1.21731769e-04 9.99957036e-01 1.04078805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.74, Y:-40.95, Z:1.04 [[ 9.12982528e-01 4.07913613e-01 8.32992339e-03 2.04742957e+02] [-4.07897723e-01 9.13020521e-01 -3.60205681e-03 -4.09464602e+01] [-9.07471900e-03 -1.09141855e-04 9.99958818e-01 1.04070717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.77, Y:-40.96, Z:1.04 [[ 9.12957321e-01 4.07977185e-01 7.97155861e-03 2.04773007e+02] [-4.07962591e-01 9.12992117e-01 -3.45225898e-03 -4.09591151e+01] [-8.68641307e-03 -1.00332595e-04 9.99962267e-01 1.04154467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.80, Y:-40.97, Z:1.04 [[ 9.12849949e-01 4.08207124e-01 8.48021712e-03 2.04803793e+02] [-4.08190570e-01 9.12889332e-01 -3.67775111e-03 -4.09717469e+01] [-9.24278395e-03 -1.04309745e-04 9.99957279e-01 1.04238469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.83, Y:-40.98, Z:1.04 [[ 9.12959775e-01 4.07916846e-01 1.04065579e-02 2.04834229e+02] [-4.07891829e-01 9.13019076e-01 -4.51912637e-03 -4.09839102e+01] [-1.13448136e-02 -1.18969339e-04 9.99935638e-01 1.04204749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.86, Y:-41.00, Z:1.04 [[ 9.13721578e-01 4.06240787e-01 9.01670609e-03 2.04863983e+02] [-4.06221876e-01 9.13766062e-01 -3.92059335e-03 -4.09962009e+01] [-9.83186495e-03 -8.04525199e-05 9.99951663e-01 1.04170680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.89, Y:-41.01, Z:1.04 [[ 9.14514923e-01 4.04474055e-01 7.94949001e-03 2.04893665e+02] [-4.04459286e-01 9.14549472e-01 -3.45680246e-03 -4.10097822e+01] [-8.66838880e-03 -5.39476202e-05 9.99962427e-01 1.04230324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.92, Y:-41.02, Z:1.04 [[ 9.14929239e-01 4.03542169e-01 7.62923094e-03 2.04923919e+02] [-4.03528477e-01 9.14961046e-01 -3.32443648e-03 -4.10236259e+01] [-8.32199943e-03 -3.69878000e-05 9.99965371e-01 1.04211230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.95, Y:-41.04, Z:1.04 [[ 9.15451650e-01 4.02351601e-01 7.84003112e-03 2.04954265e+02] [-4.02337055e-01 9.15485221e-01 -3.42123090e-03 -4.10368908e+01] [-8.55397035e-03 -2.23635647e-05 9.99963414e-01 1.04249153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.98, Y:-41.05, Z:1.04 [[ 9.16420623e-01 4.00134358e-01 8.10789029e-03 2.04984646e+02] [-4.00118670e-01 9.16456489e-01 -3.54318686e-03 -4.10489777e+01] [-8.84827947e-03 2.93122747e-06 9.99960853e-01 1.04440566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.01, Y:-41.06, Z:1.04 [[ 9.16472756e-01 4.00003139e-01 8.67037997e-03 2.05014697e+02] [-3.99985143e-01 9.16513769e-01 -3.79425858e-03 -4.10623441e+01] [-9.46423796e-03 9.31144450e-06 9.99955213e-01 1.04403165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.972320588 meters Centerline goodness [0,1] 0.999901482685582 Centerline is valid? [True, True] Translation: X:205.04, Y:-41.08, Z:1.05 [[ 9.16370089e-01 4.00244145e-01 8.39549431e-03 2.05044286e+02] [-4.00227233e-01 9.16408547e-01 -3.67932105e-03 -4.10760487e+01] [-9.16632944e-03 1.15143043e-05 9.99957988e-01 1.04519248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.07, Y:-41.09, Z:1.04 [[ 9.15987888e-01 4.01123120e-01 8.15053735e-03 2.05074364e+02] [-4.01107169e-01 9.16024150e-01 -3.57720819e-03 -4.10887219e+01] [-8.90098995e-03 7.44041582e-06 9.99960385e-01 1.04472877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.032320588 meters Centerline goodness [0,1] 0.9999013271498347 Centerline is valid? [True, True] Translation: X:205.10, Y:-41.10, Z:1.04 [[ 9.15314573e-01 4.02647045e-01 8.63650826e-03 2.05104126e+02] [-4.02629152e-01 9.15355318e-01 -3.79579211e-03 -4.11025810e+01] [-9.43383824e-03 -2.96616669e-06 9.99955500e-01 1.04389893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.13, Y:-41.12, Z:1.04 [[ 9.14640938e-01 4.04180690e-01 8.36208846e-03 2.05134093e+02] [-4.04163932e-01 9.14679162e-01 -3.68058585e-03 -4.11174732e+01] [-9.13624980e-03 -1.32400527e-05 9.99958264e-01 1.04381196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.16, Y:-41.13, Z:1.04 [[ 9.13646352e-01 4.06416407e-01 8.72059164e-03 2.05164192e+02] [-4.06398230e-01 9.13687968e-01 -3.84386289e-03 -4.11315182e+01] [-9.53010860e-03 -3.21017039e-05 9.99954587e-01 1.04474858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.122320588 meters Centerline goodness [0,1] 0.9999015214929342 Centerline is valid? [True, True] Translation: X:205.20, Y:-41.14, Z:1.05 [[ 9.13068866e-01 4.07716082e-01 8.53471801e-03 2.05195401e+02] [-4.07698678e-01 9.13108753e-01 -3.76741483e-03 -4.11429138e+01] [-9.32916133e-03 -3.96840630e-05 9.99956482e-01 1.04544300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.152320588 meters Centerline goodness [0,1] 0.9999507437690868 Centerline is valid? [True, True] Translation: X:205.23, Y:-41.15, Z:1.05 [[ 9.12392717e-01 4.09229641e-01 8.40417456e-03 2.05226896e+02] [-4.09212780e-01 9.12431421e-01 -3.71517578e-03 -4.11544595e+01] [-9.18859299e-03 -4.93963089e-05 9.99957783e-01 1.04539152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18232058799998 meters Centerline goodness [0,1] 0.9999507437690868 Centerline is valid? [True, True] Translation: X:205.26, Y:-41.17, Z:1.04 [[ 9.11885900e-01 4.10378260e-01 7.33414866e-03 2.05256398e+02] [-4.10365416e-01 9.11915391e-01 -3.24723260e-03 -4.11685093e+01] [-8.02071671e-03 -4.85753442e-05 9.99967832e-01 1.04371023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.29, Y:-41.18, Z:1.04 [[ 9.11745349e-01 4.10672567e-01 8.27411617e-03 2.05286715e+02] [-4.10656187e-01 9.11782891e-01 -3.66831895e-03 -4.11823818e+01] [-9.05067552e-03 -5.32442521e-05 9.99959040e-01 1.04359621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.32, Y:-41.19, Z:1.04 [[ 9.11466410e-01 4.11278913e-01 8.86783529e-03 2.05316989e+02] [-4.11260073e-01 9.11509546e-01 -3.93701227e-03 -4.11945784e+01] [-9.70232665e-03 -5.85321456e-05 9.99952930e-01 1.04452903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.35, Y:-41.20, Z:1.05 [[ 9.11027915e-01 4.12266880e-01 8.00983425e-03 2.05350190e+02] [-4.12251500e-01 9.11063124e-01 -3.56146052e-03 -4.12023403e+01] [-8.76573684e-03 -5.74762306e-05 9.99961579e-01 1.04520160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.302320588 meters Centerline goodness [0,1] 0.9999507510465403 Centerline is valid? [True, True] Translation: X:205.38, Y:-41.21, Z:1.04 [[ 9.10675971e-01 4.13017573e-01 9.26070673e-03 2.05381136e+02] [-4.12996998e-01 9.10723053e-01 -4.12311760e-03 -4.12141821e+01] [-1.01368591e-02 -6.98199521e-05 9.99948618e-01 1.04468190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.41, Y:-41.23, Z:1.04 [[ 9.10722912e-01 4.12899954e-01 9.86943824e-03 2.05411717e+02] [-4.12876513e-01 9.10776385e-01 -4.40021088e-03 -4.12276960e+01] [-1.08056982e-02 -6.74863836e-05 9.99941614e-01 1.04474464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.44, Y:-41.24, Z:1.05 [[ 9.11080522e-01 4.12130174e-01 9.00008564e-03 2.05441179e+02] [-4.12110595e-01 9.11124973e-01 -4.01753143e-03 -4.12413763e+01] [-9.85594872e-03 -4.87360158e-05 9.99951428e-01 1.04563710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.392320588 meters Centerline goodness [0,1] 0.9999506197224829 Centerline is valid? [True, True] Translation: X:205.47, Y:-41.26, Z:1.05 [[ 9.11220856e-01 4.11796788e-01 9.99788494e-03 2.05470785e+02] [-4.11772535e-01 9.11275701e-01 -4.46944027e-03 -4.12550420e+01] [-1.09513308e-02 -4.42072420e-05 9.99940031e-01 1.04517277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.422320588 meters Centerline goodness [0,1] 0.9999507631708517 Centerline is valid? [True, True] Translation: X:205.50, Y:-41.27, Z:1.05 [[ 9.12055862e-01 4.09927060e-01 1.06728609e-02 2.05500605e+02] [-4.09899215e-01 9.12118306e-01 -4.77791786e-03 -4.12687037e+01] [-1.16935096e-02 -1.70693057e-05 9.99931628e-01 1.04595607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.452320588 meters Centerline goodness [0,1] 0.9999016522423289 Centerline is valid? [True, True] Translation: X:205.53, Y:-41.28, Z:1.05 [[ 9.12435146e-01 4.09096976e-01 1.00880422e-02 2.05531286e+02] [-4.09071975e-01 9.12490912e-01 -4.52273073e-03 -4.12814836e+01] [-1.10554823e-02 -3.68995171e-08 9.99938886e-01 1.04631223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.482320588 meters Centerline goodness [0,1] 0.9998524565976491 Centerline is valid? [True, True] Translation: X:205.56, Y:-41.29, Z:1.05 [[ 9.12879276e-01 4.08083775e-01 1.09114672e-02 2.05561734e+02] [-4.08054372e-01 9.12944485e-01 -4.89871999e-03 -4.12932091e+01] [-1.19606519e-02 1.94680753e-05 9.99928469e-01 1.04625830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.59, Y:-41.31, Z:1.05 [[ 9.13106299e-01 4.07554775e-01 1.16615681e-02 2.05591480e+02] [-4.07521056e-01 9.13180762e-01 -5.24263544e-03 -4.13072586e+01] [-1.27857807e-02 3.47489133e-05 9.99918258e-01 1.04693137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:-41.32, Z:1.05 [[ 9.13240190e-01 4.07259804e-01 1.14807869e-02 2.05620320e+02] [-4.07227006e-01 9.13312351e-01 -5.16864472e-03 -4.13234633e+01] [-1.25905257e-02 4.49275985e-05 9.99920735e-01 1.04723706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.572320588 meters Centerline goodness [0,1] 0.9999015020930805 Centerline is valid? [True, True] Translation: X:205.65, Y:-41.34, Z:1.05 [[ 9.13549505e-01 4.06557141e-01 1.17725642e-02 2.05649310e+02] [-4.06522502e-01 9.13625354e-01 -5.30736218e-03 -4.13397101e+01] [-1.29134591e-02 6.27258561e-05 9.99916616e-01 1.04731836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:-41.36, Z:1.05 [[ 9.13548567e-01 4.06563137e-01 1.16374893e-02 2.05677360e+02] [-4.06529194e-01 9.13622685e-01 -5.25388975e-03 -4.13570985e+01] [-1.27683121e-02 6.87043159e-05 9.99918479e-01 1.04572483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.71, Y:-41.37, Z:1.05 [[ 9.13334331e-01 4.07044264e-01 1.16347217e-02 2.05707127e+02] [-4.07010283e-01 9.13408431e-01 -5.26001740e-03 -4.13701940e+01] [-1.27683128e-02 6.87031001e-05 9.99918479e-01 1.04588870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.662320588 meters Centerline goodness [0,1] 0.9998523113277211 Centerline is valid? [True, True] Translation: X:205.74, Y:-41.39, Z:1.04 [[ 9.12949553e-01 4.07895644e-01 1.20107640e-02 2.05736571e+02] [-4.07859404e-01 9.13028554e-01 -5.43756020e-03 -4.13852925e+01] [-1.31841276e-02 6.55150914e-05 9.99913083e-01 1.04497783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.77, Y:-41.40, Z:1.04 [[ 9.12453570e-01 4.08958513e-01 1.34691405e-02 2.05765121e+02] [-4.08912955e-01 9.12552974e-01 -6.10450790e-03 -4.14002164e+01] [-1.47877947e-02 6.23739915e-05 9.99890653e-01 1.04426398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.722320588 meters Centerline goodness [0,1] 0.9999507364894823 Centerline is valid? [True, True] Translation: X:205.79, Y:-41.42, Z:1.04 [[ 9.12183330e-01 4.09489739e-01 1.54831128e-02 2.05793910e+02] [-4.09429475e-01 9.12314720e-01 -7.02537830e-03 -4.14154793e+01] [-1.70022920e-02 6.91902397e-05 9.99855448e-01 1.04454661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.82, Y:-41.43, Z:1.04 [[ 9.10445965e-01 4.13228265e-01 1.81809126e-02 2.05822277e+02] [-4.13145720e-01 9.10627476e-01 -8.25911632e-03 -4.14319100e+01] [-1.99689389e-02 8.11288138e-06 9.99800601e-01 1.04411573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.85, Y:-41.45, Z:1.04 [[ 9.09526635e-01 4.15319576e-01 1.64605538e-02 2.05850770e+02] [-4.15252088e-01 9.09675573e-01 -7.48695640e-03 -4.14464964e+01] [-1.80832433e-02 -2.56930778e-05 9.99836484e-01 1.04441905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.88, Y:-41.46, Z:1.04 [[ 9.08607991e-01 4.17334810e-01 1.62226764e-02 2.05879916e+02] [-4.17269387e-01 9.08752801e-01 -7.38949197e-03 -4.14624132e+01] [-1.78262948e-02 -5.50747710e-05 9.99841097e-01 1.04411578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.91, Y:-41.48, Z:1.04 [[ 9.06594102e-01 4.21785828e-01 1.35591422e-02 2.05906853e+02] [-4.21740508e-01 9.06695485e-01 -6.18390629e-03 -4.14805533e+01] [-1.49022970e-02 -1.12146545e-04 9.99888948e-01 1.04266217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.94, Y:-41.49, Z:1.04 [[ 9.05595772e-01 4.23940692e-01 1.30608773e-02 2.05936507e+02] [-4.23898739e-01 9.05689942e-01 -5.96555592e-03 -4.14942811e+01] [-1.43581471e-02 -1.34107175e-04 9.99896907e-01 1.04323719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.97, Y:-41.51, Z:1.04 [[ 9.04184043e-01 4.26905197e-01 1.42537276e-02 2.05965746e+02] [-4.26855484e-01 9.04296365e-01 -6.51762538e-03 -4.15067881e+01] [-1.56720022e-02 -1.91148925e-04 9.99877168e-01 1.04367949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.00, Y:-41.52, Z:1.04 [[ 9.01883885e-01 4.31647079e-01 1.69191243e-02 2.05995130e+02] [-4.31577703e-01 9.02042515e-01 -7.74514296e-03 -4.15200444e+01] [-1.86049378e-02 -3.16697190e-04 9.99826863e-01 1.04384633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.02, Y:-41.53, Z:1.04 [[ 9.00522584e-01 4.34521984e-01 1.58025815e-02 2.06024726e+02] [-4.34461723e-01 9.00661162e-01 -7.24450822e-03 -4.15338890e+01] [-1.73806695e-02 -3.41773539e-04 9.99848886e-01 1.04394723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.05, Y:-41.55, Z:1.04 [[ 8.99186954e-01 4.37271754e-01 1.60073232e-02 2.06053754e+02] [-4.37210225e-01 8.99329338e-01 -7.34583357e-03 -4.15465159e+01] [-1.76079809e-02 -3.93287666e-04 9.99844890e-01 1.04294187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.08, Y:-41.56, Z:1.04 [[ 8.96630505e-01 4.42491360e-01 1.59728823e-02 2.06084664e+02] [-4.42430767e-01 8.96772635e-01 -7.33872662e-03 -4.15570397e+01] [-1.75713669e-02 -4.86768426e-04 9.99845493e-01 1.04233458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.12, Y:-41.57, Z:1.04 [[ 8.95316250e-01 4.45123264e-01 1.65557314e-02 2.06115020e+02] [-4.45058457e-01 8.95469138e-01 -7.61524783e-03 -4.15687118e+01] [-1.82148705e-02 -5.50213160e-04 9.99833944e-01 1.04181055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.14, Y:-41.58, Z:1.04 [[ 8.94551048e-01 4.46672188e-01 1.61981554e-02 2.06144855e+02] [-4.46610251e-01 8.94697514e-01 -7.45937987e-03 -4.15797559e+01] [-1.78243469e-02 -5.61466168e-04 9.99840976e-01 1.04276965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.18, Y:-41.59, Z:1.04 [[ 8.94375753e-01 4.46994428e-01 1.69703808e-02 2.06175884e+02] [-4.46926319e-01 8.94536549e-01 -7.82480413e-03 -4.15901489e+01] [-1.86782698e-02 -5.86194769e-04 9.99825374e-01 1.04246742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.142320588 meters Centerline goodness [0,1] 0.9999507461951436 Centerline is valid? [True, True] Translation: X:206.21, Y:-41.60, Z:1.04 [[ 8.94424244e-01 4.46853407e-01 1.80915457e-02 2.06206491e+02] [-4.46775751e-01 8.94606985e-01 -8.35285218e-03 -4.16017065e+01] [-1.99173236e-02 -6.11870414e-04 9.99801443e-01 1.04297612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.24, Y:-41.61, Z:1.04 [[ 8.94813677e-01 4.46049544e-01 1.86624409e-02 2.06236400e+02] [-4.45966537e-01 8.95008067e-01 -8.62605770e-03 -4.16129749e+01] [-2.05506843e-02 -6.04109728e-04 9.99788630e-01 1.04255797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.27, Y:-41.62, Z:1.04 [[ 8.95774616e-01 4.44130005e-01 1.83405724e-02 2.06267579e+02] [-4.44049232e-01 8.95962190e-01 -8.48726617e-03 -4.16226104e+01] [-2.02019089e-02 -5.41439488e-04 9.99795774e-01 1.04249370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.30, Y:-41.63, Z:1.04 [[ 8.96070010e-01 4.43562401e-01 1.76332933e-02 2.06298328e+02] [-4.43487441e-01 8.96243353e-01 -8.16963972e-03 -4.16333259e+01] [-1.94274669e-02 -4.99574978e-04 9.99811144e-01 1.04276244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.33, Y:-41.64, Z:1.04 [[ 8.96185811e-01 4.43318443e-01 1.78815837e-02 2.06329205e+02] [-4.43241082e-01 8.96364054e-01 -8.29614296e-03 -4.16443095e+01] [-1.97062420e-02 -4.90966902e-04 9.99805693e-01 1.04163514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.36, Y:-41.66, Z:1.04 [[ 8.96512162e-01 4.42703733e-01 1.67136990e-02 2.06359717e+02] [-4.42635877e-01 8.96667839e-01 -7.76323417e-03 -4.16553861e+01] [-1.84234491e-02 -4.38248959e-04 9.99830178e-01 1.04147013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.39, Y:-41.67, Z:1.04 [[ 8.98030081e-01 4.39612923e-01 1.68062977e-02 2.06390032e+02] [-4.39543599e-01 8.98187253e-01 -7.81554684e-03 -4.16671601e+01] [-1.85310178e-02 -3.68504433e-04 9.99828218e-01 1.04039757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.42, Y:-41.68, Z:1.04 [[ 8.99092075e-01 4.37430607e-01 1.69677266e-02 2.06419604e+02] [-4.37359379e-01 8.99252113e-01 -7.90007725e-03 -4.16802481e+01] [-1.87139996e-02 -3.18097500e-04 9.99824827e-01 1.04085491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.45, Y:-41.69, Z:1.04 [[ 9.00810516e-01 4.33941564e-01 1.53340375e-02 2.06449061e+02] [-4.33882857e-01 9.00940992e-01 -7.14112498e-03 -4.16924486e+01] [-1.69138939e-02 -2.20375536e-04 9.99856926e-01 1.04188848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.48, Y:-41.71, Z:1.04 [[ 9.01548055e-01 4.32440948e-01 1.43503320e-02 2.06478350e+02] [-4.32389185e-01 9.01662241e-01 -6.69291330e-03 -4.17050858e+01] [-1.58334423e-02 -1.70945390e-04 9.99874629e-01 1.04306100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.51, Y:-41.72, Z:1.04 [[ 9.02106674e-01 4.31244920e-01 1.52107776e-02 2.06508337e+02] [-4.31186426e-01 9.02234890e-01 -7.10419344e-03 -4.17185044e+01] [-1.67873416e-02 -1.49940499e-04 9.99859071e-01 1.04256671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.54, Y:-41.73, Z:1.04 [[ 9.02121312e-01 4.31223507e-01 1.49473963e-02 2.06538166e+02] [-4.31166858e-01 9.02245126e-01 -6.99089692e-03 -4.17329483e+01] [-1.65008545e-02 -1.38184787e-04 9.99863842e-01 1.04208634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.57, Y:-41.75, Z:1.04 [[ 9.01860800e-01 4.31803952e-01 1.38724669e-02 2.06567227e+02] [-4.31755109e-01 9.01967477e-01 -6.49583784e-03 -4.17475977e+01] [-1.53174424e-02 -1.31166932e-04 9.99882672e-01 1.04159526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.60, Y:-41.76, Z:1.04 [[ 9.01427211e-01 4.32725156e-01 1.33387701e-02 2.06598078e+02] [-4.32679966e-01 9.01525885e-01 -6.25501722e-03 -4.17599441e+01] [-1.47319498e-02 -1.32975853e-04 9.99891470e-01 1.04171601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.63, Y:-41.77, Z:1.04 [[ 9.00939313e-01 4.33789155e-01 1.16328506e-02 2.06628039e+02] [-4.33754788e-01 9.01014403e-01 -5.46167889e-03 -4.17726549e+01] [-1.28505830e-02 -1.25163424e-04 9.99917420e-01 1.04276027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.66, Y:-41.79, Z:1.04 [[ 9.00509529e-01 4.34674719e-01 1.18522580e-02 2.06658107e+02] [-4.34639015e-01 9.00587514e-01 -5.57276923e-03 -4.17869686e+01] [-1.30963374e-02 -1.33121937e-04 9.99914230e-01 1.04332987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.69, Y:-41.80, Z:1.04 [[ 9.00270153e-01 4.35168029e-01 1.19347193e-02 2.06687211e+02] [-4.35131769e-01 9.00349248e-01 -5.61923156e-03 -4.18037777e+01] [-1.31907255e-02 -1.34349056e-04 9.99912990e-01 1.04498650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.72, Y:-41.82, Z:1.05 [[ 9.00367930e-01 4.34954904e-01 1.23215931e-02 2.06717009e+02] [-4.34916125e-01 9.00452228e-01 -5.80942828e-03 -4.18169254e+01] [-1.36218453e-02 -1.28236627e-04 9.99907210e-01 1.04546272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.75, Y:-41.83, Z:1.05 [[ 9.00182544e-01 4.35345779e-01 1.20598791e-02 2.06747482e+02] [-4.35308560e-01 9.00263315e-01 -5.69391360e-03 -4.18289177e+01] [-1.33358880e-02 -1.24206972e-04 9.99911065e-01 1.04544099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.78, Y:-41.84, Z:1.04 [[ 9.00431795e-01 4.34816402e-01 1.25410637e-02 2.06778118e+02] [-4.34775990e-01 9.00519119e-01 -5.92922510e-03 -4.18404004e+01] [-1.38715919e-02 -1.13690562e-04 9.99903778e-01 1.04364171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.81, Y:-41.86, Z:1.04 [[ 9.00465499e-01 4.34737227e-01 1.28619115e-02 2.06807561e+02] [-4.34694593e-01 9.00557345e-01 -6.08920220e-03 -4.18550644e+01] [-1.42300917e-02 -1.07886880e-04 9.99898741e-01 1.04348989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.84, Y:-41.87, Z:1.04 [[ 9.00587317e-01 4.34469627e-01 1.33651649e-02 2.06837396e+02] [-4.34423435e-01 9.00686479e-01 -6.33605468e-03 -4.18701063e+01] [-1.47906466e-02 -9.99703511e-05 9.99890607e-01 1.04418647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.87, Y:-41.88, Z:1.04 [[ 9.00790749e-01 4.34004974e-01 1.46869973e-02 2.06866501e+02] [-4.33948993e-01 9.00910469e-01 -6.97125180e-03 -4.18846510e+01] [-1.62572276e-02 -9.37685374e-05 9.99867838e-01 1.04468767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.90, Y:-41.90, Z:1.04 [[ 9.00763525e-01 4.34066741e-01 1.45305350e-02 2.06895913e+02] [-4.34011799e-01 9.00880712e-01 -6.90664942e-03 -4.18991119e+01] [-1.60882255e-02 -8.51657282e-05 9.99870572e-01 1.04482200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.92, Y:-41.91, Z:1.04 [[ 9.00997330e-01 4.33682277e-01 1.11127350e-02 2.06924553e+02] [-4.33650032e-01 9.01065857e-01 -5.28874097e-03 -4.19140819e+01] [-1.23069393e-02 -5.38964002e-05 9.99924265e-01 1.04491240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.95, Y:-41.93, Z:1.04 [[ 9.00754816e-01 4.34221150e-01 9.63092143e-03 2.06953560e+02] [-4.34196898e-01 9.00806301e-01 -4.58941005e-03 -4.19279457e+01] [-1.06684136e-02 -4.77830031e-05 9.99943090e-01 1.04496089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.98, Y:-41.94, Z:1.05 [[ 9.00163210e-01 4.35432067e-01 1.02523119e-02 2.06983947e+02] [-4.35404585e-01 9.00221590e-01 -4.89243522e-03 -4.19418898e+01] [-1.13596757e-02 -5.99134396e-05 9.99935475e-01 1.04534106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.01, Y:-41.95, Z:1.05 [[ 8.99151479e-01 4.37435833e-01 1.32857218e-02 2.07013540e+02] [-4.37389806e-01 8.99249621e-01 -6.34634255e-03 -4.19539476e+01] [-1.47232979e-02 -1.04715979e-04 9.99891601e-01 1.04679626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.04, Y:-41.97, Z:1.05 [[ 8.98773665e-01 4.38187315e-01 1.40633133e-02 2.07043750e+02] [-4.38135688e-01 8.98883676e-01 -6.72718769e-03 -4.19679988e+01] [-1.55890511e-02 -1.15420340e-04 9.99878477e-01 1.04691089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.012320588 meters Centerline goodness [0,1] 0.999950760746467 Centerline is valid? [True, True] Translation: X:207.07, Y:-41.98, Z:1.05 [[ 8.98183324e-01 4.39417377e-01 1.33822377e-02 2.07072902e+02] [-4.39370633e-01 8.98283003e-01 -6.41039865e-03 -4.19824817e+01] [-1.48378772e-02 -1.22049069e-04 9.99889905e-01 1.04633072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.10, Y:-42.00, Z:1.05 [[ 8.97867316e-01 4.40073657e-01 1.30176651e-02 2.07102921e+02] [-4.40029370e-01 8.97961671e-01 -6.24430137e-03 -4.19970692e+01] [-1.44373168e-02 -1.21600865e-04 9.99895769e-01 1.04560298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.13, Y:-42.01, Z:1.05 [[ 8.98305796e-01 4.39216414e-01 1.16463989e-02 2.07132638e+02] [-4.39180809e-01 8.98381285e-01 -5.59310213e-03 -4.20100099e+01] [-1.29194891e-02 -9.05588567e-05 9.99916536e-01 1.04670539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.16, Y:-42.02, Z:1.05 [[ 8.98420791e-01 4.38991542e-01 1.12475923e-02 2.07162662e+02] [-4.38958218e-01 8.98491191e-01 -5.40949235e-03 -4.20241585e+01] [-1.24805839e-02 -7.72226626e-05 9.99922111e-01 1.04759265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.132320588 meters Centerline goodness [0,1] 0.9999507340624693 Centerline is valid? [True, True] Translation: X:207.19, Y:-42.04, Z:1.05 [[ 8.98042475e-01 4.39735389e-01 1.23490973e-02 2.07191931e+02] [-4.39695182e-01 8.98127374e-01 -5.94704494e-03 -4.20386997e+01] [-1.37061884e-02 -8.91396186e-05 9.99906062e-01 1.04763888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.22, Y:-42.05, Z:1.05 [[ 8.97296431e-01 4.41251416e-01 1.25021436e-02 2.07221608e+02] [-4.41210240e-01 8.97383517e-01 -6.02888605e-03 -4.20535340e+01] [-1.38794721e-02 -1.06375840e-04 9.99903670e-01 1.04807529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.25, Y:-42.07, Z:1.05 [[ 8.95547556e-01 4.44798866e-01 1.21878841e-02 2.07250410e+02] [-4.44759972e-01 8.95630474e-01 -5.88399505e-03 -4.20674609e+01] [-1.35330347e-02 -1.51285593e-04 9.99908413e-01 1.04837914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.28, Y:-42.08, Z:1.05 [[ 8.94318571e-01 4.47229283e-01 1.34261911e-02 2.07279639e+02] [-4.47182248e-01 8.94419324e-01 -6.48917231e-03 -4.20803804e+01] [-1.49107926e-02 -2.00566994e-04 9.99888808e-01 1.04777376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.31, Y:-42.09, Z:1.05 [[ 8.92867746e-01 4.50148022e-01 1.24075388e-02 2.07309610e+02] [-4.50108016e-01 8.92953923e-01 -6.00540696e-03 -4.20940860e+01] [-1.37826825e-02 -2.22698517e-04 9.99904990e-01 1.04847516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.34, Y:-42.11, Z:1.05 [[ 8.92278515e-01 4.51257735e-01 1.43355697e-02 2.07338198e+02] [-4.51204369e-01 8.92393626e-01 -6.94510467e-03 -4.21078016e+01] [-1.59270033e-02 -2.71304023e-04 9.99873120e-01 1.04909038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.37, Y:-42.12, Z:1.05 [[ 8.91626192e-01 4.52540805e-01 1.44759612e-02 2.07368300e+02] [-4.52486398e-01 8.91743650e-01 -7.02303138e-03 -4.21216075e+01] [-1.60870547e-02 -2.88256801e-04 9.99870553e-01 1.05066715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.342320588 meters Centerline goodness [0,1] 0.9998522967849933 Centerline is valid? [True, True] Translation: X:207.40, Y:-42.13, Z:1.05 [[ 8.91002016e-01 4.53748900e-01 1.50778856e-02 2.07398175e+02] [-4.53689913e-01 8.91129528e-01 -7.32307037e-03 -4.21336839e+01] [-1.67591842e-02 -3.15814148e-04 9.99859505e-01 1.05130581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.43, Y:-42.14, Z:1.05 [[ 8.90181880e-01 4.55386466e-01 1.41204705e-02 2.07430659e+02] [-4.55334786e-01 8.90293809e-01 -6.86773589e-03 -4.21422723e+01] [-1.56988414e-02 -3.16007362e-04 9.99876716e-01 1.05144195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.46, Y:-42.15, Z:1.05 [[ 8.89814431e-01 4.56079427e-01 1.48941060e-02 2.07460719e+02] [-4.56021896e-01 8.89939010e-01 -7.25187164e-03 -4.21537546e+01] [-1.65622754e-02 -3.39218418e-04 9.99862779e-01 1.05108143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.49, Y:-42.17, Z:1.05 [[ 8.89528058e-01 4.56672832e-01 1.37752799e-02 2.07490828e+02] [-4.56623569e-01 8.89634658e-01 -6.71503903e-03 -4.21656706e+01] [-1.53215423e-02 -3.16901848e-04 9.99882568e-01 1.05345467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.52, Y:-42.18, Z:1.05 [[ 8.89249262e-01 4.57223621e-01 1.35022651e-02 2.07521375e+02] [-4.57176217e-01 8.89351709e-01 -6.59117267e-03 -4.21783648e+01] [-1.50219024e-02 -3.11719033e-04 9.99887116e-01 1.05459397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.55, Y:-42.19, Z:1.05 [[ 8.89597148e-01 4.56552678e-01 1.32878490e-02 2.07551257e+02] [-4.56506586e-01 8.89696335e-01 -6.49368005e-03 -4.21896799e+01] [-1.47868576e-02 -2.89231325e-04 9.99890627e-01 1.05439435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.58, Y:-42.20, Z:1.05 [[ 8.89996319e-01 4.55780887e-01 1.30512702e-02 2.07582203e+02] [-4.55736230e-01 8.90091969e-01 -6.38559277e-03 -4.22005034e+01] [-1.45272619e-02 -2.64782636e-04 9.99894439e-01 1.05392121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.61, Y:-42.21, Z:1.05 [[ 8.89754958e-01 4.56251983e-01 1.30477376e-02 2.07611563e+02] [-4.56207271e-01 8.89850582e-01 -6.39280960e-03 -4.22145372e+01] [-1.45272690e-02 -2.64438730e-04 9.99894439e-01 1.05408512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.64, Y:-42.23, Z:1.05 [[ 8.89994690e-01 4.55772711e-01 1.34420468e-02 2.07642498e+02] [-4.55725070e-01 8.90096158e-01 -6.59474420e-03 -4.22254684e+01] [-1.49704187e-02 -2.56590408e-04 9.99887904e-01 1.05242710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.67, Y:-42.23, Z:1.05 [[ 8.90978267e-01 4.53845659e-01 1.34849726e-02 2.07673354e+02] [-4.53797382e-01 8.91080283e-01 -6.62315975e-03 -4.22349076e+01] [-1.50220855e-02 -2.18353873e-04 9.99887138e-01 1.05196533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.70, Y:-42.25, Z:1.05 [[ 8.91864392e-01 4.52133848e-01 1.23648808e-02 2.07703460e+02] [-4.52092992e-01 8.91950086e-01 -6.08035057e-03 -4.22471189e+01] [-1.37779888e-02 -1.67227812e-04 9.99905065e-01 1.05255834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.73, Y:-42.26, Z:1.05 [[ 8.92778874e-01 4.50284768e-01 1.37662549e-02 2.07734379e+02] [-4.50233881e-01 8.92884990e-01 -6.77110475e-03 -4.22594011e+01] [-1.53406077e-02 -1.52935099e-04 9.99882314e-01 1.05316747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.76, Y:-42.27, Z:1.05 [[ 8.94559866e-01 4.46780681e-01 1.22338951e-02 2.07764988e+02] [-4.46740141e-01 8.94643514e-01 -6.01916899e-03 -4.22702956e+01] [-1.36342233e-02 -8.08649998e-05 9.99907046e-01 1.05394798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.79, Y:-42.28, Z:1.05 [[ 8.95438150e-01 4.44948587e-01 1.45353022e-02 2.07793405e+02] [-4.44891080e-01 8.95556113e-01 -7.15372017e-03 -4.22848375e+01] [-1.62002164e-02 -6.09123340e-05 9.99868766e-01 1.05224294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.82, Y:-42.30, Z:1.05 [[ 8.96077481e-01 4.43678222e-01 1.39564673e-02 2.07821535e+02] [-4.43624897e-01 8.96186161e-01 -6.87865390e-03 -4.22996938e+01] [-1.55595017e-02 -2.76294975e-05 9.99878943e-01 1.05288225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.85, Y:-42.31, Z:1.05 [[ 8.98044346e-01 4.39700150e-01 1.34212848e-02 2.07850490e+02] [-4.39650385e-01 8.98144630e-01 -6.61535798e-03 -4.23129075e+01] [-1.49630288e-02 4.02117981e-05 9.99888047e-01 1.05381210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.88, Y:-42.33, Z:1.05 [[ 8.99061632e-01 4.37649797e-01 1.22815642e-02 2.07880335e+02] [-4.37607906e-01 8.99145511e-01 -6.05565559e-03 -4.23261865e+01] [-1.36931697e-02 6.98980281e-05 9.99906242e-01 1.05432921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.91, Y:-42.34, Z:1.05 [[ 8.99935319e-01 4.35865482e-01 1.17347161e-02 2.07909772e+02] [-4.35827043e-01 9.00011818e-01 -5.78929116e-03 -4.23413145e+01] [-1.30847354e-02 9.56809586e-05 9.99914387e-01 1.05321658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.94, Y:-42.36, Z:1.05 [[ 9.01593644e-01 4.32432417e-01 1.14501674e-02 2.07936178e+02] [-4.32395524e-01 9.01666338e-01 -5.65039881e-03 -4.23613817e+01] [-1.27676461e-02 1.43362538e-04 9.99918480e-01 1.05220923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.96, Y:-42.38, Z:1.05 [[ 9.01890991e-01 4.31783542e-01 1.24744639e-02 2.07963661e+02] [-4.31739570e-01 9.01977240e-01 -6.16452544e-03 -4.23775568e+01] [-1.39134231e-02 1.74010300e-04 9.99903189e-01 1.05247100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.99, Y:-42.39, Z:1.05 [[ 9.01494652e-01 4.32594623e-01 1.30109315e-02 2.07992559e+02] [-4.32546747e-01 9.01588521e-01 -6.43818436e-03 -4.23939004e+01] [-1.45156304e-02 1.76152659e-04 9.99894627e-01 1.05342435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.02, Y:-42.41, Z:1.05 [[ 9.00755690e-01 4.34086732e-01 1.44186159e-02 2.08021374e+02] [-4.34027982e-01 9.00871066e-01 -7.14372118e-03 -4.24091436e+01] [-1.60903085e-02 1.76664714e-04 9.99870527e-01 1.05378089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.05, Y:-42.43, Z:1.05 [[ 8.99842926e-01 4.36019664e-01 1.30216093e-02 2.08049944e+02] [-4.35971936e-01 8.99937129e-01 -6.45248780e-03 -4.24250505e+01] [-1.45320413e-02 1.29169271e-04 9.99894396e-01 1.05320951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.08, Y:-42.44, Z:1.05 [[ 8.98770676e-01 4.38204816e-01 1.37044497e-02 2.08078450e+02] [-4.38152040e-01 8.98875146e-01 -6.80161523e-03 -4.24415169e+01] [-1.52990897e-02 1.08459735e-04 9.99882956e-01 1.05291508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.11, Y:-42.46, Z:1.05 [[ 8.97727177e-01 4.40347261e-01 1.34240821e-02 2.08107164e+02] [-4.40296730e-01 8.97827536e-01 -6.67127406e-03 -4.24582213e+01] [-1.49901878e-02 7.84045676e-05 9.99887638e-01 1.05243774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.13, Y:-42.48, Z:1.05 [[ 8.95573637e-01 4.44703575e-01 1.36598478e-02 2.08134321e+02] [-4.44651623e-01 8.95677805e-01 -6.79735212e-03 -4.24768267e+01] [-1.52576293e-02 1.36558412e-05 9.99883596e-01 1.05130052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.16, Y:-42.49, Z:1.05 [[ 8.94397877e-01 4.47076506e-01 1.32301244e-02 2.08162621e+02] [-4.47027900e-01 8.94495722e-01 -6.59237746e-03 -4.24937619e+01] [-1.47815867e-02 -1.80263060e-05 9.99890746e-01 1.05121139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.19, Y:-42.51, Z:1.05 [[ 8.92391897e-01 4.51041263e-01 1.40883055e-02 2.08189902e+02] [-4.50986521e-01 8.92503094e-01 -7.02750929e-03 -4.25105525e+01] [-1.57435529e-02 -8.23435305e-05 9.99876059e-01 1.05272483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.22, Y:-42.52, Z:1.05 [[ 8.90900451e-01 4.53989426e-01 1.37836122e-02 2.08220086e+02] [-4.53937231e-01 8.91007063e-01 -6.88514221e-03 -4.25244713e+01] [-1.54070775e-02 -1.22918434e-04 9.99881296e-01 1.05334313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.25, Y:-42.54, Z:1.05 [[ 8.89403883e-01 4.56874488e-01 1.50477711e-02 2.08249553e+02] [-4.56812555e-01 8.89531152e-01 -7.52463017e-03 -4.25374297e+01] [-1.68232727e-02 -1.81575458e-04 9.99858462e-01 1.05349237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.28, Y:-42.55, Z:1.05 [[ 8.87674945e-01 4.60219505e-01 1.52052182e-02 2.08278836e+02] [-4.60156610e-01 8.87805130e-01 -7.61214662e-03 -4.25515390e+01] [-1.70025291e-02 -2.39669835e-04 9.99855418e-01 1.05381374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.31, Y:-42.57, Z:1.05 [[ 8.85900863e-01 4.63592829e-01 1.61663039e-02 2.08307228e+02] [-4.63522126e-01 8.86048300e-01 -8.10243370e-03 -4.25665389e+01] [-1.80803562e-02 -3.15486539e-04 9.99836487e-01 1.05391046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.34, Y:-42.58, Z:1.05 [[ 8.82808160e-01 4.69514048e-01 1.43635219e-02 2.08336513e+02] [-4.69458879e-01 8.82924920e-01 -7.20738483e-03 -4.25804333e+01] [-1.60658799e-02 -3.80344766e-04 9.99870863e-01 1.05430858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.37, Y:-42.59, Z:1.05 [[ 8.81438520e-01 4.72115273e-01 1.31644783e-02 2.08366138e+02] [-4.72069108e-01 8.81536738e-01 -6.61339091e-03 -4.25927733e+01] [-1.47272541e-02 -3.85246039e-04 9.99891474e-01 1.05371845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.40, Y:-42.61, Z:1.05 [[ 8.79973189e-01 4.74814979e-01 1.40685118e-02 2.08395436e+02] [-4.74762490e-01 8.80085524e-01 -7.07448566e-03 -4.26052867e+01] [-1.57405653e-02 -4.53843974e-04 9.99876007e-01 1.05353958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.42, Y:-42.62, Z:1.06 [[ 8.78796192e-01 4.76953191e-01 1.52612970e-02 2.08424592e+02] [-4.76891598e-01 8.78928539e-01 -7.68286905e-03 -4.26184360e+01] [-1.70779584e-02 -5.26308274e-04 9.99854023e-01 1.05505985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.45, Y:-42.63, Z:1.06 [[ 8.78653168e-01 4.77209721e-01 1.54755530e-02 2.08454555e+02] [-4.77146249e-01 8.78789281e-01 -7.80100052e-03 -4.26316948e+01] [-1.73224634e-02 -5.29728262e-04 9.99849815e-01 1.05518317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.48, Y:-42.64, Z:1.06 [[ 8.78441739e-01 4.77625551e-01 1.46268295e-02 2.08484172e+02] [-4.77568775e-01 8.78563362e-01 -7.38131966e-03 -4.26444720e+01] [-1.63761034e-02 -5.01257749e-04 9.99865777e-01 1.05572605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.51, Y:-42.66, Z:1.06 [[ 8.78433579e-01 4.77693429e-01 1.27842026e-02 2.08514637e+02] [-4.77650020e-01 8.78526492e-01 -6.45451295e-03 -4.26567071e+01] [-1.43145391e-02 -4.36513709e-04 9.99897446e-01 1.05580288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.55, Y:-42.67, Z:1.06 [[ 8.78769077e-01 4.77067493e-01 1.30964636e-02 2.08545686e+02] [-4.77021744e-01 8.78866556e-01 -6.62062203e-03 -4.26658573e+01] [-1.46685274e-02 -4.29299999e-04 9.99892319e-01 1.05730066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.58, Y:-42.68, Z:1.06 [[ 8.78615368e-01 4.77312434e-01 1.44178690e-02 2.08575794e+02] [-4.77256866e-01 8.78733532e-01 -7.29815873e-03 -4.26796110e+01] [-1.61529669e-02 -4.68752572e-04 9.99869422e-01 1.05837458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.61, Y:-42.69, Z:1.06 [[ 8.78597311e-01 4.77307015e-01 1.56453906e-02 2.08606407e+02] [-4.77241410e-01 8.78736459e-01 -7.92925760e-03 -4.26928289e+01] [-1.75328654e-02 -5.00003844e-04 9.99846162e-01 1.05934980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.64, Y:-42.71, Z:1.06 [[ 8.78580761e-01 4.77336069e-01 1.56883370e-02 2.08636859e+02] [-4.77269928e-01 8.78720681e-01 -7.96123640e-03 -4.27056423e+01] [-1.75858515e-02 -4.92982353e-04 9.99845235e-01 1.05977356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.67, Y:-42.72, Z:1.06 [[ 8.78901858e-01 4.76804971e-01 1.37311066e-02 2.08666281e+02] [-4.76754121e-01 8.79009014e-01 -6.97574080e-03 -4.27178834e+01] [-1.53958343e-02 -4.15370081e-04 9.99881391e-01 1.05846499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.70, Y:-42.73, Z:1.06 [[ 8.78734487e-01 4.77162431e-01 1.19044687e-02 2.08695728e+02] [-4.77124148e-01 8.78815046e-01 -6.05486040e-03 -4.27305825e+01] [-1.33509781e-02 -3.59294831e-04 9.99910807e-01 1.05799490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.73, Y:-42.74, Z:1.06 [[ 8.78227138e-01 4.78087968e-01 1.22060643e-02 2.08725977e+02] [-4.78047696e-01 8.78311877e-01 -6.21663962e-03 -4.27442779e+01] [-1.36928318e-02 -3.75459290e-04 9.99906178e-01 1.05770224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.76, Y:-42.76, Z:1.06 [[ 8.78550594e-01 4.77451057e-01 1.37601449e-02 2.08756535e+02] [-4.77399803e-01 8.78658249e-01 -7.00781531e-03 -4.27560238e+01] [-1.54363537e-02 -4.12370186e-04 9.99880767e-01 1.05931437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.79, Y:-42.77, Z:1.06 [[ 8.78817278e-01 4.76956559e-01 1.38792519e-02 2.08785639e+02] [-4.76904317e-01 8.78926776e-01 -7.07076323e-03 -4.27688870e+01] [-1.55712930e-02 -4.05166244e-04 9.99878678e-01 1.06066614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.81, Y:-42.78, Z:1.06 [[ 8.78693403e-01 4.77228711e-01 1.22743634e-02 2.08814265e+02] [-4.77187851e-01 8.78779055e-01 -6.25525707e-03 -4.27826283e+01] [-1.37716417e-02 -3.60723954e-04 9.99905101e-01 1.06111451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.84, Y:-42.80, Z:1.06 [[ 8.77696620e-01 4.79114853e-01 9.87930277e-03 2.08843815e+02] [-4.79088469e-01 8.77752164e-01 -5.03766633e-03 -4.27969221e+01] [-1.10852001e-02 -3.11517322e-04 9.99938509e-01 1.05818877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.87, Y:-42.81, Z:1.06 [[ 8.77230137e-01 4.79955735e-01 1.04775906e-02 2.08873601e+02] [-4.79926104e-01 8.77292640e-01 -5.34401667e-03 -4.28100262e+01] [-1.17568046e-02 -3.40536776e-04 9.99930828e-01 1.05829380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.90, Y:-42.82, Z:1.06 [[ 8.76325980e-01 4.81570671e-01 1.19359053e-02 2.08903913e+02] [-4.81532342e-01 8.76407165e-01 -6.08966337e-03 -4.28214097e+01] [-1.33933162e-02 -4.10994199e-04 9.99910221e-01 1.05920814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.902320588 meters Centerline goodness [0,1] 0.9999507825573383 Centerline is valid? [True, True] Translation: X:208.94, Y:-42.83, Z:1.06 [[ 8.74249921e-01 4.85282764e-01 1.37008838e-02 2.08935978e+02] [-4.85232681e-01 8.74357108e-01 -6.99229205e-03 -4.28287904e+01] [-1.53727039e-02 -5.35105802e-04 9.99881690e-01 1.06114042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.97, Y:-42.84, Z:1.06 [[ 8.73337466e-01 4.86931368e-01 1.33982157e-02 2.08965607e+02] [-4.86883635e-01 8.73440061e-01 -6.83998419e-03 -4.28408586e+01] [-1.50331412e-02 -5.49757506e-04 9.99886845e-01 1.06102786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.99, Y:-42.85, Z:1.06 [[ 8.72656532e-01 4.88149698e-01 1.34331352e-02 2.08994903e+02] [-4.88101827e-01 8.72759731e-01 -6.85999302e-03 -4.28542444e+01] [-1.50726030e-02 -5.70320111e-04 9.99886239e-01 1.06070775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.03, Y:-42.87, Z:1.06 [[ 8.72668242e-01 4.88123806e-01 1.36121253e-02 2.09025663e+02] [-4.88074592e-01 8.72774209e-01 -6.95505988e-03 -4.28666191e+01] [-1.52752422e-02 -5.74272607e-04 9.99883162e-01 1.05996598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.06, Y:-42.87, Z:1.06 [[ 8.72622675e-01 4.88164159e-01 1.50140069e-02 2.09057381e+02] [-4.88104258e-01 8.72751599e-01 -7.67329708e-03 -4.28747640e+01] [-1.68493271e-02 -6.32507652e-04 9.99857840e-01 1.05995877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.09, Y:-42.89, Z:1.06 [[ 8.72439969e-01 4.88494072e-01 1.49010908e-02 2.09088503e+02] [-4.88435049e-01 8.72566986e-01 -7.61959605e-03 -4.28856360e+01] [-1.67243273e-02 -6.30574860e-04 9.99859940e-01 1.05988757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.12, Y:-42.90, Z:1.06 [[ 8.72346085e-01 4.88676419e-01 1.44106301e-02 2.09119540e+02] [-4.88621211e-01 8.72464890e-01 -7.37080035e-03 -4.28960302e+01] [-1.61747051e-02 -6.11450705e-04 9.99868994e-01 1.05949515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.15, Y:-42.90, Z:1.06 [[ 8.71587559e-01 4.90037068e-01 1.40996323e-02 2.09152732e+02] [-4.89984382e-01 8.71701374e-01 -7.21250874e-03 -4.29003718e+01] [-1.58250655e-02 -6.22266762e-04 9.99874582e-01 1.05993138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.18, Y:-42.91, Z:1.06 [[ 8.71598018e-01 4.90011165e-01 1.43510464e-02 2.09182154e+02] [-4.89956610e-01 8.71715926e-01 -7.33923073e-03 -4.29090445e+01] [-1.61063407e-02 -6.34531066e-04 9.99870083e-01 1.06089326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.21, Y:-42.92, Z:1.06 [[ 8.72537892e-01 4.88276543e-01 1.62371339e-02 2.09210277e+02] [-4.88206612e-01 8.72688684e-01 -8.29248574e-03 -4.29171885e+01] [-1.82189893e-02 -6.91568099e-04 9.99833781e-01 1.06065427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.24, Y:-42.92, Z:1.06 [[ 8.74330688e-01 4.85021645e-01 1.73162477e-02 2.09239650e+02] [-4.84941642e-01 8.74501887e-01 -8.83475969e-03 -4.29240373e+01] [-1.94281409e-02 -6.72868055e-04 9.99811029e-01 1.05975521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.232320588 meters Centerline goodness [0,1] 0.999950874435056 Centerline is valid? [True, True] Translation: X:209.27, Y:-42.94, Z:1.06 [[ 8.75576762e-01 4.82765880e-01 1.73907597e-02 2.09266722e+02] [-4.82684922e-01 8.75749224e-01 -8.86354816e-03 -4.29354273e+01] [-1.95089630e-02 -6.33540694e-04 9.99809481e-01 1.05866361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.29, Y:-42.95, Z:1.06 [[ 8.76853982e-01 4.80430369e-01 1.77130910e-02 2.09293723e+02] [-4.80346111e-01 8.77032667e-01 -9.01747341e-03 -4.29459977e+01] [-1.98672275e-02 -6.01406918e-04 9.99802446e-01 1.05887263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.33, Y:-42.95, Z:1.06 [[ 8.79260021e-01 4.76003235e-01 1.79648584e-02 2.09325192e+02] [-4.75915827e-01 8.79443377e-01 -9.13627235e-03 -4.29485607e+01] [-2.01479710e-02 -5.16601450e-04 9.99796876e-01 1.05832385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.35, Y:-42.96, Z:1.06 [[ 8.79953818e-01 4.74726052e-01 1.77891261e-02 2.09352784e+02] [-4.74640293e-01 8.80133475e-01 -9.03651186e-03 -4.29573242e+01] [-1.99466730e-02 -4.91722925e-04 9.99800924e-01 1.05757297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.38, Y:-42.97, Z:1.06 [[ 8.80572758e-01 4.73594820e-01 1.73079144e-02 2.09379854e+02] [-4.73513610e-01 8.80742717e-01 -8.78227429e-03 -4.29671186e+01] [-1.94030591e-02 -4.62101515e-04 9.99811636e-01 1.05747718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.41, Y:-42.98, Z:1.06 [[ 8.81239661e-01 4.72359223e-01 1.71296143e-02 2.09407393e+02] [-4.72279632e-01 8.81406020e-01 -8.68202007e-03 -4.29758840e+01] [-1.91991774e-02 -4.39027518e-04 9.99815582e-01 1.05831215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.44, Y:-42.99, Z:1.06 [[ 8.81834315e-01 4.71275293e-01 1.63657954e-02 2.09435051e+02] [-4.71202611e-01 8.81986074e-01 -8.28644219e-03 -4.29860155e+01] [-1.83395991e-02 -4.04336451e-04 9.99831734e-01 1.05841178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.46, Y:-43.00, Z:1.06 [[ 8.82077666e-01 4.70819503e-01 1.63703066e-02 2.09459384e+02] [-4.70746907e-01 8.82229467e-01 -8.27752821e-03 -4.29986696e+01] [-1.83395886e-02 -4.04848433e-04 9.99831734e-01 1.05855026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.49, Y:-43.01, Z:1.06 [[ 8.82734977e-01 4.69578760e-01 1.65755230e-02 2.09485750e+02] [-4.69504313e-01 8.82890499e-01 -8.37055094e-03 -4.30087050e+01] [-1.85650047e-02 -3.93301466e-04 9.99827578e-01 1.05802720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.51, Y:-43.02, Z:1.06 [[ 8.83372325e-01 4.68409846e-01 1.56700651e-02 2.09513426e+02] [-4.68343278e-01 8.83511227e-01 -7.90474738e-03 -4.30186526e+01] [-1.75473399e-02 -3.56134577e-04 9.99845970e-01 1.05875560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.54, Y:-43.03, Z:1.06 [[ 8.84255847e-01 4.66708859e-01 1.65661918e-02 2.09540584e+02] [-4.66634267e-01 8.84410946e-01 -8.35100118e-03 -4.30271328e+01] [-1.85488076e-02 -3.45931138e-04 9.99827896e-01 1.05973542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.57, Y:-43.03, Z:1.06 [[ 8.85899176e-01 4.63539380e-01 1.77170251e-02 2.09570130e+02] [-4.63453644e-01 8.86076265e-01 -8.92029158e-03 -4.30319278e+01] [-1.98335418e-02 -3.08540874e-04 9.99803248e-01 1.05809794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.60, Y:-43.04, Z:1.06 [[ 8.86722441e-01 4.61974973e-01 1.73907220e-02 2.09597283e+02] [-4.61892256e-01 8.86892918e-01 -8.74623027e-03 -4.30427817e+01] [-1.94642477e-02 -2.77161160e-04 9.99810515e-01 1.05890572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.62, Y:-43.05, Z:1.06 [[ 8.88720060e-01 4.58122159e-01 1.73419082e-02 2.09623739e+02] [-4.58039360e-01 8.88889221e-01 -8.71193006e-03 -4.30534378e+01] [-1.94061635e-02 -2.00809547e-04 9.99811663e-01 1.05775870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.65, Y:-43.06, Z:1.06 [[ 8.89908905e-01 4.55830401e-01 1.67566859e-02 2.09650370e+02] [-4.55752866e-01 8.90066639e-01 -8.40856459e-03 -4.30649388e+01] [-1.87474465e-02 -1.54051102e-04 9.99824239e-01 1.05885927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.68, Y:-43.08, Z:1.06 [[ 8.91095794e-01 4.53512653e-01 1.65698142e-02 2.09677532e+02] [-4.53436609e-01 8.91249831e-01 -8.30549265e-03 -4.30751306e+01] [-1.85344901e-02 -1.12370778e-04 9.99828215e-01 1.05934593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71232058799998 meters Centerline goodness [0,1] 0.999950760746467 Centerline is valid? [True, True] Translation: X:209.70, Y:-43.09, Z:1.06 [[ 8.92441422e-01 4.50861035e-01 1.65116970e-02 2.09703527e+02] [-4.50785270e-01 8.92594153e-01 -8.26543113e-03 -4.30852569e+01] [-1.84648051e-02 -6.68167068e-05 9.99829509e-01 1.05988619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74232058799998 meters Centerline goodness [0,1] 0.9999507583218437 Centerline is valid? [True, True] Translation: X:209.73, Y:-43.10, Z:1.06 [[ 8.94846133e-01 4.46112948e-01 1.52851789e-02 2.09730274e+02] [-4.46047469e-01 8.94976669e-01 -7.64313788e-03 -4.30959456e+01] [-1.70895813e-02 2.15170041e-05 9.99853962e-01 1.05763565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.76, Y:-43.11, Z:1.06 [[ 8.95945283e-01 4.43908770e-01 1.50683050e-02 2.09755446e+02] [-4.43844992e-01 8.96071984e-01 -7.52475666e-03 -4.31085621e+01] [-1.68425914e-02 5.37785309e-05 9.99858152e-01 1.05765717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.78, Y:-43.12, Z:1.06 [[ 8.97006071e-01 4.41753472e-01 1.52963571e-02 2.09780626e+02] [-4.41687601e-01 8.97136479e-01 -7.62894986e-03 -4.31205932e+01] [-1.70930351e-02 8.70030651e-05 9.99853900e-01 1.05758367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.81, Y:-43.13, Z:1.06 [[ 8.97912661e-01 4.39950013e-01 1.40299609e-02 2.09806456e+02] [-4.39894495e-01 8.98022258e-01 -6.98986884e-03 -4.31335753e+01] [-1.56744100e-02 1.04589171e-04 9.99877143e-01 1.05892894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.83, Y:-43.15, Z:1.06 [[ 8.98195197e-01 4.39350027e-01 1.47289250e-02 2.09832080e+02] [-4.39288888e-01 8.98315947e-01 -7.33024101e-03 -4.31472091e+01] [-1.64517698e-02 1.13734207e-04 9.99864654e-01 1.05906385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.86, Y:-43.16, Z:1.06 [[ 8.98787640e-01 4.38098159e-01 1.58360705e-02 2.09857427e+02] [-4.38027438e-01 8.98927129e-01 -7.87276272e-03 -4.31602654e+01] [-1.76845162e-02 1.39308447e-04 9.99843607e-01 1.05911342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.88, Y:-43.17, Z:1.06 [[ 8.98998972e-01 4.37643058e-01 1.64134532e-02 2.09883061e+02] [-4.37567171e-01 8.99148782e-01 -8.15098116e-03 -4.31733548e+01] [-1.83253568e-02 1.45735397e-04 9.99832066e-01 1.05844595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.91, Y:-43.19, Z:1.06 [[ 8.98996062e-01 4.37618718e-01 1.72028520e-02 2.09908776e+02] [-4.37535525e-01 8.99160629e-01 -8.53389533e-03 -4.31870550e+01] [-1.92027195e-02 1.45079423e-04 9.99815600e-01 1.05824946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.93, Y:-43.20, Z:1.06 [[ 8.99286322e-01 4.37057482e-01 1.62747835e-02 2.09934108e+02] [-4.36983095e-01 8.99433565e-01 -8.06456202e-03 -4.32001431e+01] [-1.81627637e-02 1.40545045e-04 9.99835034e-01 1.05791051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.96, Y:-43.21, Z:1.06 [[ 8.99470324e-01 4.36774395e-01 1.34634115e-02 2.09960114e+02] [-4.36723563e-01 8.99571072e-01 -6.66446063e-03 -4.32135322e+01] [-1.50221613e-02 1.14695505e-04 9.99887154e-01 1.05849933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.99, Y:-43.23, Z:1.06 [[ 8.99767868e-01 4.36189614e-01 1.25061903e-02 2.09986182e+02] [-4.36145739e-01 8.99854770e-01 -6.18763318e-03 -4.32258836e+01] [-1.39527364e-02 1.12911876e-04 9.99902649e-01 1.05884553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.01, Y:-43.24, Z:1.06 [[ 8.99788231e-01 4.36175463e-01 1.14936797e-02 2.10011484e+02] [-4.36138500e-01 8.99861632e-01 -5.67909527e-03 -4.32388104e+01] [-1.28198034e-02 9.71468618e-05 9.99917818e-01 1.05910669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.04, Y:-43.25, Z:1.06 [[ 8.99018081e-01 4.37657762e-01 1.49054655e-02 2.10037070e+02] [-4.37595810e-01 8.99141632e-01 -7.36434142e-03 -4.32510752e+01] [-1.66251858e-02 9.81068426e-05 9.99861787e-01 1.05856871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.06, Y:-43.26, Z:1.06 [[ 8.98985014e-01 4.37707963e-01 1.54169876e-02 2.10063173e+02] [-4.37641892e-01 8.99117196e-01 -7.60544736e-03 -4.32621125e+01] [-1.71906436e-02 9.00635566e-05 9.99852226e-01 1.05853780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.09, Y:-43.27, Z:1.06 [[ 8.98896022e-01 4.37855428e-01 1.63879961e-02 2.10089099e+02] [-4.37780949e-01 8.99045392e-01 -8.07612601e-03 -4.32738806e+01] [-1.82697279e-02 8.52450874e-05 9.99833091e-01 1.05775588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.11, Y:-43.29, Z:1.06 [[ 8.99208924e-01 4.37273477e-01 1.46702672e-02 2.10113428e+02] [-4.37213851e-01 8.99328583e-01 -7.22145013e-03 -4.32886783e+01] [-1.63511392e-02 7.95483878e-05 9.99866308e-01 1.05553474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.14, Y:-43.30, Z:1.06 [[ 8.99094755e-01 4.37505959e-01 1.47362599e-02 2.10137770e+02] [-4.37445983e-01 8.99215509e-01 -7.24435896e-03 -4.33024322e+01] [-1.64205237e-02 6.70474360e-05 9.99865172e-01 1.05501612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.16, Y:-43.31, Z:1.06 [[ 8.99567671e-01 4.36503298e-01 1.55844745e-02 2.10164239e+02] [-4.36436206e-01 8.99702653e-01 -7.65339823e-03 -4.33136023e+01] [-1.73621266e-02 8.31207008e-05 9.99849263e-01 1.05509444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.19, Y:-43.32, Z:1.06 [[ 8.99644216e-01 4.36386444e-01 1.43929230e-02 2.10191590e+02] [-4.36329321e-01 8.99759338e-01 -7.06095374e-03 -4.33230213e+01] [-1.60314714e-02 7.22918436e-05 9.99871485e-01 1.05729461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.22, Y:-43.33, Z:1.06 [[ 8.99861215e-01 4.35935032e-01 1.45066333e-02 2.10218570e+02] [-4.35877101e-01 8.99978135e-01 -7.10704451e-03 -4.33315026e+01] [-1.61538624e-02 7.22444466e-05 9.99869515e-01 1.05747810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.24, Y:-43.35, Z:1.06 [[ 8.99817147e-01 4.36002140e-01 1.52064400e-02 2.10243404e+02] [-4.35938624e-01 8.99945626e-01 -7.44221989e-03 -4.33454780e+01] [-1.69297929e-02 6.75625641e-05 9.99856679e-01 1.05708471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.27, Y:-43.36, Z:1.06 [[ 8.99722990e-01 4.36204148e-01 1.49827573e-02 2.10267563e+02] [-4.36142677e-01 8.99847731e-01 -7.32305078e-03 -4.33586208e+01] [-1.66765453e-02 5.40972738e-05 9.99860935e-01 1.05641214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.29, Y:-43.37, Z:1.06 [[ 8.99540619e-01 4.36536915e-01 1.61925045e-02 2.10293437e+02] [-4.36465316e-01 8.99686345e-01 -7.90616129e-03 -4.33715475e+01] [-1.80195064e-02 4.44466354e-05 9.99837635e-01 1.05668161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.32, Y:-43.38, Z:1.06 [[ 9.00045959e-01 4.35540594e-01 1.48883638e-02 2.10321190e+02] [-4.35480066e-01 9.00169089e-01 -7.26112971e-03 -4.33805559e+01] [-1.65645616e-02 5.17648094e-05 9.99862797e-01 1.05870513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.35, Y:-43.39, Z:1.06 [[ 9.00344161e-01 4.34958924e-01 1.38248444e-02 2.10348041e+02] [-4.34906784e-01 9.00450294e-01 -6.73476232e-03 -4.33917105e+01] [-1.53779302e-02 5.10853159e-05 9.99881751e-01 1.05987827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.38, Y:-43.40, Z:1.06 [[ 9.01334588e-01 4.32891927e-01 1.41612359e-02 2.10375255e+02] [-4.32837083e-01 9.01445824e-01 -6.89103243e-03 -4.34025190e+01] [-1.57486593e-02 8.16178387e-05 9.99875979e-01 1.05817214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.40, Y:-43.41, Z:1.06 [[ 9.02015746e-01 4.31471317e-01 1.41455373e-02 2.10400294e+02] [-4.31416564e-01 9.02126650e-01 -6.87428036e-03 -4.34142768e+01] [-1.57271210e-02 9.80900164e-05 9.99876316e-01 1.05800047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.43, Y:-43.43, Z:1.06 [[ 9.02593834e-01 4.30246032e-01 1.45850149e-02 2.10426620e+02] [-4.30187783e-01 9.02711659e-01 -7.08043141e-03 -4.34269193e+01] [-1.62123905e-02 1.16458517e-04 9.99868564e-01 1.05797793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.45, Y:-43.44, Z:1.06 [[ 9.02955995e-01 4.29463788e-01 1.52094027e-02 2.10452008e+02] [-4.29400470e-01 9.03084071e-01 -7.37552529e-03 -4.34393899e+01] [-1.69028903e-02 1.28850105e-04 9.99857128e-01 1.05897870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.612320588 meters Centerline goodness [0,1] 0.99995068547194 Centerline is valid? [True, True] Translation: X:210.48, Y:-43.45, Z:1.06 [[ 9.04286286e-01 4.26686571e-01 1.43137151e-02 2.10478530e+02] [-4.26630291e-01 9.04399549e-01 -6.93186881e-03 -4.34497071e+01] [-1.59030528e-02 1.61729461e-04 9.99873525e-01 1.06094447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.50, Y:-43.46, Z:1.06 [[ 9.04527518e-01 4.26180381e-01 1.41510548e-02 2.10503706e+02] [-4.26125448e-01 9.04638191e-01 -6.84437658e-03 -4.34606097e+01] [-1.57185236e-02 1.60802383e-04 9.99876443e-01 1.06052229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.53, Y:-43.47, Z:1.06 [[ 9.05592662e-01 4.23915906e-01 1.40440257e-02 2.10530882e+02] [-4.23861640e-01 9.05701534e-01 -6.78542802e-03 -4.34710160e+01] [-1.55961464e-02 1.92110075e-04 9.99878354e-01 1.05783654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.56, Y:-43.48, Z:1.06 [[ 9.06278892e-01 4.22406574e-01 1.52070821e-02 2.10556593e+02] [-4.22342866e-01 9.06406439e-01 -7.33962421e-03 -4.34848544e+01] [-1.68841026e-02 2.29143868e-04 9.99857427e-01 1.05691222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.58, Y:-43.50, Z:1.06 [[ 9.07343419e-01 4.20095772e-01 1.57309367e-02 2.10581198e+02] [-4.20027274e-01 9.07479732e-01 -7.59110883e-03 -4.34990661e+01] [-1.74644990e-02 2.80320167e-04 9.99847445e-01 1.05868816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.762320588 meters Centerline goodness [0,1] 0.999950874435056 Centerline is valid? [True, True] Translation: X:210.61, Y:-43.51, Z:1.06 [[ 9.08778425e-01 4.16971879e-01 1.60070879e-02 2.10606047e+02] [-4.16900649e-01 9.08919324e-01 -7.71430646e-03 -4.35130287e+01] [-1.77658004e-02 3.37229948e-04 9.99842119e-01 1.05928788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.792320588 meters Centerline goodness [0,1] 0.9999013271498347 Centerline is valid? [True, True] Translation: X:210.63, Y:-43.53, Z:1.06 [[ 9.11515672e-01 4.11057477e-01 1.30740483e-02 2.10630454e+02] [-4.11009455e-01 9.11609356e-01 -6.29355914e-03 -4.35277167e+01] [-1.45054393e-02 3.63120330e-04 9.99894725e-01 1.06093911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.822320588 meters Centerline goodness [0,1] 0.9999016086977911 Centerline is valid? [True, True] Translation: X:210.66, Y:-43.54, Z:1.06 [[ 9.12404220e-01 4.09113190e-01 1.20389493e-02 2.10655610e+02] [-4.09072389e-01 9.12483573e-01 -5.78882702e-03 -4.35415046e+01] [-1.33536289e-02 3.56948464e-04 9.99910773e-01 1.06112855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.852320588 meters Centerline goodness [0,1] 0.9999014001183198 Centerline is valid? [True, True] Translation: X:210.68, Y:-43.56, Z:1.06 [[ 9.12529935e-01 4.08796744e-01 1.32037773e-02 2.10680179e+02] [-4.08747728e-01 9.12625372e-01 -6.34236684e-03 -4.35564763e+01] [-1.46428411e-02 3.90585634e-04 9.99892712e-01 1.06064781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.882320588 meters Centerline goodness [0,1] 0.9999508309568296 Centerline is valid? [True, True] Translation: X:210.70, Y:-43.57, Z:1.06 [[ 9.12558087e-01 4.08731297e-01 1.32840264e-02 2.10703590e+02] [-4.08681796e-01 9.12654687e-01 -6.37276081e-03 -4.35731941e+01] [-1.47284758e-02 3.86574627e-04 9.99891455e-01 1.06049742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.73, Y:-43.59, Z:1.06 [[ 9.12076251e-01 4.09796474e-01 1.35558952e-02 2.10728128e+02] [-4.09745142e-01 9.12176908e-01 -6.49664597e-03 -4.35878148e+01] [-1.50276772e-02 3.70974311e-04 9.99887009e-01 1.06061474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.75, Y:-43.60, Z:1.06 [[ 9.11382144e-01 4.11323693e-01 1.39788226e-02 2.10752357e+02] [-4.11269397e-01 9.11489274e-01 -6.69223429e-03 -4.36033440e+01] [-1.54942214e-02 3.50120909e-04 9.99879896e-01 1.06148607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.972320588 meters Centerline goodness [0,1] 0.9996557659208262 Centerline is valid? [True, True] Translation: X:210.77, Y:-43.62, Z:1.06 [[ 9.10279076e-01 4.13773827e-01 1.35360110e-02 2.10774793e+02] [-4.13723293e-01 9.10379665e-01 -6.47319826e-03 -4.36222931e+01] [-1.50013491e-02 2.92253906e-04 9.99887431e-01 1.06218250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.002320588 meters Centerline goodness [0,1] 0.9999013758074856 Centerline is valid? [True, True] Translation: X:210.80, Y:-43.64, Z:1.06 [[ 9.09621289e-01 4.15209125e-01 1.38019384e-02 2.10799508e+02] [-4.15156852e-01 9.09725954e-01 -6.59376645e-03 -4.36372659e+01] [-1.52937736e-02 2.67861039e-04 9.99883008e-01 1.06220825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.032320588 meters Centerline goodness [0,1] 0.9997542272906017 Centerline is valid? [True, True] Translation: X:210.83, Y:-43.65, Z:1.06 [[ 9.09170597e-01 4.16186794e-01 1.40491284e-02 2.10825278e+02] [-4.16132868e-01 9.09279105e-01 -6.70416259e-03 -4.36507620e+01] [-1.55647628e-02 2.48923429e-04 9.99878831e-01 1.06125053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.85, Y:-43.66, Z:1.06 [[ 9.08216969e-01 4.18283054e-01 1.34619464e-02 2.10850606e+02] [-4.18233879e-01 9.08316711e-01 -6.41676504e-03 -4.36646429e+01] [-1.49117350e-02 1.97572829e-04 9.99888794e-01 1.06133067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.87, Y:-43.68, Z:1.06 [[ 9.08001249e-01 4.18755274e-01 1.33324011e-02 2.10874872e+02] [-4.18707217e-01 9.08099107e-01 -6.34651895e-03 -4.36778863e+01] [-1.47647798e-02 1.80274580e-04 9.99890978e-01 1.06225528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.90, Y:-43.69, Z:1.06 [[ 9.08134472e-01 4.18477222e-01 1.29844358e-02 2.10899448e+02] [-4.18431726e-01 9.08227276e-01 -6.17297212e-03 -4.36913042e+01] [-1.43760670e-02 1.72788884e-04 9.99896644e-01 1.06304463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.152320588 meters Centerline goodness [0,1] 0.9997542152091629 Centerline is valid? [True, True] Translation: X:210.92, Y:-43.71, Z:1.06 [[ 9.08068443e-01 4.18641504e-01 1.22879566e-02 2.10923752e+02] [-4.18600859e-01 9.08151566e-01 -5.83557061e-03 -4.37071625e+01] [-1.36023391e-02 1.55348349e-04 9.99907472e-01 1.06211299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18232058799998 meters Centerline goodness [0,1] 0.9997539491166774 Centerline is valid? [True, True] Translation: X:210.95, Y:-43.72, Z:1.06 [[ 9.08585657e-01 4.17506013e-01 1.26819881e-02 2.10948739e+02] [-4.17462702e-01 9.08674144e-01 -6.01605688e-03 -4.37219654e+01] [-1.40355346e-02 1.71845981e-04 9.99901482e-01 1.06137159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21232058799998 meters Centerline goodness [0,1] 0.999803139918303 Centerline is valid? [True, True] Translation: X:210.97, Y:-43.74, Z:1.06 [[ 9.08787271e-01 4.17087765e-01 1.19788204e-02 2.10972463e+02] [-4.17049191e-01 9.08866200e-01 -5.67472704e-03 -4.37363012e+01] [-1.32540042e-02 1.61362325e-04 9.99912149e-01 1.06235413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.00, Y:-43.75, Z:1.06 [[ 9.09209490e-01 4.16158872e-01 1.22432338e-02 2.10996142e+02] [-4.16118592e-01 9.09291902e-01 -5.79258575e-03 -4.37504929e+01] [-1.35433093e-02 1.72036711e-04 9.99908270e-01 1.06338321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27232058799999 meters Centerline goodness [0,1] 0.9999017343880509 Centerline is valid? [True, True] Translation: X:211.02, Y:-43.77, Z:1.06 [[ 9.09839959e-01 4.14748089e-01 1.32390097e-02 2.11019549e+02] [-4.14700935e-01 9.09936251e-01 -6.25725540e-03 -4.37672440e+01] [-1.46418396e-02 2.02871307e-04 9.99892782e-01 1.06494468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.302320588 meters Centerline goodness [0,1] 0.9995083820854432 Centerline is valid? [True, True] Translation: X:211.04, Y:-43.78, Z:1.07 [[ 9.10424889e-01 4.13498332e-01 1.20686255e-02 2.11042809e+02] [-4.13459141e-01 9.10504855e-01 -5.69629534e-03 -4.37831850e+01] [-1.33439507e-02 1.96165513e-04 9.99910946e-01 1.06623134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.332320588 meters Centerline goodness [0,1] 0.9993103787990739 Centerline is valid? [True, True] Translation: X:211.06, Y:-43.80, Z:1.06 [[ 9.11005240e-01 4.12226342e-01 1.17854079e-02 2.11064708e+02] [-4.12188957e-01 9.11081446e-01 -5.55535772e-03 -4.38021863e+01] [-1.30275312e-02 2.03145016e-04 9.99915117e-01 1.06484004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.362320588 meters Centerline goodness [0,1] 0.9993103787990739 Centerline is valid? [True, True] Translation: X:211.09, Y:-43.81, Z:1.06 [[ 9.11210109e-01 4.11773209e-01 1.17881697e-02 2.11089375e+02] [-4.11735862e-01 9.11286334e-01 -5.54949640e-03 -4.38141671e+01] [-1.30275319e-02 2.03145026e-04 9.99915117e-01 1.06497856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.392320588 meters Centerline goodness [0,1] 0.999605328071041 Centerline is valid? [True, True] Translation: X:211.11, Y:-43.83, Z:1.06 [[ 9.11224464e-01 4.11760636e-01 1.10975017e-02 2.11114758e+02] [-4.11727606e-01 9.11292019e-01 -5.21863540e-03 -4.38288481e+01] [-1.22618934e-02 1.86200431e-04 9.99924803e-01 1.06431651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.422320588 meters Centerline goodness [0,1] 0.9997541426955795 Centerline is valid? [True, True] Translation: X:211.14, Y:-43.84, Z:1.06 [[ 9.11179872e-01 4.11896712e-01 9.60936656e-03 2.11140266e+02] [-4.11872012e-01 9.11230528e-01 -4.51342749e-03 -4.38432432e+01] [-1.06154141e-02 1.54715152e-04 9.99943643e-01 1.06490616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.452320588 meters Centerline goodness [0,1] 0.9998031108485922 Centerline is valid? [True, True] Translation: X:211.16, Y:-43.86, Z:1.06 [[ 9.10781872e-01 4.12701236e-01 1.24125225e-02 2.11163386e+02] [-4.12660179e-01 9.10866432e-01 -5.82411426e-03 -4.38624085e+01] [-1.37097693e-02 1.82343917e-04 9.99906000e-01 1.06435139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.482320588 meters Centerline goodness [0,1] 0.9996062216971845 Centerline is valid? [True, True] Translation: X:211.19, Y:-43.88, Z:1.07 [[ 9.10710217e-01 4.12819332e-01 1.36784767e-02 2.11187194e+02] [-4.12769592e-01 9.10812913e-01 -6.41105571e-03 -4.38789176e+01] [-1.51051409e-02 1.92554712e-04 9.99885892e-01 1.06524112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.512320588 meters Centerline goodness [0,1] 0.9995079224485779 Centerline is valid? [True, True] Translation: X:211.21, Y:-43.89, Z:1.07 [[ 9.10716255e-01 4.12793615e-01 1.40475712e-02 2.11210769e+02] [-4.12741289e-01 9.10824569e-01 -6.57518293e-03 -4.38940318e+01] [-1.55090665e-02 1.90113340e-04 9.99879709e-01 1.06642907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.542320588 meters Centerline goodness [0,1] 0.9996063379588623 Centerline is valid? [True, True] Translation: X:211.23, Y:-43.91, Z:1.07 [[ 9.09791470e-01 4.14892214e-01 1.19971702e-02 2.11234824e+02] [-4.14854318e-01 9.09870559e-01 -5.60896341e-03 -4.39112475e+01] [-1.32429872e-02 1.25909200e-04 9.99912300e-01 1.06580438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.572320588 meters Centerline goodness [0,1] 0.9999015117939627 Centerline is valid? [True, True] Translation: X:211.26, Y:-43.93, Z:1.07 [[ 9.09310168e-01 4.15956258e-01 1.16365886e-02 2.11259471e+02] [-4.15920775e-01 9.09384617e-01 -5.43395118e-03 -4.39263291e+01] [-1.28424207e-02 1.01248106e-04 9.99917528e-01 1.06557569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.602320588 meters Centerline goodness [0,1] 0.9997046081134305 Centerline is valid? [True, True] Translation: X:211.28, Y:-43.94, Z:1.07 [[ 9.08935713e-01 4.16775845e-01 1.15656625e-02 2.11283514e+02] [-4.16740956e-01 9.09009289e-01 -5.39327916e-03 -4.39413240e+01] [-1.27610831e-02 8.22587959e-05 9.99918571e-01 1.06606716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.632320588 meters Centerline goodness [0,1] 0.9999507486209613 Centerline is valid? [True, True] Translation: X:211.31, Y:-43.96, Z:1.07 [[ 9.07805990e-01 4.19171320e-01 1.35531624e-02 2.11308466e+02] [-4.19123773e-01 9.07907155e-01 -6.31355830e-03 -4.39559407e+01] [-1.49514757e-02 5.10334921e-05 9.99888219e-01 1.06847693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.662320588 meters Centerline goodness [0,1] 0.9999507728660038 Centerline is valid? [True, True] Translation: X:211.33, Y:-43.97, Z:1.07 [[ 9.06864600e-01 4.21119228e-01 1.59747419e-02 2.11334814e+02] [-4.21053619e-01 9.07005290e-01 -7.43329972e-03 -4.39685713e+01] [-1.76194809e-02 1.47734710e-05 9.99844765e-01 1.06836893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.692320588 meters Centerline goodness [0,1] 0.9998027613412229 Centerline is valid? [True, True] Translation: X:211.36, Y:-43.98, Z:1.07 [[ 9.06098145e-01 4.22811945e-01 1.47041369e-02 2.11359772e+02] [-4.22756716e-01 9.06217446e-01 -6.83379713e-03 -4.39822810e+01] [-1.62145565e-02 -2.41817342e-05 9.99868535e-01 1.06877143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.38, Y:-44.00, Z:1.07 [[ 9.05315154e-01 4.24515383e-01 1.38261535e-02 2.11383621e+02] [-4.24466891e-01 9.05420723e-01 -6.41652226e-03 -4.39967945e+01] [-1.52423983e-02 -5.97695736e-05 9.99883826e-01 1.06824059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.41, Y:-44.01, Z:1.07 [[ 9.04436681e-01 4.26339663e-01 1.51255302e-02 2.11407975e+02] [-4.26282013e-01 9.04563144e-01 -7.01172779e-03 -4.40133353e+01] [-1.66713748e-02 -1.06077667e-04 9.99861017e-01 1.06846793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.43, Y:-44.03, Z:1.07 [[ 9.04618265e-01 4.25975805e-01 1.45054404e-02 2.11433454e+02] [-4.25922882e-01 9.04734548e-01 -6.71537193e-03 -4.40259661e+01] [-1.59841590e-02 -1.03350866e-04 9.99872240e-01 1.06874046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.46, Y:-44.04, Z:1.07 [[ 9.04579804e-01 4.26062730e-01 1.43501970e-02 2.11458429e+02] [-4.26011091e-01 9.04693615e-01 -6.63421862e-03 -4.40394925e+01] [-1.58091249e-02 -1.12162901e-04 9.99875022e-01 1.06932726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.842320588 meters Centerline goodness [0,1] 0.9998523985239852 Centerline is valid? [True, True] Translation: X:211.48, Y:-44.05, Z:1.07 [[ 9.05356469e-01 4.24361592e-01 1.57131737e-02 2.11483066e+02] [-4.24299561e-01 9.05492810e-01 -7.25623748e-03 -4.40549932e+01] [-1.73074343e-02 -9.76111444e-05 9.99850210e-01 1.06885609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.872320588 meters Centerline goodness [0,1] 0.9998523912615627 Centerline is valid? [True, True] Translation: X:211.51, Y:-44.07, Z:1.07 [[ 9.05295201e-01 4.24519969e-01 1.49463913e-02 2.11509483e+02] [-4.24463852e-01 9.05418570e-01 -6.90302435e-03 -4.40684783e+01] [-1.64632119e-02 -9.49280117e-05 9.99864468e-01 1.06950558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.902320588 meters Centerline goodness [0,1] 0.9996552063836075 Centerline is valid? [True, True] Translation: X:211.54, Y:-44.08, Z:1.07 [[ 9.05584444e-01 4.23875313e-01 1.57013981e-02 2.11535794e+02] [-4.23813474e-01 9.05720547e-01 -7.24085585e-03 -4.40808271e+01] [-1.72902989e-02 -9.72576608e-05 9.99850507e-01 1.07008471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93232058799998 meters Centerline goodness [0,1] 0.9998030332873744 Centerline is valid? [True, True] Translation: X:211.56, Y:-44.09, Z:1.07 [[ 9.05511827e-01 4.24047857e-01 1.52232387e-02 2.11563043e+02] [-4.23989736e-01 9.05639777e-01 -7.02124968e-03 -4.40933244e+01] [-1.67641163e-02 -9.66723189e-05 9.99859468e-01 1.07005994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96232058799998 meters Centerline goodness [0,1] 0.9999506708760852 Centerline is valid? [True, True] Translation: X:211.59, Y:-44.11, Z:1.07 [[ 9.05716737e-01 4.23615569e-01 1.50679017e-02 2.11589180e+02] [-4.23558588e-01 9.05842062e-01 -6.94841836e-03 -4.41065985e+01] [-1.65925973e-02 -8.88403483e-05 9.99862329e-01 1.06972820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99232058799998 meters Centerline goodness [0,1] 0.9999015360378102 Centerline is valid? [True, True] Translation: X:211.62, Y:-44.12, Z:1.07 [[ 9.05476986e-01 4.24091468e-01 1.60578560e-02 2.11616091e+02] [-4.24026822e-01 9.05619355e-01 -7.40530929e-03 -4.41211087e+01] [-1.76828337e-02 -1.03624514e-04 9.99843641e-01 1.06977410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.64, Y:-44.13, Z:1.07 [[ 9.05076276e-01 4.24894838e-01 1.73583389e-02 2.11643203e+02] [-4.24819443e-01 9.05242708e-01 -8.00504552e-03 -4.41345889e+01] [-1.91148122e-02 -1.28983086e-04 9.99817287e-01 1.06979062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.052320588 meters Centerline goodness [0,1] 0.9999507946661418 Centerline is valid? [True, True] Translation: X:211.67, Y:-44.15, Z:1.07 [[ 9.05306770e-01 4.24424954e-01 1.68259128e-02 2.11672278e+02] [-4.24354001e-01 9.05463111e-01 -7.76119656e-03 -4.41472049e+01] [-1.85292888e-02 -1.13879625e-04 9.99828312e-01 1.07001034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.70, Y:-44.16, Z:1.07 [[ 9.05051969e-01 4.24985236e-01 1.63854364e-02 2.11701131e+02] [-4.24918019e-01 9.05200273e-01 -7.55931471e-03 -4.41606134e+01] [-1.80446987e-02 -1.20894509e-04 9.99837174e-01 1.06938847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.73, Y:-44.18, Z:1.07 [[ 9.04715283e-01 4.25627913e-01 1.81971274e-02 2.11728917e+02] [-4.25545110e-01 9.04898258e-01 -8.39651280e-03 -4.41762354e+01] [-2.00403391e-02 -1.47245138e-04 9.99799161e-01 1.06803479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.142320588 meters Centerline goodness [0,1] 0.9999507874015748 Centerline is valid? [True, True] Translation: X:211.76, Y:-44.19, Z:1.07 [[ 9.04717073e-01 4.25576555e-01 1.92772715e-02 2.11757034e+02] [-4.25483585e-01 9.04922413e-01 -8.89640709e-03 -4.41897802e+01] [-2.12305373e-02 -1.53431188e-04 9.99774595e-01 1.06801256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.79, Y:-44.20, Z:1.07 [[ 9.04745239e-01 4.25504368e-01 1.95470088e-02 2.11786765e+02] [-4.25408687e-01 9.04956358e-01 -9.02435345e-03 -4.42033026e+01] [-2.15290917e-02 -1.50726511e-04 9.99768211e-01 1.06849264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.82, Y:-44.22, Z:1.07 [[ 9.04334304e-01 4.26422658e-01 1.85251967e-02 2.11815824e+02] [-4.26336852e-01 9.04524013e-01 -8.55557730e-03 -4.42162431e+01] [-2.04047772e-02 -1.60871981e-04 9.99791788e-01 1.06877414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.84, Y:-44.23, Z:1.07 [[ 9.04227614e-01 4.26712778e-01 1.69890416e-02 2.11844633e+02] [-4.26640614e-01 9.04387186e-01 -7.84886106e-03 -4.42298377e+01] [-1.87138809e-02 -1.51058249e-04 9.99824869e-01 1.06810766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.87, Y:-44.24, Z:1.07 [[ 9.04171320e-01 4.26819268e-01 1.73071333e-02 2.11873216e+02] [-4.26744377e-01 9.04336933e-01 -7.99679153e-03 -4.42429080e+01] [-1.90646646e-02 -1.55252258e-04 9.99818241e-01 1.06798882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.90, Y:-44.26, Z:1.07 [[ 9.04052011e-01 4.26994720e-01 1.91172544e-02 2.11901772e+02] [-4.26903351e-01 9.04254101e-01 -8.83462821e-03 -4.42551943e+01] [-2.10591953e-02 -1.74256578e-04 9.99778215e-01 1.06780778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.93, Y:-44.27, Z:1.07 [[ 9.04056570e-01 4.26973979e-01 1.93633709e-02 2.11930561e+02] [-4.26880204e-01 9.04263894e-01 -8.94989323e-03 -4.42670512e+01] [-2.13309687e-02 -1.74629973e-04 9.99772454e-01 1.06818799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.96, Y:-44.28, Z:1.07 [[ 9.04110397e-01 4.26896504e-01 1.85408795e-02 2.11959257e+02] [-4.26810463e-01 9.04300474e-01 -8.57210182e-03 -4.42808208e+01] [-2.04259264e-02 -1.63314973e-04 9.99791356e-01 1.06904729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.99, Y:-44.29, Z:1.07 [[ 9.05491743e-01 4.24019794e-01 1.70855793e-02 2.11987631e+02] [-4.23946195e-01 9.05652917e-01 -7.90047756e-03 -4.42939971e+01] [-1.88235636e-02 -8.95491303e-05 9.99822817e-01 1.06801516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.02, Y:-44.31, Z:1.07 [[ 9.06023083e-01 4.22888149e-01 1.69642697e-02 2.12015483e+02] [-4.22815368e-01 9.06181885e-01 -7.84573473e-03 -4.43076956e+01] [-1.86905821e-02 -6.43371493e-05 9.99825314e-01 1.06793333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.442320588 meters Centerline goodness [0,1] 0.9999507146377525 Centerline is valid? [True, True] Translation: X:212.04, Y:-44.32, Z:1.07 [[ 9.06265294e-01 4.22293379e-01 1.87488421e-02 2.12043128e+02] [-4.22204321e-01 9.06459210e-01 -8.67251472e-03 -4.43216977e+01] [-2.06574061e-02 -5.62430295e-05 9.99786611e-01 1.06825306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.07, Y:-44.34, Z:1.07 [[ 9.06328183e-01 4.22104009e-01 1.99356310e-02 2.12072158e+02] [-4.22003196e-01 9.06547408e-01 -9.22498068e-03 -4.43362077e+01] [-2.19664959e-02 -5.20399912e-05 9.99758706e-01 1.06925926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.10, Y:-44.35, Z:1.07 [[ 9.06236230e-01 4.22393355e-01 1.78815287e-02 2.12101543e+02] [-4.22312247e-01 9.06412627e-01 -8.27738449e-03 -4.43494210e+01] [-1.97043556e-02 -5.03228632e-05 9.99805849e-01 1.06927337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.13, Y:-44.36, Z:1.07 [[ 9.05830282e-01 4.23293409e-01 1.71520020e-02 2.12130424e+02] [-4.23218894e-01 9.05992652e-01 -7.94240793e-03 -4.43631843e+01] [-1.89015567e-02 -6.45777045e-05 9.99821348e-01 1.06908276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.16, Y:-44.38, Z:1.07 [[ 9.04113295e-01 4.26895175e-01 1.84298320e-02 2.12158237e+02] [-4.26809831e-01 9.04301105e-01 -8.53698600e-03 -4.43795552e+01] [-2.03105155e-02 -1.47630932e-04 9.99793709e-01 1.06918424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.19, Y:-44.39, Z:1.07 [[ 9.03179582e-01 4.28825062e-01 1.93832307e-02 2.12187650e+02] [-4.28731038e-01 9.03387529e-01 -8.98161958e-03 -4.43936782e+01] [-2.13621124e-02 -1.98177200e-04 9.99771784e-01 1.06904868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.22, Y:-44.41, Z:1.07 [[ 9.02432951e-01 4.30372865e-01 1.98485853e-02 2.12216866e+02] [-4.30274578e-01 9.02651173e-01 -9.20039626e-03 -4.44070256e+01] [-2.18759497e-02 -2.37600913e-04 9.99760665e-01 1.06923545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.25, Y:-44.42, Z:1.07 [[ 9.01631897e-01 4.32093723e-01 1.88397899e-02 2.12246399e+02] [-4.32005486e-01 9.01828668e-01 -8.73579039e-03 -4.44202768e+01] [-2.07649428e-02 -2.62425332e-04 9.99784351e-01 1.06909141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.28, Y:-44.43, Z:1.07 [[ 9.00745053e-01 4.34022412e-01 1.68195233e-02 2.12275868e+02] [-4.33952371e-01 9.00902033e-01 -7.80173976e-03 -4.44339370e+01] [-1.85388726e-02 -2.71493520e-04 9.99828103e-01 1.06748087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.30, Y:-44.45, Z:1.07 [[ 9.00150183e-01 4.35276954e-01 1.62364291e-02 2.12304026e+02] [-4.35211872e-01 9.00296558e-01 -7.53222176e-03 -4.44465493e+01] [-1.78962037e-02 -2.86155892e-04 9.99839809e-01 1.06830976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.33, Y:-44.46, Z:1.07 [[ 8.99626615e-01 4.36347821e-01 1.65085677e-02 2.12333172e+02] [-4.36280696e-01 8.99778018e-01 -7.65976413e-03 -4.44586404e+01] [-1.81963677e-02 -3.11441719e-04 9.99834384e-01 1.06832525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.36, Y:-44.47, Z:1.07 [[ 8.97629313e-01 4.40378055e-01 1.81324432e-02 2.12362581e+02] [-4.40297902e-01 8.97812331e-01 -8.41282583e-03 -4.44676930e+01] [-1.99843550e-02 -4.32077643e-04 9.99800199e-01 1.07090777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.39, Y:-44.48, Z:1.07 [[ 8.96510074e-01 4.42663798e-01 1.78451542e-02 2.12391612e+02] [-4.42586582e-01 8.96687536e-01 -8.28130026e-03 -4.44792670e+01] [-1.96673591e-02 -4.73756677e-04 9.99806467e-01 1.07105254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.42, Y:-44.49, Z:1.07 [[ 8.95830284e-01 4.44021500e-01 1.82485341e-02 2.12419377e+02] [-4.43941042e-01 8.96015983e-01 -8.46812625e-03 -4.44909868e+01] [-2.01110083e-02 -5.15269287e-04 9.99797620e-01 1.07112563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.45, Y:-44.50, Z:1.07 [[ 8.94639627e-01 4.46491416e-01 1.62896822e-02 2.12448180e+02] [-4.46427743e-01 8.94787771e-01 -7.55749575e-03 -4.44990660e+01] [-1.79501654e-02 -5.10930877e-04 9.99838752e-01 1.07085237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.48, Y:-44.51, Z:1.07 [[ 8.94583572e-01 4.46657071e-01 1.47544573e-02 2.12475849e+02] [-4.46605013e-01 8.94705111e-01 -6.83566850e-03 -4.45089762e+01] [-1.62540881e-02 -4.74337879e-04 9.99867781e-01 1.07039124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.50, Y:-44.52, Z:1.07 [[ 8.94946586e-01 4.45879746e-01 1.61820795e-02 2.12502563e+02] [-4.45817159e-01 8.95092727e-01 -7.48806560e-03 -4.45191653e+01] [-1.78232384e-02 -5.12829956e-04 9.99841022e-01 1.06992926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.53, Y:-44.53, Z:1.07 [[ 8.96791841e-01 4.42143165e-01 1.65473576e-02 2.12531128e+02] [-4.42077251e-01 8.96944376e-01 -7.64798151e-03 -4.45266068e+01] [-1.82235621e-02 -4.56562952e-04 9.99833833e-01 1.07090981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.56, Y:-44.54, Z:1.07 [[ 8.98165893e-01 4.39373512e-01 1.57780317e-02 2.12558628e+02] [-4.39313218e-01 8.98304385e-01 -7.28886674e-03 -4.45368553e+01] [-1.73760100e-02 -3.84886377e-04 9.99848952e-01 1.07140990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.59, Y:-44.55, Z:1.07 [[ 8.99429307e-01 4.36833445e-01 1.42640624e-02 2.12585992e+02] [-4.36783979e-01 8.99542353e-01 -6.58111647e-03 -4.45474830e+01] [-1.57059801e-02 -3.11064912e-04 9.99876605e-01 1.07266380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.61, Y:-44.56, Z:1.07 [[ 9.01079419e-01 4.33414172e-01 1.44234667e-02 2.12612659e+02] [-4.33363286e-01 9.01194811e-01 -6.64642498e-03 -4.45580745e+01] [-1.58790082e-02 -2.61644179e-04 9.99873886e-01 1.07128731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.64, Y:-44.57, Z:1.07 [[ 9.02003903e-01 4.31481809e-01 1.45742113e-02 2.12639178e+02] [-4.31429729e-01 9.02121606e-01 -6.70797049e-03 -4.45686352e+01] [-1.60420782e-02 -2.37132463e-04 9.99871289e-01 1.07163010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.66, Y:-44.58, Z:1.07 [[ 9.03029814e-01 4.29310806e-01 1.51455256e-02 2.12664820e+02] [-4.29254419e-01 9.03156789e-01 -6.96116635e-03 -4.45785759e+01] [-1.66672882e-02 -2.15143024e-04 9.99861068e-01 1.07149162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.69, Y:-44.59, Z:1.07 [[ 9.04661665e-01 4.25869111e-01 1.49255282e-02 2.12691175e+02] [-4.25814011e-01 9.04784768e-01 -6.85217445e-03 -4.45891120e+01] [-1.64225200e-02 -1.56599476e-04 9.99865129e-01 1.07288352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.72, Y:-44.60, Z:1.07 [[ 9.05730526e-01 4.23607446e-01 1.44549786e-02 2.12716904e+02] [-4.23555605e-01 9.05845857e-01 -6.62814879e-03 -4.46017293e+01] [-1.59017157e-02 -1.19170516e-04 9.99873553e-01 1.07261687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.74, Y:-44.61, Z:1.07 [[ 9.06808947e-01 4.21318267e-01 1.37277782e-02 2.12742557e+02] [-4.21271366e-01 9.06912846e-01 -6.28692255e-03 -4.46137950e+01] [-1.50986937e-02 -8.20822540e-05 9.99886005e-01 1.07180362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.77, Y:-44.63, Z:1.07 [[ 9.07939713e-01 4.18894038e-01 1.31629092e-02 2.12769254e+02] [-4.18850769e-01 9.08035122e-01 -6.02087111e-03 -4.46256955e+01] [-1.44744909e-02 -4.67066562e-05 9.99895238e-01 1.07189122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.79, Y:-44.64, Z:1.07 [[ 9.08154329e-01 4.18428451e-01 1.31661128e-02 2.12794062e+02] [-4.18385234e-01 9.08249762e-01 -6.01386416e-03 -4.46373973e+01] [-1.44744907e-02 -4.69904150e-05 9.99895238e-01 1.07202970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.82, Y:-44.65, Z:1.07 [[ 9.10409254e-01 4.13465903e-01 1.41752658e-02 2.12820218e+02] [-4.13415315e-01 9.10519603e-01 -6.46770234e-03 -4.46488981e+01] [-1.55810318e-02 2.79840715e-05 9.99878608e-01 1.07254397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.85, Y:-44.66, Z:1.07 [[ 9.11452653e-01 4.11116989e-01 1.53909909e-02 2.12845721e+02] [-4.11057153e-01 9.11582589e-01 -7.01430587e-03 -4.46625775e+01] [-1.69138597e-02 6.66307872e-05 9.99856948e-01 1.07323861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.87, Y:-44.68, Z:1.07 [[ 9.12108848e-01 4.09667395e-01 1.51682111e-02 2.12869696e+02] [-4.09609240e-01 9.12234958e-01 -6.90304122e-03 -4.46763777e+01] [-1.66649234e-02 8.32855363e-05 9.99861127e-01 1.07375211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.89, Y:-44.69, Z:1.07 [[ 9.13430856e-01 4.06740190e-01 1.43697035e-02 2.12893457e+02] [-4.06687776e-01 9.13543870e-01 -6.53068647e-03 -4.46908760e+01] [-1.57836472e-02 1.21347778e-04 9.99875423e-01 1.07296885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.92, Y:-44.70, Z:1.07 [[ 9.14214899e-01 4.04995008e-01 1.37898942e-02 2.12918135e+02] [-4.04946669e-01 9.14318886e-01 -6.25868270e-03 -4.47032750e+01] [-1.51430959e-02 1.37609276e-04 9.99885327e-01 1.07345313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.94, Y:-44.72, Z:1.07 [[ 9.15237591e-01 4.02692520e-01 1.33748263e-02 2.12942837e+02] [-4.02646921e-01 9.15335298e-01 -6.06209184e-03 -4.47164403e+01] [-1.46836097e-02 1.62921699e-04 9.99892177e-01 1.07238450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46232058799998 meters Centerline goodness [0,1] 0.9999507534718802 Centerline is valid? [True, True] Translation: X:212.97, Y:-44.73, Z:1.07 [[ 9.16576522e-01 3.99605342e-01 1.42495595e-02 2.12967164e+02] [-3.99553318e-01 9.16687255e-01 -6.45163771e-03 -4.47333904e+01] [-1.56404985e-02 2.19960873e-04 9.99877656e-01 1.07241519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49232058799998 meters Centerline goodness [0,1] 0.9998518152630279 Centerline is valid? [True, True] Translation: X:212.99, Y:-44.75, Z:1.07 [[ 9.17181023e-01 3.98202188e-01 1.46283271e-02 2.12992458e+02] [-3.98147307e-01 9.17297639e-01 -6.61544847e-03 -4.47480905e+01] [-1.60528160e-02 2.43334757e-04 9.99871116e-01 1.07258478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52232058799999 meters Centerline goodness [0,1] 0.999950760746467 Centerline is valid? [True, True] Translation: X:213.02, Y:-44.76, Z:1.07 [[ 9.17595660e-01 3.97231152e-01 1.50205544e-02 2.13017718e+02] [-3.97173288e-01 9.17718554e-01 -6.78495138e-03 -4.47626041e+01] [-1.64798355e-02 2.60078962e-04 9.99864164e-01 1.07221905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.552320588 meters Centerline goodness [0,1] 0.9999015990159902 Centerline is valid? [True, True] Translation: X:213.04, Y:-44.78, Z:1.07 [[ 9.18292399e-01 3.95636126e-01 1.45301829e-02 2.13042276e+02] [-3.95581901e-01 9.18407307e-01 -6.55572092e-03 -4.47778049e+01] [-1.59383062e-02 2.72191326e-04 9.99872940e-01 1.07201122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.07, Y:-44.80, Z:1.07 [[ 9.18363615e-01 3.95533737e-01 1.27017262e-02 2.13065877e+02] [-3.95492262e-01 9.18451417e-01 -5.73287230e-03 -4.47989924e+01] [-1.39334629e-02 2.41426889e-04 9.99902895e-01 1.07453690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.612320588 meters Centerline goodness [0,1] 0.9999507097791798 Centerline is valid? [True, True] Translation: X:213.09, Y:-44.82, Z:1.07 [[ 9.18196415e-01 3.95907041e-01 1.31514091e-02 2.13091967e+02] [-3.95862615e-01 9.18290562e-01 -5.93583485e-03 -4.48150362e+01] [-1.44268537e-02 2.44111054e-04 9.99895898e-01 1.07473901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.642320588 meters Centerline goodness [0,1] 0.9999506781750925 Centerline is valid? [True, True] Translation: X:213.12, Y:-44.83, Z:1.08 [[ 9.17836997e-01 3.96739884e-01 1.31419716e-02 2.13118966e+02] [-3.96695588e-01 9.17931049e-01 -5.93291300e-03 -4.48304772e+01] [-1.44172470e-02 2.32084905e-04 9.99896039e-01 1.07565465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.672320588 meters Centerline goodness [0,1] 0.9999507146377525 Centerline is valid? [True, True] Translation: X:213.15, Y:-44.85, Z:1.08 [[ 9.17218984e-01 3.98162268e-01 1.32719113e-02 2.13145032e+02] [-3.98117217e-01 9.17314975e-01 -5.99324471e-03 -4.48501757e+01] [-1.45608069e-02 2.13341438e-04 9.99893963e-01 1.07501218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.702320588 meters Centerline goodness [0,1] 0.9999507583218437 Centerline is valid? [True, True] Translation: X:213.17, Y:-44.87, Z:1.07 [[ 9.17023956e-01 3.98605957e-01 1.34296105e-02 2.13172726e+02] [-3.98559844e-01 9.17122264e-01 -6.06669599e-03 -4.48668121e+01] [-1.47348160e-02 2.10802095e-04 9.99891414e-01 1.07467646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.20, Y:-44.89, Z:1.08 [[ 9.16351248e-01 4.00106862e-01 1.46591287e-02 2.13198654e+02] [-4.00052074e-01 9.16468470e-01 -6.62428225e-03 -4.48871188e+01] [-1.60850500e-02 2.05754471e-04 9.99870606e-01 1.07595317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.23, Y:-44.90, Z:1.08 [[ 9.15494159e-01 4.02081327e-01 1.41792774e-02 2.13226184e+02] [-4.02030270e-01 9.15603942e-01 -6.40964004e-03 -4.49047961e+01] [-1.55597988e-02 1.67489316e-04 9.99878925e-01 1.07726207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.25, Y:-44.92, Z:1.08 [[ 9.15146327e-01 4.02879212e-01 1.39835750e-02 2.13253263e+02] [-4.02829603e-01 9.15253144e-01 -6.32404340e-03 -4.49219374e+01] [-1.53463366e-02 1.54427132e-04 9.99882226e-01 1.07716368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.28, Y:-44.94, Z:1.08 [[ 9.13315802e-01 4.06997247e-01 1.44043695e-02 2.13278785e+02] [-4.06945087e-01 9.13429380e-01 -6.51641774e-03 -4.49427759e+01] [-1.58095384e-02 8.97598995e-05 9.99875017e-01 1.07610437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.31, Y:-44.96, Z:1.08 [[ 9.12100798e-01 4.09711325e-01 1.44486685e-02 2.13306815e+02] [-4.09659147e-01 9.12215231e-01 -6.53872886e-03 -4.49577191e+01] [-1.58592867e-02 4.49506189e-05 9.99874233e-01 1.07598537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.34, Y:-44.97, Z:1.08 [[ 9.10718661e-01 4.12733806e-01 1.55668397e-02 2.13335375e+02] [-4.12673639e-01 9.10851692e-01 -7.04714006e-03 -4.49720731e+01] [-1.70876752e-02 -6.06244915e-06 9.99853995e-01 1.07585144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.36, Y:-44.99, Z:1.08 [[ 9.08681824e-01 4.17219005e-01 1.50214674e-02 2.13364758e+02] [-4.17163527e-01 9.08805972e-01 -6.80419644e-03 -4.49873085e+01] [-1.64904394e-02 -8.35586956e-05 9.99864020e-01 1.07587507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.39, Y:-45.01, Z:1.08 [[ 9.05089540e-01 4.24921865e-01 1.59478160e-02 2.13391431e+02] [-4.24860487e-01 9.05230000e-01 -7.22587078e-03 -4.50055719e+01] [-1.75068720e-02 -2.35536817e-04 9.99846715e-01 1.07584174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.42, Y:-45.02, Z:1.08 [[ 9.03363727e-01 4.28596088e-01 1.54715882e-02 2.13420015e+02] [-4.28538817e-01 9.03496157e-01 -7.01256055e-03 -4.50212526e+01] [-1.69840765e-02 -2.95283297e-04 9.99855717e-01 1.07690393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.45, Y:-45.04, Z:1.08 [[ 9.01630622e-01 4.32211686e-01 1.59774908e-02 2.13448812e+02] [-4.32150988e-01 9.01772102e-01 -7.25248079e-03 -4.50353509e+01] [-1.75426624e-02 -3.65629680e-04 9.99846049e-01 1.07674616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.48, Y:-45.05, Z:1.08 [[ 8.99760951e-01 4.36109037e-01 1.54641494e-02 2.13478269e+02] [-4.36052739e-01 8.99893730e-01 -7.02018780e-03 -4.50474167e+01] [-1.69776584e-02 -4.26693855e-04 9.99855778e-01 1.07620515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.51, Y:-45.06, Z:1.08 [[ 8.98591550e-01 4.38504469e-01 1.57180236e-02 2.13507753e+02] [-4.38446583e-01 8.98728883e-01 -7.14067115e-03 -4.50591675e+01] [-1.72574580e-02 -4.74966986e-04 9.99850966e-01 1.07641749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.54, Y:-45.07, Z:1.08 [[ 8.97428384e-01 4.40868309e-01 1.60446147e-02 2.13537303e+02] [-4.40808336e-01 8.97571643e-01 -7.29088772e-03 -4.50716747e+01] [-1.76155125e-02 -5.29550318e-04 9.99844695e-01 1.07678407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.57, Y:-45.08, Z:1.08 [[ 8.96189829e-01 4.43336940e-01 1.72089425e-02 2.13567938e+02] [-4.43268351e-01 8.96354827e-01 -7.82258624e-03 -4.50815750e+01] [-1.88933601e-02 -6.17657336e-04 9.99821314e-01 1.07758698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.60, Y:-45.09, Z:1.08 [[ 8.95953661e-01 4.43849749e-01 1.62615209e-02 2.13598455e+02] [-4.43788544e-01 8.96101027e-01 -7.39447734e-03 -4.50919227e+01] [-1.78540024e-02 -5.91567617e-04 9.99840430e-01 1.07907135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.63, Y:-45.10, Z:1.08 [[ 8.95729974e-01 4.44323456e-01 1.56358717e-02 2.13629624e+02] [-4.44266873e-01 8.95866249e-01 -7.11403266e-03 -4.51038492e+01] [-1.71685813e-02 -5.74247535e-04 9.99852444e-01 1.07876174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.66, Y:-45.11, Z:1.08 [[ 8.96350979e-01 4.43024185e-01 1.68669742e-02 2.13660662e+02] [-4.42958069e-01 8.96509466e-01 -7.67632121e-03 -4.51136141e+01] [-1.85221979e-02 -5.90684285e-04 9.99828275e-01 1.07852560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.69, Y:-45.13, Z:1.08 [[ 8.96876290e-01 4.41971786e-01 1.65487285e-02 2.13691118e+02] [-4.41907916e-01 8.97028780e-01 -7.53407391e-03 -4.51251594e+01] [-1.81745338e-02 -5.55881873e-04 9.99834675e-01 1.07949335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27232058799999 meters Centerline goodness [0,1] 0.999950768018905 Centerline is valid? [True, True] Translation: X:213.72, Y:-45.14, Z:1.08 [[ 8.97289192e-01 4.41112570e-01 1.70823676e-02 2.13722007e+02] [-4.41044309e-01 8.97451611e-01 -7.77966015e-03 -4.51355721e+01] [-1.87623042e-02 -5.53476026e-04 9.99823819e-01 1.07933371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.75, Y:-45.14, Z:1.08 [[ 8.98523273e-01 4.38621299e-01 1.63488240e-02 2.13754660e+02] [-4.38558301e-01 8.98671869e-01 -7.44900779e-03 -4.51425171e+01] [-1.79595217e-02 -4.76805622e-04 9.99838601e-01 1.07786350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.78, Y:-45.15, Z:1.08 [[ 8.99101051e-01 4.37445781e-01 1.60775833e-02 2.13784778e+02] [-4.37384627e-01 8.99244678e-01 -7.32779710e-03 -4.51534782e+01] [-1.76631952e-02 -4.43657709e-04 9.99843895e-01 1.07817571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.81, Y:-45.17, Z:1.08 [[ 8.99288736e-01 4.37018763e-01 1.71571901e-02 2.13814860e+02] [-4.36948991e-01 8.99452270e-01 -7.82255777e-03 -4.51657188e+01] [-1.88506781e-02 -4.62078790e-04 9.99822203e-01 1.07913984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.392320588 meters Centerline goodness [0,1] 0.9999507825573383 Centerline is valid? [True, True] Translation: X:213.85, Y:-45.17, Z:1.08 [[ 8.99488292e-01 4.36569407e-01 1.81098279e-02 2.13846061e+02] [-4.36491523e-01 8.99670455e-01 -8.25974099e-03 -4.51743938e+01] [-1.98988274e-02 -4.75246059e-04 9.99801886e-01 1.08001682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.88, Y:-45.18, Z:1.08 [[ 8.99635242e-01 4.36304402e-01 1.71726316e-02 2.13876795e+02] [-4.36234272e-01 8.99799018e-01 -7.83503029e-03 -4.51849371e+01] [-1.88703752e-02 -4.42621049e-04 9.99821841e-01 1.08010138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.91, Y:-45.20, Z:1.08 [[ 9.00224445e-01 4.35117932e-01 1.63809083e-02 2.13906667e+02] [-4.35053875e-01 9.00373383e-01 -7.47645204e-03 -4.51969477e+01] [-1.80020721e-02 -3.96092728e-04 9.99837871e-01 1.07969169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.94, Y:-45.21, Z:1.08 [[ 9.00574460e-01 4.34441413e-01 1.50432631e-02 2.13936253e+02] [-4.34387257e-01 9.00700026e-01 -6.86838492e-03 -4.52094669e+01] [-1.65333783e-02 -3.49109759e-04 9.99863253e-01 1.07871336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.97, Y:-45.22, Z:1.08 [[ 9.01668962e-01 4.32153432e-01 1.53783459e-02 2.13966897e+02] [-4.32096489e-01 9.01800040e-01 -7.02221707e-03 -4.52174554e+01] [-1.69028682e-02 -3.13214086e-04 9.99857087e-01 1.07886299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.542320588 meters Centerline goodness [0,1] 0.9999015990159902 Centerline is valid? [True, True] Translation: X:214.00, Y:-45.23, Z:1.08 [[ 9.01997230e-01 4.31460710e-01 1.55773259e-02 2.13997115e+02] [-4.31402159e-01 9.02131678e-01 -7.11430122e-03 -4.52270890e+01] [-1.71223406e-02 -3.03012015e-04 9.99853356e-01 1.07967964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.03, Y:-45.24, Z:1.08 [[ 9.02177458e-01 4.31056097e-01 1.63240451e-02 2.14026884e+02] [-4.30991709e-01 9.02325078e-01 -7.45659464e-03 -4.52382899e+01] [-1.79438058e-02 -3.08356486e-04 9.99838949e-01 1.07964533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.06, Y:-45.25, Z:1.08 [[ 9.02414410e-01 4.30571262e-01 1.60193852e-02 2.14055637e+02] [-4.30509155e-01 9.02556537e-01 -7.31878305e-03 -4.52507280e+01] [-1.76096585e-02 -2.91916713e-04 9.99844895e-01 1.08009481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.08, Y:-45.26, Z:1.08 [[ 9.03325129e-01 4.28702569e-01 1.47587061e-02 2.14084768e+02] [-4.28649584e-01 9.03445656e-01 -6.74401310e-03 -4.52626302e+01] [-1.62248646e-02 -2.34276709e-04 9.99868341e-01 1.07976692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.11, Y:-45.27, Z:1.08 [[ 9.03996988e-01 4.27292028e-01 1.45247163e-02 2.14113255e+02] [-4.27240534e-01 9.04113643e-01 -6.63673058e-03 -4.52738282e+01] [-1.59678163e-02 -2.05963103e-04 9.99872485e-01 1.07958452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.14, Y:-45.29, Z:1.08 [[ 9.04621609e-01 4.25931367e-01 1.55632382e-02 2.14140988e+02] [-4.25872057e-01 9.04755454e-01 -7.11046825e-03 -4.52853337e+01] [-1.71094961e-02 -1.95665043e-04 9.99853603e-01 1.07886644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.17, Y:-45.30, Z:1.08 [[ 9.06265450e-01 4.22435020e-01 1.52180105e-02 2.14168057e+02] [-4.22377815e-01 9.06393203e-01 -6.95291789e-03 -4.52987317e+01] [-1.67306573e-02 -1.26560787e-04 9.99860025e-01 1.07962566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.20, Y:-45.31, Z:1.08 [[ 9.06640463e-01 4.21655163e-01 1.44912028e-02 2.14196194e+02] [-4.21603192e-01 9.06756259e-01 -6.62084855e-03 -4.53105228e+01] [-1.59317038e-02 -1.06808160e-04 9.99873077e-01 1.08123196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.22, Y:-45.32, Z:1.08 [[ 9.07331681e-01 4.20151709e-01 1.48916728e-02 2.14224869e+02] [-4.20096649e-01 9.07453875e-01 -6.80228346e-03 -4.53187190e+01] [-1.63714972e-02 -8.40145582e-05 9.99865975e-01 1.08145569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.25, Y:-45.33, Z:1.08 [[ 9.07644918e-01 4.19485947e-01 1.45685786e-02 2.14252363e+02] [-4.19433183e-01 9.07761828e-01 -6.65354278e-03 -4.53310826e+01] [-1.60158672e-02 -7.14909833e-05 9.99871735e-01 1.07984865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.28, Y:-45.34, Z:1.08 [[ 9.08065803e-01 4.18622279e-01 1.31105233e-02 2.14279287e+02] [-4.18579464e-01 9.08160440e-01 -5.98728331e-03 -4.53446839e+01] [-1.44128687e-02 -5.09485678e-05 9.99896128e-01 1.08000808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.31, Y:-45.36, Z:1.08 [[ 9.09065535e-01 4.16439775e-01 1.33329547e-02 2.14305426e+02] [-4.16395278e-01 9.09163304e-01 -6.08764807e-03 -4.53579766e+01] [-1.46569719e-02 -1.77083158e-05 9.99892581e-01 1.08123589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.33, Y:-45.37, Z:1.08 [[ 9.09553567e-01 4.15384534e-01 1.29614005e-02 2.14331822e+02] [-4.15342508e-01 9.09645914e-01 -5.90865840e-03 -4.53683759e+01] [-1.42446503e-02 -9.17924645e-06 9.99898540e-01 1.08192993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.36, Y:-45.38, Z:1.08 [[ 9.09495126e-01 4.15493250e-01 1.35637552e-02 2.14358276e+02] [-4.15447348e-01 9.09596261e-01 -6.17594732e-03 -4.53788814e+01] [-1.49036054e-02 -1.80321315e-05 9.99888935e-01 1.08210133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.38, Y:-45.39, Z:1.08 [[ 9.10116137e-01 4.14153661e-01 1.28593410e-02 2.14384993e+02] [-4.14112371e-01 9.10206979e-01 -5.84804040e-03 -4.53902259e+01] [-1.41266493e-02 -2.81625919e-06 9.99900214e-01 1.08066605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.41, Y:-45.40, Z:1.08 [[ 9.10384461e-01 4.13552278e-01 1.32153638e-02 2.14410064e+02] [-4.13508732e-01 9.10480375e-01 -6.00131884e-03 -4.54018244e+01] [-1.45141885e-02 -1.16091027e-06 9.99894664e-01 1.08116576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.44, Y:-45.41, Z:1.08 [[ 9.10493368e-01 4.13326945e-01 1.27539782e-02 2.14435813e+02] [-4.13286478e-01 9.10582691e-01 -5.78365801e-03 -4.54124167e+01] [-1.40040935e-02 -5.06446664e-06 9.99901938e-01 1.08145302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.46, Y:-45.42, Z:1.08 [[ 9.10873569e-01 4.12507889e-01 1.21071202e-02 2.14461348e+02] [-4.12471453e-01 9.10954028e-01 -5.48260398e-03 -4.54226401e+01] [-1.32906473e-02 1.17600770e-07 9.99911675e-01 1.08109325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.49, Y:-45.44, Z:1.08 [[ 9.11389924e-01 4.11371600e-01 1.19085099e-02 2.14486573e+02] [-4.11336350e-01 9.11467721e-01 -5.38519530e-03 -4.54352719e+01] [-1.30695388e-02 9.60973863e-06 9.99914590e-01 1.08138427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.51, Y:-45.45, Z:1.08 [[ 9.11925138e-01 4.10162493e-01 1.26202719e-02 2.14512088e+02] [-4.10122876e-01 9.12012461e-01 -5.70073658e-03 -4.54476140e+01] [-1.38480735e-02 2.27828059e-05 9.99904111e-01 1.08124368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.54, Y:-45.46, Z:1.08 [[ 9.12668207e-01 4.08516920e-01 1.22747731e-02 2.14537243e+02] [-4.08479391e-01 9.12750746e-01 -5.53735159e-03 -4.54588668e+01] [-1.34659102e-02 3.97728947e-05 9.99909330e-01 1.08227248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.56, Y:-45.47, Z:1.08 [[ 9.12880386e-01 4.08042471e-01 1.22777323e-02 2.14562123e+02] [-4.08004988e-01 9.12962946e-01 -5.53078909e-03 -4.54704402e+01] [-1.34659115e-02 3.95728757e-05 9.99909330e-01 1.08241096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.59, Y:-45.48, Z:1.08 [[ 9.13700610e-01 4.06214227e-01 1.18826434e-02 2.14588389e+02] [-4.06179052e-01 9.13777871e-01 -5.34594498e-03 -4.54813696e+01] [-1.30296955e-02 5.81123579e-05 9.99915108e-01 1.08213621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.232320588 meters Centerline goodness [0,1] 0.9999507219238161 Centerline is valid? [True, True] Translation: X:214.61, Y:-45.49, Z:1.08 [[ 9.14293916e-01 4.04903682e-01 1.09381674e-02 2.14613456e+02] [-4.04873868e-01 9.14359341e-01 -4.91397334e-03 -4.54942856e+01] [-1.19911014e-02 6.42377889e-05 9.99928102e-01 1.08323134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.64, Y:-45.51, Z:1.08 [[ 9.14827322e-01 4.03708291e-01 1.05159834e-02 2.14638079e+02] [-4.03680731e-01 9.14887759e-01 -4.71769050e-03 -4.55079121e+01] [-1.15255153e-02 7.07722761e-05 9.99933577e-01 1.08459004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.66, Y:-45.52, Z:1.08 [[ 9.15427443e-01 4.02336746e-01 1.08508040e-02 2.14662182e+02] [-4.02307371e-01 9.15491745e-01 -4.86247764e-03 -4.55245892e+01] [-1.18901749e-02 8.58870483e-05 9.99929306e-01 1.08494912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.69, Y:-45.54, Z:1.08 [[ 9.15918185e-01 4.01211820e-01 1.10884558e-02 2.14687555e+02] [-4.01181133e-01 9.15985298e-01 -4.96308485e-03 -4.55388293e+01] [-1.21481108e-02 9.73004154e-05 9.99926204e-01 1.08461608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.71, Y:-45.56, Z:1.08 [[ 9.16458505e-01 4.00002603e-01 1.00859566e-02 2.14712530e+02] [-3.99977129e-01 9.16513997e-01 -4.51548976e-03 -4.55552497e+01] [-1.10501280e-02 1.04107038e-04 9.99938940e-01 1.08343328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.74, Y:-45.57, Z:1.08 [[ 9.16310360e-01 4.00315753e-01 1.10735138e-02 2.14738635e+02] [-4.00285078e-01 9.16377262e-01 -4.95681124e-03 -4.55694168e+01] [-1.21318059e-02 1.09415144e-04 9.99926401e-01 1.08402795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.77, Y:-45.58, Z:1.09 [[ 9.15759773e-01 4.01539379e-01 1.22542420e-02 2.14765434e+02] [-4.01501918e-01 9.15841753e-01 -5.48572681e-03 -4.55834691e+01] [-1.34256818e-02 1.03506269e-04 9.99909866e-01 1.08524095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.79, Y:-45.60, Z:1.09 [[ 9.15369369e-01 4.02423948e-01 1.24050200e-02 2.14793669e+02] [-4.02385623e-01 9.15453416e-01 -5.55452490e-03 -4.55980680e+01] [-1.35914917e-02 9.28402664e-05 9.99907627e-01 1.08641023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.82, Y:-45.61, Z:1.09 [[ 9.13483624e-01 4.06703064e-01 1.18443066e-02 2.14820037e+02] [-4.06668472e-01 9.13560407e-01 -5.30439612e-03 -4.56149842e+01] [-1.29778037e-02 2.87729412e-05 9.99915784e-01 1.08751243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.85, Y:-45.63, Z:1.09 [[ 9.12228296e-01 4.09501189e-01 1.21783463e-02 2.14847871e+02] [-4.09464855e-01 9.12309583e-01 -5.45493415e-03 -4.56290366e+01] [-1.33442241e-02 -1.04595125e-05 9.99910962e-01 1.08601260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.532320588 meters Centerline goodness [0,1] 0.9999506489660959 Centerline is valid? [True, True] Translation: X:214.88, Y:-45.64, Z:1.09 [[ 9.11093814e-01 4.12042937e-01 1.13437084e-02 2.14877095e+02] [-4.12011583e-01 9.11164429e-01 -5.08324237e-03 -4.56432322e+01] [-1.24304977e-02 -4.24285798e-05 9.99922737e-01 1.08550968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.91, Y:-45.66, Z:1.08 [[ 9.09208606e-01 4.16177876e-01 1.16484455e-02 2.14905969e+02] [-4.16145130e-01 9.09283215e-01 -5.22161414e-03 -4.56584987e+01] [-1.27648563e-02 -9.99073758e-05 9.99918521e-01 1.08490750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.94, Y:-45.67, Z:1.09 [[ 9.08229477e-01 4.18282775e-01 1.25991218e-02 2.14935231e+02] [-4.18244641e-01 9.08316851e-01 -5.64970874e-03 -4.56725430e+01] [-1.38071705e-02 -1.38283179e-04 9.99904667e-01 1.08652136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.96, Y:-45.69, Z:1.09 [[ 9.07389314e-01 4.20088218e-01 1.30584146e-02 2.14964617e+02] [-4.20047411e-01 9.07483256e-01 -5.85770625e-03 -4.56861754e+01] [-1.43110459e-02 -1.69933173e-04 9.99897577e-01 1.08693933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.99, Y:-45.70, Z:1.09 [[ 9.06887996e-01 4.21122790e-01 1.44830676e-02 2.14994074e+02] [-4.21072689e-01 9.07003613e-01 -6.49897360e-03 -4.56988851e+01] [-1.58730605e-02 -2.04583059e-04 9.99873994e-01 1.08760276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.02, Y:-45.71, Z:1.09 [[ 9.05855725e-01 4.23347722e-01 1.42166127e-02 2.15024090e+02] [-4.23299686e-01 9.05967246e-01 -6.38165256e-03 -4.57103428e+01] [-1.55814435e-02 -2.37031195e-04 9.99878574e-01 1.08812153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.05, Y:-45.72, Z:1.09 [[ 9.05527624e-01 4.24037202e-01 1.45662158e-02 2.15053723e+02] [-4.23986827e-01 9.05644736e-01 -6.54086448e-03 -4.57231033e+01] [-1.59653865e-02 -2.52950156e-04 9.99872513e-01 1.08795533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.08, Y:-45.74, Z:1.09 [[ 9.05232138e-01 4.24683388e-01 1.40995034e-02 2.15082662e+02] [-4.24636234e-01 9.05341900e-01 -6.33352547e-03 -4.57367014e+01] [-1.54546143e-02 -2.53849225e-04 9.99880538e-01 1.08740748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.11, Y:-45.75, Z:1.09 [[ 9.04960109e-01 4.25226611e-01 1.51502244e-02 2.15111846e+02] [-4.25172204e-01 9.05086874e-01 -6.80785059e-03 -4.57511290e+01] [-1.66071485e-02 -2.80621082e-04 9.99862052e-01 1.08722067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.14, Y:-45.76, Z:1.09 [[ 9.04659256e-01 4.25826472e-01 1.62310160e-02 2.15141395e+02] [-4.25764076e-01 9.04804797e-01 -7.29601766e-03 -4.57638097e+01] [-1.77927386e-02 -3.10173630e-04 9.99841649e-01 1.08870441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.17, Y:-45.78, Z:1.09 [[ 9.04810310e-01 4.25453554e-01 1.75378735e-02 2.15171962e+02] [-4.25380583e-01 9.04980203e-01 -7.88618776e-03 -4.57754405e+01] [-1.92266349e-02 -3.24766846e-04 9.99815098e-01 1.08880266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.862320588 meters Centerline goodness [0,1] 0.9999507898233355 Centerline is valid? [True, True] Translation: X:215.20, Y:-45.79, Z:1.09 [[ 9.05217273e-01 4.24669188e-01 1.54197938e-02 2.15202381e+02] [-4.24612623e-01 9.05348556e-01 -6.93626876e-03 -4.57855838e+01] [-1.69059077e-02 -2.68608803e-04 9.99857049e-01 1.08787170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.23, Y:-45.80, Z:1.09 [[ 9.05256606e-01 4.24623585e-01 1.43278679e-02 2.15231874e+02] [-4.24574706e-01 9.05369952e-01 -6.44741022e-03 -4.57983458e+01] [-1.57097435e-02 -2.46689620e-04 9.99876564e-01 1.08810645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.26, Y:-45.81, Z:1.09 [[ 9.05689010e-01 4.23686670e-01 1.47317065e-02 2.15261791e+02] [-4.23634835e-01 9.05808782e-01 -6.63144932e-03 -4.58112675e+01] [-1.61537658e-02 -2.34833275e-04 9.99869492e-01 1.08804591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.29, Y:-45.82, Z:1.09 [[ 9.05835737e-01 4.23337580e-01 1.57134082e-02 2.15291846e+02] [-4.23278493e-01 9.05971984e-01 -7.07684735e-03 -4.58237240e+01] [-1.72318030e-02 -2.40686517e-04 9.99851492e-01 1.08839986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.32, Y:-45.84, Z:1.09 [[ 9.05859484e-01 4.23253691e-01 1.65803726e-02 2.15320980e+02] [-4.23187847e-01 9.06011175e-01 -7.46966046e-03 -4.58365064e+01] [-1.81835643e-02 -2.50149429e-04 9.99834634e-01 1.08865973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.35, Y:-45.85, Z:1.09 [[ 9.06320349e-01 4.22286121e-01 1.60579559e-02 2.15351186e+02] [-4.22224150e-01 9.06462566e-01 -7.23768211e-03 -4.58490548e+01] [-1.76123086e-02 -2.20398179e-04 9.99844867e-01 1.08915363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.38, Y:-45.86, Z:1.09 [[ 9.07235053e-01 4.20355616e-01 1.50237638e-02 2.15382130e+02] [-4.20301069e-01 9.07359426e-01 -6.77378296e-03 -4.58591025e+01] [-1.64793514e-02 -1.69090624e-04 9.99864192e-01 1.09029662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.072320588 meters Centerline goodness [0,1] 0.9999508357915438 Centerline is valid? [True, True] Translation: X:215.41, Y:-45.87, Z:1.09 [[ 9.07894331e-01 4.18968171e-01 1.39124025e-02 2.15411326e+02] [-4.18921221e-01 9.08000911e-01 -6.27348683e-03 -4.58705687e+01] [-1.52608654e-02 -1.32537496e-04 9.99883537e-01 1.09050402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.44, Y:-45.88, Z:1.09 [[ 9.08377168e-01 4.17943157e-01 1.32075424e-02 2.15440000e+02] [-4.17900720e-01 9.08473173e-01 -5.95669473e-03 -4.58825773e+01] [-1.44882577e-02 -1.08515969e-04 9.99895034e-01 1.09017503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.47, Y:-45.90, Z:1.09 [[ 9.09897797e-01 4.14593372e-01 1.40831389e-02 2.15468336e+02] [-4.14544725e-01 9.10006776e-01 -6.35121221e-03 -4.58950557e+01] [-1.54489223e-02 -5.91369359e-05 9.99880657e-01 1.08940978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.50, Y:-45.91, Z:1.09 [[ 9.11011805e-01 4.12144127e-01 1.39538515e-02 2.15497207e+02] [-4.12096059e-01 9.11118663e-01 -6.29437266e-03 -4.59079146e+01] [-1.53078033e-02 -1.60794255e-05 9.99882829e-01 1.08967294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.53, Y:-45.92, Z:1.09 [[ 9.11808390e-01 4.10397197e-01 1.34015041e-02 2.15526185e+02] [-4.10352645e-01 9.11906871e-01 -6.04696514e-03 -4.59211366e+01] [-1.47025812e-02 1.43308966e-05 9.99891911e-01 1.08966523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.55, Y:-45.93, Z:1.09 [[ 9.12682747e-01 4.08456866e-01 1.31602109e-02 2.15554665e+02] [-4.08413691e-01 9.12777621e-01 -5.93894328e-03 -4.59341551e+01] [-1.44381481e-02 4.55607783e-05 9.99895763e-01 1.09168971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.58, Y:-45.95, Z:1.09 [[ 9.14646718e-01 4.04009164e-01 1.40704336e-02 2.15582815e+02] [-4.03959265e-01 9.14754929e-01 -6.35077326e-03 -4.59471903e+01] [-1.54367691e-02 1.24831924e-04 9.99880838e-01 1.09195581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.61, Y:-45.96, Z:1.09 [[ 9.15429563e-01 4.02253480e-01 1.34481890e-02 2.15610821e+02] [-4.02207692e-01 9.15528326e-01 -6.07096019e-03 -4.59603256e+01] [-1.47542628e-02 1.48571375e-04 9.99891139e-01 1.09252099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.64, Y:-45.97, Z:1.09 [[ 9.16071857e-01 4.00781121e-01 1.36691632e-02 2.15638829e+02] [-4.00733637e-01 9.16173816e-01 -6.17175261e-03 -4.59738313e+01] [-1.49968513e-02 1.76075411e-04 9.99887525e-01 1.09103603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.67, Y:-45.99, Z:1.09 [[ 9.16471100e-01 3.99883933e-01 1.31743339e-02 2.15666769e+02] [-3.99839717e-01 9.16565767e-01 -5.94934824e-03 -4.59878004e+01] [-1.44541922e-02 1.84783795e-04 9.99895516e-01 1.08962158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.69, Y:-46.00, Z:1.09 [[ 9.17508349e-01 3.97494928e-01 1.32744987e-02 2.15693904e+02] [-3.97449772e-01 9.17604344e-01 -5.99558001e-03 -4.60029545e+01] [-1.45639503e-02 2.25048230e-04 9.99893915e-01 1.08949260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.402320588 meters Centerline goodness [0,1] 0.9999507898233355 Centerline is valid? [True, True] Translation: X:215.72, Y:-46.02, Z:1.09 [[ 9.17570955e-01 3.97263531e-01 1.56598098e-02 2.15722166e+02] [-3.97200608e-01 9.17704535e-01 -7.07557776e-03 -4.60180204e+01] [-1.71819474e-02 2.72258681e-04 9.99852342e-01 1.08950016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.75, Y:-46.04, Z:1.09 [[ 9.18294892e-01 3.95567028e-01 1.61622432e-02 2.15749341e+02] [-3.95499697e-01 9.18437056e-01 -7.30501332e-03 -4.60353048e+01] [-1.77336254e-02 3.15994148e-04 9.99842697e-01 1.09031929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46232058799998 meters Centerline goodness [0,1] 0.9999507389162562 Centerline is valid? [True, True] Translation: X:215.78, Y:-46.05, Z:1.09 [[ 9.18590528e-01 3.94962804e-01 1.39937719e-02 2.15777551e+02] [-3.94912226e-01 9.18697067e-01 -6.32711295e-03 -4.60511610e+01] [-1.53550115e-02 2.85714403e-04 9.99882064e-01 1.09052624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.81, Y:-46.07, Z:1.09 [[ 9.18900228e-01 3.94258339e-01 1.35178798e-02 2.15805342e+02] [-3.94211035e-01 9.18999608e-01 -6.11402892e-03 -4.60672887e+01] [-1.48334331e-02 2.89285176e-04 9.99889937e-01 1.08967536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52232058799999 meters Centerline goodness [0,1] 0.9999506879037428 Centerline is valid? [True, True] Translation: X:215.83, Y:-46.08, Z:1.09 [[ 9.18962521e-01 3.94150347e-01 1.23850037e-02 2.15833142e+02] [-3.94110604e-01 9.19045936e-01 -5.60357830e-03 -4.60839531e+01] [-1.35910397e-02 2.68417148e-04 9.99907602e-01 1.09005796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.552320588 meters Centerline goodness [0,1] 0.9999506830398974 Centerline is valid? [True, True] Translation: X:215.86, Y:-46.10, Z:1.09 [[ 9.18828918e-01 3.94481883e-01 1.17244550e-02 2.15861024e+02] [-3.94446270e-01 9.18903684e-01 -5.30654760e-03 -4.61010139e+01] [-1.28669818e-02 2.51141861e-04 9.99917185e-01 1.08907946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.582320588 meters Centerline goodness [0,1] 0.9999507946661418 Centerline is valid? [True, True] Translation: X:215.89, Y:-46.12, Z:1.09 [[ 9.18513766e-01 3.95166784e-01 1.32542042e-02 2.15886842e+02] [-3.95121324e-01 9.18609350e-01 -6.00017294e-03 -4.61207926e+01] [-1.45465050e-02 2.74222740e-04 9.99894156e-01 1.08964417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.92, Y:-46.14, Z:1.09 [[ 9.17779979e-01 3.96854902e-01 1.36416940e-02 2.15915073e+02] [-3.96806898e-01 9.17881322e-01 -6.17781985e-03 -4.61361057e+01] [-1.49731542e-02 2.56761110e-04 9.99887863e-01 1.09028542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.94, Y:-46.15, Z:1.09 [[ 9.16807856e-01 3.99139199e-01 1.22986154e-02 2.15943526e+02] [-3.99100361e-01 9.16890321e-01 -5.57152629e-03 -4.61507195e+01] [-1.35002959e-02 1.99637244e-04 9.99908847e-01 1.09090873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.97, Y:-46.17, Z:1.09 [[ 9.14432500e-01 4.04613278e-01 1.00646750e-02 2.15969980e+02] [-4.04587575e-01 9.14487881e-01 -4.56174069e-03 -4.61697061e+01] [-1.10497642e-02 9.93614979e-05 9.99938945e-01 1.09140150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.00, Y:-46.19, Z:1.09 [[ 9.13158221e-01 4.07460020e-01 1.08810111e-02 2.15997700e+02] [-4.07430146e-01 9.13223044e-01 -4.93443953e-03 -4.61878944e+01] [-1.19473769e-02 7.26720940e-05 9.99928625e-01 1.09101014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.02, Y:-46.21, Z:1.09 [[ 9.11875698e-01 4.10286909e-01 1.21393188e-02 2.16024842e+02] [-4.10249958e-01 9.11956496e-01 -5.50648732e-03 -4.62054974e+01] [-1.33297703e-02 4.10769479e-05 9.99911154e-01 1.09156058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.05, Y:-46.22, Z:1.09 [[ 9.10804309e-01 4.12613940e-01 1.36105671e-02 2.16052673e+02] [-4.12567620e-01 9.10905998e-01 -6.18243924e-03 -4.62208330e+01] [-1.49489079e-02 1.57130088e-05 9.99888259e-01 1.09211908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.08, Y:-46.24, Z:1.09 [[ 9.08561465e-01 4.17541236e-01 1.32431600e-02 2.16082125e+02] [-4.17497773e-01 9.08657974e-01 -6.02460899e-03 -4.62355322e+01] [-1.45490257e-02 -5.52622625e-05 9.99894156e-01 1.09165769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.11, Y:-46.25, Z:1.09 [[ 9.07630134e-01 4.19580636e-01 1.26344497e-02 2.16111749e+02] [-4.19541162e-01 9.07718064e-01 -5.75581402e-03 -4.62507134e+01] [-1.38835463e-02 -7.65214578e-05 9.99903616e-01 1.09053508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.14, Y:-46.27, Z:1.09 [[ 9.06358810e-01 4.22382296e-01 1.03394195e-02 2.16139717e+02] [-4.22355976e-01 9.06417778e-01 -4.71616195e-03 -4.62667785e+01] [-1.13638570e-02 -9.23806835e-05 9.99935425e-01 1.09068036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.17, Y:-46.28, Z:1.09 [[ 9.04939024e-01 4.25414344e-01 1.03922226e-02 2.16167561e+02] [-4.25387888e-01 9.04998685e-01 -4.74605587e-03 -4.62827828e+01] [-1.14239881e-02 -1.25834463e-04 9.99934736e-01 1.09253781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.20, Y:-46.30, Z:1.10 [[ 9.02322113e-01 4.30931959e-01 1.06043208e-02 2.16196444e+02] [-4.30904723e-01 9.02384402e-01 -4.84880750e-03 -4.62972140e+01] [-1.16586798e-02 -1.94265694e-04 9.99932016e-01 1.09649695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.23, Y:-46.31, Z:1.10 [[ 9.01226581e-01 4.33218454e-01 1.06029062e-02 2.16226388e+02] [-4.33191314e-01 9.01288923e-01 -4.85404050e-03 -4.63092474e+01] [-1.16591419e-02 -2.18496568e-04 9.99932006e-01 1.09641729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.26, Y:-46.32, Z:1.09 [[ 9.00154945e-01 4.35398495e-01 1.22158078e-02 2.16256301e+02] [-4.35362585e-01 9.00237787e-01 -5.59885197e-03 -4.63222542e+01] [-1.34348635e-02 -2.78471371e-04 9.99909709e-01 1.09354589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.29, Y:-46.34, Z:1.09 [[ 8.99628192e-01 4.36458931e-01 1.31422196e-02 2.16285750e+02] [-4.36417377e-01 8.99724127e-01 -6.03053404e-03 -4.63357458e+01] [-1.44564525e-02 -3.10254598e-04 9.99895452e-01 1.09215180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.32, Y:-46.35, Z:1.09 [[ 8.99068133e-01 4.37626241e-01 1.26398654e-02 2.16315779e+02] [-4.37587800e-01 8.99156926e-01 -5.80852957e-03 -4.63494673e+01] [-1.39071875e-02 -3.08787072e-04 9.99903243e-01 1.09263313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.34, Y:-46.36, Z:1.09 [[ 8.98519800e-01 4.38722511e-01 1.35914672e-02 2.16344835e+02] [-4.38678097e-01 8.98622523e-01 -6.25199975e-03 -4.63621496e+01] [-1.49564916e-02 -3.44733432e-04 9.99888086e-01 1.09386713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.37, Y:-46.38, Z:1.09 [[ 8.98290265e-01 4.39192403e-01 1.35879851e-02 2.16374522e+02] [-4.39147929e-01 8.98392962e-01 -6.25956594e-03 -4.63754819e+01] [-1.49565040e-02 -3.44228393e-04 9.99888086e-01 1.09403106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.41, Y:-46.39, Z:1.10 [[ 8.97468690e-01 4.40894199e-01 1.27379283e-02 2.16405375e+02] [-4.40855171e-01 8.97559016e-01 -5.87622904e-03 -4.63881159e+01] [-1.40238377e-02 -3.41849968e-04 9.99901603e-01 1.09696300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.44, Y:-46.40, Z:1.10 [[ 8.97015742e-01 4.41800027e-01 1.32474625e-02 2.16435174e+02] [-4.41757812e-01 8.97113484e-01 -6.11818542e-03 -4.64009938e+01] [-1.45874917e-02 -3.64061408e-04 9.99893531e-01 1.09675956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.47, Y:-46.41, Z:1.10 [[ 8.96772051e-01 4.42287347e-01 1.34830179e-02 2.16465448e+02] [-4.42243605e-01 8.96873326e-01 -6.23152167e-03 -4.64130305e+01] [-1.48486823e-02 -3.74523964e-04 9.99889682e-01 1.09594392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.50, Y:-46.42, Z:1.09 [[ 8.96190669e-01 4.43451115e-01 1.39065757e-02 2.16496234e+02] [-4.43404594e-01 8.96298471e-01 -6.43557314e-03 -4.64229966e+01] [-1.53183046e-02 -3.98738957e-04 9.99882588e-01 1.09409437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.53, Y:-46.44, Z:1.09 [[ 8.95677468e-01 4.44480118e-01 1.41173242e-02 2.16527389e+02] [-4.44432161e-01 8.95788621e-01 -6.54224814e-03 -4.64352174e+01] [-1.55540376e-02 -4.14448647e-04 9.99878943e-01 1.09392222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.56, Y:-46.45, Z:1.10 [[ 8.95316318e-01 4.45276127e-01 1.17414390e-02 2.16557189e+02] [-4.45242936e-01 8.95393237e-01 -5.44784797e-03 -4.64478631e+01] [-1.29390017e-02 -3.50245579e-04 9.99916226e-01 1.09546848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.59, Y:-46.46, Z:1.10 [[ 8.94808536e-01 4.46284984e-01 1.21406978e-02 2.16587479e+02] [-4.46249591e-01 8.94890815e-01 -5.63314064e-03 -4.64582568e+01] [-1.33785850e-02 -3.77199072e-04 9.99910432e-01 1.09725497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.62, Y:-46.47, Z:1.10 [[ 8.94554444e-01 4.46791970e-01 1.22181338e-02 2.16617514e+02] [-4.46756145e-01 8.94637797e-01 -5.67100360e-03 -4.64691437e+01] [-1.34645632e-02 -3.85504894e-04 9.99909274e-01 1.09791576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.65, Y:-46.48, Z:1.10 [[ 8.94045551e-01 4.47804780e-01 1.23867153e-02 2.16648041e+02] [-4.47768021e-01 8.94131263e-01 -5.75185113e-03 -4.64796547e+01] [-1.36510558e-02 -4.03958067e-04 9.99906738e-01 1.09790764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.68, Y:-46.49, Z:1.10 [[ 8.93097412e-01 4.49749523e-01 1.01182794e-02 2.16679150e+02] [-4.49725102e-01 8.93154657e-01 -4.70009737e-03 -4.64887016e+01] [-1.11510549e-02 -3.52799416e-04 9.99937763e-01 1.09580294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.71, Y:-46.50, Z:1.10 [[ 8.92525546e-01 4.50910690e-01 8.81474193e-03 2.16709669e+02] [-4.50892197e-01 8.92569016e-01 -4.09607239e-03 -4.64997896e+01] [-9.71472836e-03 -3.18649108e-04 9.99952760e-01 1.09621690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.74, Y:-46.51, Z:1.10 [[ 8.92042209e-01 4.51879309e-01 8.11097228e-03 2.16739982e+02] [-4.51863680e-01 8.92079032e-01 -3.77038970e-03 -4.65111099e+01] [-8.93938939e-03 -3.01707024e-04 9.99959997e-01 1.09603287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.77, Y:-46.52, Z:1.10 [[ 8.92029852e-01 4.51896829e-01 8.48518503e-03 2.16770977e+02] [-4.51879704e-01 8.92070153e-01 -3.94666540e-03 -4.65227135e+01] [-9.35286589e-03 -3.13739542e-04 9.99956212e-01 1.09676366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.80, Y:-46.53, Z:1.10 [[ 8.92861384e-01 4.50216849e-01 1.01654789e-02 2.16801739e+02] [-4.50192149e-01 8.92919181e-01 -4.72922952e-03 -4.65325163e+01] [-1.12061299e-02 -3.53872355e-04 9.99937147e-01 1.09836167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.83, Y:-46.54, Z:1.10 [[ 8.93099407e-01 4.49749896e-01 9.92368458e-03 2.16831175e+02] [-4.49726311e-01 8.93154475e-01 -4.61833964e-03 -4.65446386e+01] [-1.09404811e-02 -3.38305662e-04 9.99940094e-01 1.09934332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.86, Y:-46.55, Z:1.10 [[ 8.94297706e-01 4.47354085e-01 1.02925442e-02 2.16863467e+02] [-4.47328537e-01 8.94356876e-01 -4.79160542e-03 -4.65514425e+01] [-1.13487519e-02 -3.19027008e-04 9.99935550e-01 1.09980786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.89, Y:-46.56, Z:1.10 [[ 8.94615933e-01 4.46754294e-01 8.54012163e-03 2.16894283e+02] [-4.46736664e-01 8.94656657e-01 -3.97726712e-03 -4.65610735e+01] [-9.41733784e-03 -2.57058910e-04 9.99955623e-01 1.09944465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.92, Y:-46.57, Z:1.10 [[ 8.94744313e-01 4.46521956e-01 7.12435095e-03 2.16924325e+02] [-4.46509677e-01 8.94772651e-01 -3.31824491e-03 -4.65717196e+01] [-7.85634360e-03 -2.12110879e-04 9.99969116e-01 1.09887671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.95, Y:-46.58, Z:1.10 [[ 8.94606530e-01 4.46807070e-01 6.52674740e-03 2.16952755e+02] [-4.46796774e-01 8.94630317e-01 -3.03957130e-03 -4.65825773e+01] [-7.19712804e-03 -1.96909352e-04 9.99974081e-01 1.09993191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.98, Y:-46.59, Z:1.10 [[ 8.94246629e-01 4.47476732e-01 9.35636381e-03 2.16981753e+02] [-4.47455622e-01 8.94295527e-01 -4.35624624e-03 -4.65909724e+01] [-1.03166731e-02 -2.90999074e-04 9.99946739e-01 1.10046332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.01, Y:-46.60, Z:1.10 [[ 8.94581816e-01 4.46793936e-01 9.92737866e-03 2.17010586e+02] [-4.46770124e-01 8.94636848e-01 -4.62249085e-03 -4.66015476e+01] [-1.09466996e-02 -3.00059934e-04 9.99940038e-01 1.10156815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.04, Y:-46.61, Z:1.10 [[ 8.94948818e-01 4.46047179e-01 1.04176512e-02 2.17038083e+02] [-4.46020920e-01 8.95009397e-01 -4.84958372e-03 -4.66116355e+01] [-1.14870389e-02 -3.06361167e-04 9.99933975e-01 1.10172719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.07, Y:-46.62, Z:1.10 [[ 8.95295231e-01 4.45355609e-01 1.02386642e-02 2.17065639e+02] [-4.45330209e-01 8.95353726e-01 -4.76543718e-03 -4.66215806e+01] [-1.12895403e-02 -2.93113297e-04 9.99936228e-01 1.10257526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.09, Y:-46.63, Z:1.10 [[ 8.96498121e-01 4.42932889e-01 1.00784542e-02 2.17094911e+02] [-4.42908212e-01 8.96554731e-01 -4.68300645e-03 -4.66270028e+01] [-1.11101434e-02 -2.65523638e-04 9.99938245e-01 1.10281192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.12, Y:-46.64, Z:1.10 [[ 8.97557797e-01 4.40807282e-01 8.88484664e-03 2.17122162e+02] [-4.40788052e-01 8.97601746e-01 -4.12308871e-03 -4.66361326e+01] [-9.79254138e-03 -2.15623816e-04 9.99952029e-01 1.10315882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.15, Y:-46.65, Z:1.10 [[ 8.98549272e-01 4.38780726e-01 8.98221620e-03 2.17149020e+02] [-4.38761019e-01 8.98594144e-01 -4.16330022e-03 -4.66464052e+01] [-9.89814276e-03 -2.00115955e-04 9.99950992e-01 1.10255418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.18, Y:-46.66, Z:1.10 [[ 9.00126891e-01 4.35569390e-01 7.13341249e-03 2.17175975e+02] [-4.35556896e-01 9.00155147e-01 -3.30183008e-03 -4.66567163e+01] [-7.85935408e-03 -1.34940955e-04 9.99969106e-01 1.10184807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.20, Y:-46.67, Z:1.10 [[ 9.01095214e-01 4.33559098e-01 7.34325665e-03 2.17202759e+02] [-4.33545824e-01 9.01125126e-01 -3.39495629e-03 -4.66670682e+01] [-8.08910726e-03 -1.24459386e-04 9.99967275e-01 1.10172253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96232058799998 meters Centerline goodness [0,1] 0.9999508091888435 Centerline is valid? [True, True] Translation: X:217.23, Y:-46.68, Z:1.10 [[ 9.02029432e-01 4.31609160e-01 7.51246307e-03 2.17230079e+02] [-4.31595234e-01 9.02060707e-01 -3.46903352e-03 -4.66767773e+01] [-8.27396440e-03 -1.13172923e-04 9.99965764e-01 1.10224324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.26, Y:-46.69, Z:1.10 [[ 9.03004386e-01 4.29539536e-01 8.88068267e-03 2.17256333e+02] [-4.29520028e-01 9.03048046e-01 -4.09531248e-03 -4.66859838e+01] [-9.77878176e-03 -1.16345939e-04 9.99952180e-01 1.10277357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.28, Y:-46.69, Z:1.10 [[ 9.03816953e-01 4.27852134e-01 7.58064207e-03 2.17283976e+02] [-4.27837897e-01 9.03848739e-01 -3.49144904e-03 -4.66949292e+01] [-8.34557770e-03 -8.76551274e-05 9.99965171e-01 1.10354453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.31, Y:-46.70, Z:1.10 [[ 9.04295895e-01 4.26828520e-01 8.14548329e-03 2.17309825e+02] [-4.26812089e-01 9.04332575e-01 -3.74627966e-03 -4.67048832e+01] [-8.96524489e-03 -8.88454187e-05 9.99959807e-01 1.10324893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.34, Y:-46.71, Z:1.10 [[ 9.05087211e-01 4.25150789e-01 7.99672126e-03 2.17336291e+02] [-4.25134932e-01 9.05122534e-01 -3.67271478e-03 -4.67143289e+01] [-8.79947020e-03 -7.55583738e-05 9.99961281e-01 1.10368957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.36, Y:-46.72, Z:1.10 [[ 9.06546801e-01 4.22023401e-01 8.31546997e-03 2.17364760e+02] [-4.22006169e-01 9.06584936e-01 -3.81397252e-03 -4.67201148e+01] [-9.14826546e-03 -5.16350453e-05 9.99958152e-01 1.10268078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.39, Y:-46.73, Z:1.10 [[ 9.07740078e-01 4.19448668e-01 8.41220344e-03 2.17390763e+02] [-4.19430972e-01 9.07779056e-01 -3.85306697e-03 -4.67297372e+01] [-9.25258590e-03 -3.07553466e-05 9.99957193e-01 1.10281177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.42, Y:-46.74, Z:1.10 [[ 9.08710405e-01 4.17350450e-01 8.00013737e-03 2.17416103e+02] [-4.17334410e-01 9.08745620e-01 -3.65911898e-03 -4.67409755e+01] [-8.79722475e-03 -1.36531157e-05 9.99961304e-01 1.10195208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.44, Y:-46.75, Z:1.10 [[ 9.10853802e-01 4.12685620e-01 5.99426161e-03 2.17442573e+02] [-4.12676537e-01 9.10873525e-01 -2.73803351e-03 -4.67514659e+01] [-6.58996126e-03 2.02571080e-05 9.99978286e-01 1.10198461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.47, Y:-46.76, Z:1.10 [[ 9.11781268e-01 4.10651615e-01 4.49109711e-03 2.17469073e+02] [-4.10646510e-01 9.11792329e-01 -2.04768573e-03 -4.67604053e+01] [-4.93583334e-03 2.27881377e-05 9.99987818e-01 1.10279767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.50, Y:-46.77, Z:1.10 [[ 9.12477946e-01 4.09113766e-01 3.15041768e-03 2.17495827e+02] [-4.09111255e-01 9.12483384e-01 -1.43359741e-03 -4.67693129e+01] [-3.46120822e-03 1.92546935e-05 9.99994010e-01 1.10349296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.52, Y:-46.78, Z:1.11 [[ 9.13658580e-01 4.06454762e-01 4.74619314e-03 2.17522537e+02] [-4.06449030e-01 9.13670906e-01 -2.15902272e-03 -4.67789707e+01] [-5.21400365e-03 4.35240303e-05 9.99986406e-01 1.10580862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.55, Y:-46.79, Z:1.11 [[ 9.14141547e-01 4.05342427e-01 6.53824944e-03 2.17547975e+02] [-4.05331539e-01 9.14164927e-01 -2.97167133e-03 -4.67925159e+01] [-7.18158279e-03 6.63695207e-05 9.99974210e-01 1.10675125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.57, Y:-46.81, Z:1.11 [[ 9.14650671e-01 4.04173668e-01 7.60231968e-03 2.17573180e+02] [-4.04158939e-01 9.14682261e-01 -3.45158964e-03 -4.68056121e+01] [-8.34874860e-03 8.44533270e-05 9.99965145e-01 1.10543579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.60, Y:-46.82, Z:1.11 [[ 9.15363702e-01 4.02564135e-01 7.17009619e-03 2.17598757e+02] [-4.02551021e-01 9.15391779e-01 -3.25054645e-03 -4.68169721e+01] [-7.87200053e-03 8.91026904e-05 9.99969011e-01 1.10557038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.63, Y:-46.83, Z:1.10 [[ 9.16660945e-01 3.99614533e-01 6.39815388e-03 2.17625295e+02] [-3.99604042e-01 9.16683269e-01 -2.89729786e-03 -4.68285001e+01] [-7.02288294e-03 9.91116415e-05 9.99975334e-01 1.10325542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.65, Y:-46.84, Z:1.10 [[ 9.17374928e-01 3.97996300e-01 4.71022972e-03 2.17649875e+02] [-3.97990613e-01 9.17387017e-01 -2.12907586e-03 -4.68427776e+01] [-5.16846791e-03 7.85335997e-05 9.99986640e-01 1.10338744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.67, Y:-46.86, Z:1.10 [[ 9.18299793e-01 3.95860210e-01 4.49275847e-03 2.17673818e+02] [-3.95855021e-01 9.18310779e-01 -2.02864300e-03 -4.68593252e+01] [-4.92880758e-03 8.44214462e-05 9.99987850e-01 1.10352475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.70, Y:-46.88, Z:1.10 [[ 9.19283431e-01 3.93531696e-01 7.12589494e-03 2.17696319e+02] [-3.93518590e-01 9.19311036e-01 -3.21525111e-03 -4.68789036e+01] [-7.81621708e-03 1.51554943e-04 9.99969441e-01 1.10450837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.72, Y:-46.89, Z:1.11 [[ 9.19557054e-01 3.92894305e-01 6.99212822e-03 2.17721145e+02] [-3.92881700e-01 9.19583625e-01 -3.15079536e-03 -4.68922387e+01] [-7.66777616e-03 1.50256879e-04 9.99970591e-01 1.10508937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.75, Y:-46.91, Z:1.11 [[ 9.18760101e-01 3.94786796e-01 4.82305223e-03 2.17746604e+02] [-3.94780842e-01 9.18772756e-01 -2.17014718e-03 -4.69054641e+01] [-5.28803444e-03 8.97960218e-05 9.99986014e-01 1.10551378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.77, Y:-46.92, Z:1.10 [[ 9.15911245e-01 4.01350642e-01 4.92480293e-03 2.17769740e+02] [-4.01344540e-01 9.15924484e-01 -2.21372281e-03 -4.69241723e+01] [-5.39922665e-03 5.10308518e-05 9.99985423e-01 1.10318394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.79, Y:-46.94, Z:1.10 [[ 9.14284847e-01 4.05047162e-01 4.47383005e-03 2.17794216e+02] [-4.05042183e-01 9.14295793e-01 -2.00850873e-03 -4.69411482e+01] [-4.90394475e-03 2.42592126e-05 9.99987975e-01 1.10299983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.82, Y:-46.96, Z:1.10 [[ 9.12953121e-01 4.08011442e-01 6.57739189e-03 2.17817546e+02] [-4.08000782e-01 9.12976814e-01 -2.94932795e-03 -4.69565014e+01] [-7.20836585e-03 9.01712424e-06 9.99974019e-01 1.10367486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.84, Y:-46.97, Z:1.10 [[ 9.11945984e-01 4.10262851e-01 6.23820641e-03 2.17841952e+02] [-4.10253343e-01 9.11967320e-01 -2.79312883e-03 -4.69703016e+01] [-6.83495738e-03 -1.20624135e-05 9.99976641e-01 1.10366562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.87, Y:-46.98, Z:1.10 [[ 9.09864237e-01 4.14890514e-01 3.59590282e-03 2.17865563e+02] [-4.14887404e-01 9.09871343e-01 -1.60691936e-03 -4.69847977e+01] [-3.93850453e-03 -2.98163290e-05 9.99992244e-01 1.10439863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.89, Y:-47.00, Z:1.10 [[ 9.09189212e-01 4.16372022e-01 3.05233106e-03 2.17889990e+02] [-4.16369797e-01 9.09194335e-01 -1.36145855e-03 -4.69981815e+01] [-3.34203536e-03 -3.30750406e-05 9.99994415e-01 1.10406436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.92, Y:-47.01, Z:1.10 [[ 9.08647221e-01 4.17559984e-01 1.97178933e-03 2.17915268e+02] [-4.17559063e-01 9.08649360e-01 -8.77220038e-04 -4.70111311e+01] [-2.15795710e-03 -2.62549558e-05 9.99997671e-01 1.10496862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.94, Y:-47.02, Z:1.11 [[ 9.07235867e-01 4.20619992e-01 1.38002925e-03 2.17942632e+02] [-4.20619547e-01 9.07236916e-01 -6.12716669e-04 -4.70203238e+01] [-1.50973436e-03 -2.45887403e-05 9.99998860e-01 1.10622850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.97, Y:-47.03, Z:1.11 [[ 9.06781989e-01 4.21595460e-01 1.92142514e-03 2.17969638e+02] [-4.21594599e-01 9.06784024e-01 -8.53007910e-04 -4.70300296e+01] [-2.10194189e-03 -3.65702537e-05 9.99997790e-01 1.10633629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.00, Y:-47.04, Z:1.11 [[ 9.06032722e-01 4.23199661e-01 2.59863519e-03 2.17996638e+02] [-4.23198093e-01 9.06036447e-01 -1.15313592e-03 -4.70407039e+01] [-2.84246493e-03 -5.49585847e-05 9.99995959e-01 1.10643517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.02, Y:-47.05, Z:1.11 [[ 9.05267226e-01 4.24818456e-01 4.53086820e-03 2.18022607e+02] [-4.24813715e-01 9.05278558e-01 -2.00989239e-03 -4.70529649e+01] [-4.95553721e-03 -1.05285238e-04 9.99987716e-01 1.10602517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.05, Y:-47.06, Z:1.11 [[ 9.04509346e-01 4.26378515e-01 8.01284266e-03 2.18049257e+02] [-4.26363768e-01 9.04544814e-01 -3.55209420e-03 -4.70633422e+01] [-8.76251192e-03 -2.03483387e-04 9.99961588e-01 1.10753174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.08, Y:-47.07, Z:1.11 [[ 9.04689468e-01 4.25983130e-01 8.67985528e-03 2.18076042e+02] [-4.25965861e-01 9.04731078e-01 -3.84211518e-03 -4.70721160e+01] [-9.48961107e-03 -2.21400883e-04 9.99954948e-01 1.10803369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.10, Y:-47.08, Z:1.11 [[ 9.04912955e-01 4.25508130e-01 8.68186503e-03 2.18101016e+02] [-4.25490882e-01 9.04954575e-01 -3.83757338e-03 -4.70834934e+01] [-9.48961215e-03 -2.21384548e-04 9.99954948e-01 1.10817223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.13, Y:-47.09, Z:1.11 [[ 9.05191516e-01 4.24905539e-01 9.14348438e-03 2.18128199e+02] [-4.24886433e-01 9.05237665e-01 -4.03603188e-03 -4.70918174e+01] [-9.99195874e-03 -2.31560647e-04 9.99950052e-01 1.10819122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.16, Y:-47.10, Z:1.11 [[ 9.05526366e-01 4.24199682e-01 8.75382218e-03 2.18155830e+02] [-4.24182191e-01 9.05568651e-01 -3.85838433e-03 -4.70990419e+01] [-9.56391234e-03 -2.19346735e-04 9.99954241e-01 1.10782252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.18, Y:-47.11, Z:1.11 [[ 9.05861986e-01 4.23479993e-01 8.87459606e-03 2.18182434e+02] [-4.23462035e-01 9.05905430e-01 -3.90610989e-03 -4.71083078e+01] [-9.69370414e-03 -2.19658038e-04 9.99952991e-01 1.10752393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.21, Y:-47.12, Z:1.11 [[ 9.06231418e-01 4.22670753e-01 9.69801449e-03 2.18209387e+02] [-4.22649322e-01 9.06283278e-01 -4.26282058e-03 -4.71166385e+01] [-1.05909179e-02 -2.35757311e-04 9.99943887e-01 1.10866881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.24, Y:-47.12, Z:1.11 [[ 9.06906299e-01 4.21232034e-01 9.19446105e-03 2.18236897e+02] [-4.21212745e-01 9.06952881e-01 -4.03667213e-03 -4.71249424e+01] [-1.00393185e-02 -2.11940796e-04 9.99949582e-01 1.10826243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.26, Y:-47.14, Z:1.11 [[ 9.07432306e-01 4.20115661e-01 8.33317751e-03 2.18263306e+02] [-4.20099812e-01 9.07470549e-01 -3.65380150e-03 -4.71361242e+01] [-9.09713240e-03 -1.85188784e-04 9.99958603e-01 1.10742782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.29, Y:-47.15, Z:1.10 [[ 9.08440477e-01 4.17937080e-01 8.03099851e-03 2.18290143e+02] [-4.17922310e-01 9.08475961e-01 -3.51730142e-03 -4.71477398e+01] [-8.76597978e-03 -1.61074471e-04 9.99961565e-01 1.10474218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.32, Y:-47.16, Z:1.10 [[ 9.10387891e-01 4.13683657e-01 7.72783537e-03 2.18317570e+02] [-4.13669866e-01 9.10420682e-01 -3.37998912e-03 -4.71557856e+01] [-8.43382740e-03 -1.19671461e-04 9.99964427e-01 1.10468952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.34, Y:-47.16, Z:1.11 [[ 9.10941801e-01 4.12455841e-01 8.07561855e-03 2.18344162e+02] [-4.12440779e-01 9.10977588e-01 -3.52680883e-03 -4.71641514e+01] [-8.81136041e-03 -1.17996817e-04 9.99961172e-01 1.10518205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.37, Y:-47.17, Z:1.11 [[ 9.11646597e-01 4.10946899e-01 4.80923201e-03 2.18372310e+02] [-4.10941554e-01 9.11659280e-01 -2.09692640e-03 -4.71716148e+01] [-5.24610639e-03 -6.46574591e-05 9.99986237e-01 1.10843850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.40, Y:-47.18, Z:1.10 [[ 9.13314614e-01 4.07249323e-01 2.09855911e-03 2.18400131e+02] [-4.07248302e-01 9.13317025e-01 -9.12443221e-04 -4.71806430e+01] [-2.28824164e-03 -2.12869039e-05 9.99997382e-01 1.10497126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.43, Y:-47.19, Z:1.11 [[ 9.14113165e-01 4.05443444e-01 3.56852577e-03 2.18426028e+02] [-4.05440479e-01 9.14120130e-01 -1.55078583e-03 -4.71911086e+01] [-3.89081719e-03 -2.92310550e-05 9.99992430e-01 1.10518652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.45, Y:-47.20, Z:1.11 [[ 9.16231140e-01 4.00649361e-01 7.67270103e-04 2.18453119e+02] [-4.00649224e-01 9.16231461e-01 -3.31127852e-04 -4.71998432e+01] [-8.35663169e-04 -4.01652238e-06 9.99999651e-01 1.10777043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.48, Y:-47.21, Z:1.11 [[ 9.17884250e-01 3.96839229e-01 -2.67036713e-03 2.18479352e+02] [-3.96837526e-01 9.17888134e-01 1.16238042e-03 -4.72092377e+01] [ 2.91237645e-03 -7.22879194e-06 9.99995759e-01 1.10855902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43232058799998 meters Centerline goodness [0,1] 0.9999508333743056 Centerline is valid? [True, True] Translation: X:218.45, Y:-47.35, Z:1.11 [[ 9.30276047e-01 3.66534750e-01 1.54516633e-02 2.18448902e+02] [-3.66473807e-01 9.30404183e-01 -6.70864490e-03 -4.73542093e+01] [-1.68352436e-02 5.78261786e-04 9.99858110e-01 1.11142345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.48, Y:-47.37, Z:1.11 [[ 9.30510417e-01 3.65990827e-01 1.41801936e-02 2.18477379e+02] [-3.65939268e-01 9.30618296e-01 -6.16766154e-03 -4.73717492e+01] [-1.54536552e-02 5.49983636e-04 9.99880434e-01 1.11186960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.51, Y:-47.38, Z:1.11 [[ 9.30329671e-01 3.66450149e-01 1.41771383e-02 2.18507339e+02] [-3.66398537e-01 9.30437524e-01 -6.17468285e-03 -4.73844539e+01] [-1.54536549e-02 5.50007921e-04 9.99880434e-01 1.11203358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.54, Y:-47.40, Z:1.11 [[ 9.30407710e-01 3.66312428e-01 1.25179097e-02 2.18535704e+02] [-3.66272073e-01 9.30491784e-01 -5.45969113e-03 -4.74025078e+01] [-1.36477649e-02 4.94777975e-04 9.99906743e-01 1.11216953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.552320588 meters Centerline goodness [0,1] 0.9999507364894823 Centerline is valid? [True, True] Translation: X:218.56, Y:-47.42, Z:1.11 [[ 9.30181602e-01 3.66904022e-01 1.19843649e-02 2.18562572e+02] [-3.66867007e-01 9.30258683e-01 -5.23282837e-03 -4.74204809e+01] [-1.30685052e-02 4.70812609e-04 9.99914493e-01 1.11169266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.59, Y:-47.44, Z:1.11 [[ 9.29777195e-01 3.67879517e-01 1.33801305e-02 2.18591077e+02] [-3.67833363e-01 9.29873321e-01 -5.85017133e-03 -4.74385029e+01] [-1.45939845e-02 5.17697504e-04 9.99893368e-01 1.11108848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.62, Y:-47.46, Z:1.11 [[ 9.29302475e-01 3.69075463e-01 1.34243437e-02 2.18619380e+02] [-3.69029031e-01 9.29399293e-01 -5.87604050e-03 -4.74550927e+01] [-1.46452779e-02 5.06646422e-04 9.99892624e-01 1.11122686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.65, Y:-47.47, Z:1.11 [[ 9.27301621e-01 3.73957254e-01 1.63608180e-02 2.18646383e+02] [-3.73889025e-01 9.27445792e-01 -7.16238604e-03 -4.74743440e+01] [-1.78521981e-02 5.24561881e-04 9.99840499e-01 1.11195926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.67, Y:-47.49, Z:1.11 [[ 9.25909097e-01 3.77315456e-01 1.80385867e-02 2.18674463e+02] [-3.77232934e-01 9.26084650e-01 -7.90787812e-03 -4.74897949e+01] [-1.96890229e-02 5.17227309e-04 9.99806019e-01 1.11212768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.70, Y:-47.50, Z:1.11 [[ 9.25719900e-01 3.77779596e-01 1.80345024e-02 2.18704369e+02] [-3.77696980e-01 9.25895410e-01 -7.91718982e-03 -4.75025739e+01] [-1.96890158e-02 5.17523073e-04 9.99806019e-01 1.11229162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.73, Y:-47.52, Z:1.11 [[ 9.24153361e-01 3.81545459e-01 1.90690100e-02 2.18732131e+02] [-3.81453695e-01 9.24349956e-01 -8.38082592e-03 -4.75195589e+01] [-2.08241047e-02 4.71224103e-04 9.99783044e-01 1.11419146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.76, Y:-47.54, Z:1.11 [[ 9.22790220e-01 3.84850734e-01 1.86580412e-02 2.18760244e+02] [-3.84763515e-01 9.22978743e-01 -8.20226740e-03 -4.75366328e+01] [-2.03776240e-02 3.90038630e-04 9.99792279e-01 1.11454937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.79, Y:-47.55, Z:1.11 [[ 9.21492147e-01 3.88092381e-01 1.53794584e-02 2.18787663e+02] [-3.88033405e-01 9.21620437e-01 -6.77102455e-03 -4.75533183e+01] [-1.68018062e-02 2.71702343e-04 9.99858803e-01 1.11449886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.82, Y:-47.57, Z:1.11 [[ 9.21289371e-01 3.88573649e-01 1.53757776e-02 2.18817533e+02] [-3.88514601e-01 9.21417628e-01 -6.77938077e-03 -4.75661369e+01] [-1.68018012e-02 2.72057360e-04 9.99858803e-01 1.11466275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.85, Y:-47.58, Z:1.11 [[ 9.20711892e-01 3.90013308e-01 1.33877105e-02 2.18845838e+02] [-3.89968680e-01 9.20809195e-01 -5.90382446e-03 -4.75829410e+01] [-1.46300970e-02 2.14933596e-04 9.99892951e-01 1.11248962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.88, Y:-47.60, Z:1.11 [[ 9.20508347e-01 3.90493604e-01 1.33839004e-02 2.18875696e+02] [-3.90448902e-01 9.20605615e-01 -5.91245902e-03 -4.75957763e+01] [-1.46300713e-02 2.16738659e-04 9.99892951e-01 1.11265341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.912320588 meters Centerline goodness [0,1] 0.9999507704425737 Centerline is valid? [True, True] Translation: X:218.90, Y:-47.62, Z:1.11 [[ 9.18953579e-01 3.94162163e-01 1.26692373e-02 2.18901919e+02] [-3.94122362e-01 9.19040894e-01 -5.60345327e-03 -4.76158761e+01] [-1.38522164e-02 1.56083702e-04 9.99904041e-01 1.10978481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.942320588 meters Centerline goodness [0,1] 0.9999016280556785 Centerline is valid? [True, True] Translation: X:218.93, Y:-47.63, Z:1.11 [[ 9.18247001e-01 3.95753554e-01 1.41975471e-02 2.18931693e+02] [-3.95703620e-01 9.18356739e-01 -6.28845164e-03 -4.76309244e+01] [-1.55270901e-02 1.56331073e-04 9.99879435e-01 1.11057354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.972320588 meters Centerline goodness [0,1] 0.9999016280556785 Centerline is valid? [True, True] Translation: X:218.96, Y:-47.64, Z:1.11 [[ 9.18038035e-01 3.96238173e-01 1.41942265e-02 2.18961524e+02] [-3.96188181e-01 9.18147747e-01 -6.29594509e-03 -4.76438034e+01] [-1.55270908e-02 1.56332302e-04 9.99879435e-01 1.11073743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.99, Y:-47.66, Z:1.11 [[ 9.16856006e-01 3.98959864e-01 1.43558636e-02 2.18990778e+02] [-3.98908918e-01 9.16968381e-01 -6.37671819e-03 -4.76579793e+01] [-1.57079276e-02 1.19850362e-04 9.99876616e-01 1.11246098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.02, Y:-47.67, Z:1.11 [[ 9.15948556e-01 4.01022588e-01 1.48029498e-02 2.19020502e+02] [-4.00968536e-01 9.16068161e-01 -6.58466225e-03 -4.76720737e+01] [-1.62011093e-02 9.56947810e-05 9.99868749e-01 1.11376496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.05, Y:-47.69, Z:1.11 [[ 9.14758423e-01 4.03755839e-01 1.40801524e-02 2.19049575e+02] [-4.03707144e-01 9.14866777e-01 -6.27076812e-03 -4.76867795e+01] [-1.54133229e-02 5.19798563e-05 9.99881206e-01 1.11387930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.08, Y:-47.70, Z:1.11 [[ 9.13865769e-01 4.05819939e-01 1.26306414e-02 2.19078546e+02] [-4.05780849e-01 9.13953050e-01 -5.63257379e-03 -4.77016523e+01] [-1.38296239e-02 2.21440028e-05 9.99904366e-01 1.11398798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.11, Y:-47.71, Z:1.11 [[ 9.13646307e-01 4.06313886e-01 1.26274466e-02 2.19108341e+02] [-4.06274744e-01 9.13733564e-01 -5.63973422e-03 -4.77145987e+01] [-1.38296242e-02 2.25096819e-05 9.99904366e-01 1.11415183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:-47.73, Z:1.11 [[ 9.13075751e-01 4.07588530e-01 1.28164886e-02 2.19137859e+02] [-4.07548217e-01 9.13165697e-01 -5.73243646e-03 -4.77295379e+01] [-1.40400531e-02 1.08116380e-05 9.99901434e-01 1.11289670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.17, Y:-47.74, Z:1.11 [[ 9.12266270e-01 4.09409062e-01 1.24287220e-02 2.19166878e+02] [-4.09371210e-01 9.12350930e-01 -5.56708493e-03 -4.77444221e+01] [-1.36185711e-02 -9.29716120e-06 9.99907263e-01 1.11343236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.20, Y:-47.76, Z:1.11 [[ 9.11419563e-01 4.11261640e-01 1.33508165e-02 2.19196251e+02] [-4.11218039e-01 9.11517341e-01 -5.98844409e-03 -4.77593268e+01] [-1.46323181e-02 -3.21114825e-05 9.99892941e-01 1.11479604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:-47.77, Z:1.12 [[ 9.10500791e-01 4.13267571e-01 1.40792441e-02 2.19226030e+02] [-4.13219185e-01 9.10609637e-01 -6.32405644e-03 -4.77734275e+01] [-1.54342228e-02 -5.97553622e-05 9.99880884e-01 1.11564478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.26, Y:-47.79, Z:1.12 [[ 9.09401234e-01 4.15575753e-01 1.69171227e-02 2.19255242e+02] [-4.15506137e-01 9.09558564e-01 -7.60718245e-03 -4.77861567e+01] [-1.85484744e-02 -1.11187200e-04 9.99827956e-01 1.11604709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.29, Y:-47.80, Z:1.12 [[ 9.08262818e-01 4.18061581e-01 1.68275982e-02 2.19285610e+02] [-4.17992923e-01 9.08418677e-01 -7.57791462e-03 -4.77982735e+01] [-1.84545395e-02 -1.51078874e-04 9.99829689e-01 1.11737678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.32, Y:-47.81, Z:1.12 [[ 9.06996774e-01 4.20789888e-01 1.71091490e-02 2.19315308e+02] [-4.20719230e-01 9.07158106e-01 -7.71363579e-03 -4.78111110e+01] [-1.87665231e-02 -2.01905198e-04 9.99823873e-01 1.11778912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.35, Y:-47.82, Z:1.12 [[ 9.06775976e-01 4.21265652e-01 1.71049576e-02 2.19345051e+02] [-4.21194903e-01 9.06937269e-01 -7.72292758e-03 -4.78241831e+01] [-1.87665276e-02 -2.01555734e-04 9.99823873e-01 1.11795299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.37, Y:-47.84, Z:1.12 [[ 9.05638854e-01 4.23783196e-01 1.50355983e-02 2.19374085e+02] [-4.23728741e-01 9.05763632e-01 -6.79685468e-03 -4.78374593e+01] [-1.64990909e-02 -2.15519462e-04 9.99863858e-01 1.11656833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.40, Y:-47.85, Z:1.11 [[ 9.04449758e-01 4.26328922e-01 1.46384727e-02 2.19402698e+02] [-4.26277510e-01 9.04568178e-01 -6.62541645e-03 -4.78520012e+01] [-1.60661032e-02 -2.47695366e-04 9.99870901e-01 1.11494631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.43, Y:-47.87, Z:1.12 [[ 9.02162959e-01 4.31129320e-01 1.51494011e-02 2.19431127e+02] [-4.31074796e-01 9.02290084e-01 -6.86477006e-03 -4.78676620e+01] [-1.66287580e-02 -3.37383721e-04 9.99861676e-01 1.11604353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.46, Y:-47.88, Z:1.12 [[ 9.01457141e-01 4.32526530e-01 1.71995114e-02 2.19461199e+02] [-4.32456477e-01 9.01621113e-01 -7.79510837e-03 -4.78794270e+01] [-1.88790338e-02 -4.11084017e-04 9.99821691e-01 1.11776294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.49, Y:-47.89, Z:1.12 [[ 9.00625218e-01 4.34201094e-01 1.85371835e-02 2.19491296e+02] [-4.34119838e-01 9.00815846e-01 -8.41297923e-03 -4.78913935e+01] [-2.03515134e-02 -4.70417839e-04 9.99792776e-01 1.11712249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.52, Y:-47.90, Z:1.12 [[ 9.00404872e-01 4.34658028e-01 1.85327957e-02 2.19521013e+02] [-4.34576670e-01 9.00595457e-01 -8.42264217e-03 -4.79045467e+01] [-2.03515207e-02 -4.70132604e-04 9.99792776e-01 1.11728641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.55, Y:-47.92, Z:1.12 [[ 8.99815515e-01 4.35928162e-01 1.72822568e-02 2.19552185e+02] [-4.35857443e-01 8.99981350e-01 -7.86510307e-03 -4.79166821e+01] [-1.89823287e-02 -4.55458476e-04 9.99819716e-01 1.11708076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.58, Y:-47.93, Z:1.12 [[ 8.98940542e-01 4.37777050e-01 1.60360798e-02 2.19582479e+02] [-4.37716280e-01 8.99083451e-01 -7.30792997e-03 -4.79298618e+01] [-1.76170180e-02 -4.49858666e-04 9.99844707e-01 1.11615755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.61, Y:-47.94, Z:1.11 [[ 8.97810834e-01 4.40159766e-01 1.39673137e-02 2.19613226e+02] [-4.40113817e-01 8.97919373e-01 -6.37399473e-03 -4.79409713e+01] [-1.53470976e-02 -4.24566207e-04 9.99882136e-01 1.11473715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.64, Y:-47.95, Z:1.12 [[ 8.97459197e-01 4.40867124e-01 1.42537374e-02 2.19643900e+02] [-4.40819224e-01 8.97572274e-01 -6.51340378e-03 -4.79528542e+01] [-1.56653051e-02 -4.37807335e-04 9.99877196e-01 1.11503640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.67, Y:-47.96, Z:1.12 [[ 8.97078733e-01 4.41543872e-01 1.69928186e-02 2.19674707e+02] [-4.41475762e-01 8.97239505e-01 -7.77316780e-03 -4.79633453e+01] [-1.86788228e-02 -5.28774018e-04 9.99825396e-01 1.11835317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.70, Y:-47.97, Z:1.12 [[ 8.97248434e-01 4.41205705e-01 1.68158570e-02 2.19704347e+02] [-4.41138781e-01 8.97405855e-01 -7.70118818e-03 -4.79749904e+01] [-1.84884567e-02 -5.08247641e-04 9.99828945e-01 1.11930623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.73, Y:-47.99, Z:1.12 [[ 8.97547409e-01 4.40597216e-01 1.68149299e-02 2.19734668e+02] [-4.40530026e-01 8.97704771e-01 -7.70977296e-03 -4.79865483e+01] [-1.84917473e-02 -4.87594778e-04 9.99828894e-01 1.11906596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.76, Y:-48.00, Z:1.12 [[ 8.97802571e-01 4.40076560e-01 1.68274934e-02 2.19764610e+02] [-4.40009012e-01 8.97960133e-01 -7.72453291e-03 -4.79978219e+01] [-1.85098041e-02 -4.69143227e-04 9.99828569e-01 1.11835093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.80, Y:-48.01, Z:1.12 [[ 8.97736760e-01 4.40203410e-01 1.70196380e-02 2.19795444e+02] [-4.40134131e-01 8.97897956e-01 -7.82348711e-03 -4.80097834e+01] [-1.87258239e-02 -4.67491601e-04 9.99824547e-01 1.11742431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.83, Y:-48.02, Z:1.12 [[ 8.97602599e-01 4.40455296e-01 1.75700272e-02 2.19826189e+02] [-4.40381307e-01 8.97774417e-01 -8.08710455e-03 -4.80211815e+01] [-1.93359290e-02 -4.78505489e-04 9.99812929e-01 1.11701723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.86, Y:-48.03, Z:1.12 [[ 8.97659968e-01 4.40307728e-01 1.83217434e-02 2.19857641e+02] [-4.40227017e-01 8.97846796e-01 -8.44422966e-03 -4.80319663e+01] [-2.01681782e-02 -4.85679500e-04 9.99796484e-01 1.11831500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.89, Y:-48.05, Z:1.12 [[ 8.97435434e-01 4.40765373e-01 1.83174286e-02 2.19887291e+02] [-4.40684566e-01 8.97622220e-01 -8.45358677e-03 -4.80452985e+01] [-2.01681793e-02 -4.85659778e-04 9.99796484e-01 1.11847894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.92, Y:-48.06, Z:1.12 [[ 8.97210666e-01 4.41222903e-01 1.83131174e-02 2.19916934e+02] [-4.41142001e-01 8.97397411e-01 -8.46292376e-03 -4.80586459e+01] [-2.01681800e-02 -4.85659795e-04 9.99796484e-01 1.11864289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.95, Y:-48.07, Z:1.12 [[ 8.97291999e-01 4.41025869e-01 1.90591483e-02 2.19948181e+02] [-4.40937951e-01 8.97494258e-01 -8.81937285e-03 -4.80690483e+01] [-2.09950477e-02 -4.90349078e-04 9.99779459e-01 1.11891296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.98, Y:-48.08, Z:1.12 [[ 8.97160792e-01 4.41308206e-01 1.86970695e-02 2.19979282e+02] [-4.41223421e-01 8.97355470e-01 -8.66335315e-03 -4.80795311e+01] [-2.06011265e-02 -4.77164203e-04 9.99787660e-01 1.11912943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.01, Y:-48.09, Z:1.12 [[ 8.97149473e-01 4.41356766e-01 1.80839215e-02 2.20008890e+02] [-4.41277271e-01 8.97331599e-01 -8.38875799e-03 -4.80916236e+01] [-1.99297093e-02 -4.54053689e-04 9.99801281e-01 1.11833663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.04, Y:-48.10, Z:1.12 [[ 8.97387247e-01 4.40923332e-01 1.68149804e-02 2.20038067e+02] [-4.40854355e-01 8.97544679e-01 -7.80937557e-03 -4.81043156e+01] [-1.85355321e-02 -4.04923293e-04 9.99828120e-01 1.11760286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.07, Y:-48.12, Z:1.12 [[ 8.97713307e-01 4.40314719e-01 1.52894621e-02 2.20067494e+02] [-4.40257458e-01 8.97843431e-01 -7.10943312e-03 -4.81169830e+01] [-1.68579312e-02 -3.49067004e-04 9.99857834e-01 1.11613769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.10, Y:-48.13, Z:1.12 [[ 8.97874493e-01 4.40044401e-01 1.35025952e-02 2.20097346e+02] [-4.39999599e-01 8.97975967e-01 -6.28616307e-03 -4.81283055e+01] [-1.48911968e-02 -2.96951000e-04 9.99889076e-01 1.11686543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.13, Y:-48.14, Z:1.12 [[ 8.97900881e-01 4.39955999e-01 1.45851494e-02 2.20128329e+02] [-4.39903562e-01 8.98019277e-01 -6.79950573e-03 -4.81399284e+01] [-1.60892286e-02 -3.10776970e-04 9.99870512e-01 1.11679925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.16, Y:-48.15, Z:1.12 [[ 8.97674556e-01 4.40417719e-01 1.45816560e-02 2.20157921e+02] [-4.40365221e-01 8.97792925e-01 -6.80699561e-03 -4.81533876e+01] [-1.60892291e-02 -3.10787422e-04 9.99870512e-01 1.11696316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.19, Y:-48.16, Z:1.12 [[ 8.97729538e-01 4.40284122e-01 1.52174079e-02 2.20189198e+02] [-4.40226769e-01 8.97858449e-01 -7.11319212e-03 -4.81640692e+01] [-1.67949038e-02 -3.13387645e-04 9.99858907e-01 1.11973090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.22, Y:-48.18, Z:1.12 [[ 8.97495293e-01 4.40705684e-01 1.67541044e-02 2.20219623e+02] [-4.40636077e-01 8.97651592e-01 -7.84010309e-03 -4.81752739e+01] [-1.84945265e-02 -3.46007208e-04 9.99828902e-01 1.12082122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.25, Y:-48.19, Z:1.12 [[ 8.97357950e-01 4.41069865e-01 1.43556034e-02 2.20249928e+02] [-4.41018679e-01 8.97472722e-01 -6.72593492e-03 -4.81862509e+01] [-1.58503697e-02 -2.95518091e-04 9.99874331e-01 1.12191143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.28, Y:-48.20, Z:1.12 [[ 8.97265960e-01 4.41308306e-01 1.26797406e-02 2.20280595e+02] [-4.41268380e-01 8.97355509e-01 -5.94196836e-03 -4.81977076e+01] [-1.40004751e-02 -2.63642658e-04 9.99901954e-01 1.12113378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.31, Y:-48.21, Z:1.12 [[ 8.97113593e-01 4.41651211e-01 1.14633777e-02 2.20310383e+02] [-4.41618505e-01 8.97186799e-01 -5.37997353e-03 -4.82090874e+01] [-1.26608630e-02 -2.35992344e-04 9.99919820e-01 1.12060981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.34, Y:-48.22, Z:1.12 [[ 8.96882152e-01 4.42121098e-01 1.14604049e-02 2.20339942e+02] [-4.42088349e-01 8.96955339e-01 -5.38630515e-03 -4.82226286e+01] [-1.26608705e-02 -2.35630518e-04 9.99919820e-01 1.12077370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.37, Y:-48.24, Z:1.12 [[ 8.96967333e-01 4.41943963e-01 1.16248700e-02 2.20370693e+02] [-4.41910158e-01 8.97042630e-01 -5.47101015e-03 -4.82352366e+01] [-1.28458839e-02 -2.29830742e-04 9.99917462e-01 1.12106629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.40, Y:-48.25, Z:1.12 [[ 8.96736680e-01 4.42411863e-01 1.16220211e-02 2.20400238e+02] [-4.42378018e-01 8.96811960e-01 -5.47706104e-03 -4.82488070e+01] [-1.28458843e-02 -2.29845119e-04 9.99917462e-01 1.12123019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.43, Y:-48.26, Z:1.12 [[ 8.97217475e-01 4.41357756e-01 1.42875486e-02 2.20429538e+02] [-4.41306374e-01 8.97331190e-01 -6.73941724e-03 -4.82609282e+01] [-1.57951571e-02 -2.58463349e-04 9.99875215e-01 1.12101146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.46, Y:-48.27, Z:1.12 [[ 8.97661436e-01 4.40445334e-01 1.45552177e-02 2.20460194e+02] [-4.40391730e-01 8.97779400e-01 -6.87553235e-03 -4.82735070e+01] [-1.60956708e-02 -2.38097260e-04 9.99870428e-01 1.12256945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.49, Y:-48.29, Z:1.12 [[ 8.97958860e-01 4.39887521e-01 1.29944066e-02 2.20490153e+02] [-4.39844634e-01 8.98052855e-01 -6.14552742e-03 -4.82855993e+01] [-1.43730048e-02 -1.97089227e-04 9.99896684e-01 1.12417890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.52, Y:-48.30, Z:1.12 [[ 8.98406373e-01 4.38972894e-01 1.29918016e-02 2.20520720e+02] [-4.38929889e-01 8.98500287e-01 -6.14707017e-03 -4.82968604e+01] [-1.43715347e-02 -1.79923032e-04 9.99896708e-01 1.12469472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.55, Y:-48.31, Z:1.13 [[ 8.98795802e-01 4.38188075e-01 1.25426384e-02 2.20551006e+02] [-4.38147800e-01 8.98883300e-01 -5.94290733e-03 -4.83081340e+01] [-1.38784793e-02 -1.54069246e-04 9.99903677e-01 1.12519869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.58, Y:-48.32, Z:1.13 [[ 8.98563376e-01 4.38664591e-01 1.25393422e-02 2.20580520e+02] [-4.38624265e-01 8.98650852e-01 -5.94986077e-03 -4.83217803e+01] [-1.38784838e-02 -1.53732773e-04 9.99903677e-01 1.12536256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.61, Y:-48.33, Z:1.13 [[ 8.98482728e-01 4.38816384e-01 1.29988140e-02 2.20611613e+02] [-4.38772944e-01 8.98576740e-01 -6.17621983e-03 -4.83340206e+01] [-1.43906584e-02 -1.54301059e-04 9.99896437e-01 1.12551718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.64, Y:-48.35, Z:1.13 [[ 8.97930749e-01 4.39904167e-01 1.43071420e-02 2.20640987e+02] [-4.39851561e-01 8.98044704e-01 -6.80536103e-03 -4.83465339e+01] [-1.58421598e-02 -1.82275818e-04 9.99874488e-01 1.12570310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.67, Y:-48.36, Z:1.13 [[ 8.97254760e-01 4.41304093e-01 1.35865237e-02 2.20671188e+02] [-4.41256674e-01 8.97357600e-01 -6.47190869e-03 -4.83595339e+01] [-1.50480501e-02 -1.88193387e-04 9.99886754e-01 1.12655054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.70, Y:-48.37, Z:1.13 [[ 8.97152558e-01 4.41539180e-01 1.26664879e-02 2.20701326e+02] [-4.41497890e-01 8.97241953e-01 -6.04070869e-03 -4.83720259e+01] [-1.40321139e-02 -1.72790413e-04 9.99901530e-01 1.12586226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.73, Y:-48.38, Z:1.13 [[ 8.96744580e-01 4.42400369e-01 1.14486994e-02 2.20730817e+02] [-4.42366622e-01 8.96817644e-01 -5.46668005e-03 -4.83842653e+01] [-1.26858569e-02 -1.62306768e-04 9.99919518e-01 1.12518890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.76, Y:-48.40, Z:1.13 [[ 8.96507790e-01 4.42880097e-01 1.14456166e-02 2.20760290e+02] [-4.42846307e-01 8.96580835e-01 -5.47313351e-03 -4.83980050e+01] [-1.26858623e-02 -1.61942194e-04 9.99919518e-01 1.12535278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.79, Y:-48.41, Z:1.13 [[ 8.95900014e-01 4.44116657e-01 1.11157346e-02 2.20790261e+02] [-4.44084791e-01 8.95968954e-01 -5.32276104e-03 -4.84108755e+01] [-1.23232799e-02 -1.67666965e-04 9.99924051e-01 1.12570346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.82, Y:-48.42, Z:1.13 [[ 8.95784414e-01 4.44364586e-01 1.05070942e-02 2.20820996e+02] [-4.44336047e-01 8.95846020e-01 -5.03846197e-03 -4.84236677e+01] [-1.16516526e-02 -1.55305018e-04 9.99932105e-01 1.12597068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.85, Y:-48.44, Z:1.13 [[ 8.95548866e-01 4.44839168e-01 1.05044430e-02 2.20850448e+02] [-4.44810598e-01 8.95610457e-01 -5.04398860e-03 -4.84374543e+01] [-1.16516527e-02 -1.55349320e-04 9.99932105e-01 1.12613456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.88, Y:-48.45, Z:1.13 [[ 8.95335898e-01 4.45277665e-01 1.00712550e-02 2.20881734e+02] [-4.45251355e-01 8.95392528e-01 -4.84267778e-03 -4.84496803e+01] [-1.11740627e-02 -1.48416686e-04 9.99937557e-01 1.12622792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.91, Y:-48.46, Z:1.13 [[ 8.95304238e-01 4.45339588e-01 1.01475338e-02 2.20912781e+02] [-4.45312807e-01 8.95361732e-01 -4.88604073e-03 -4.84609439e+01] [-1.12616608e-02 -1.44333794e-04 9.99936575e-01 1.12687078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.94, Y:-48.47, Z:1.13 [[ 8.95067302e-01 4.45815662e-01 1.01449412e-02 2.20942214e+02] [-4.45788851e-01 8.95124781e-01 -4.89142318e-03 -4.84747787e+01] [-1.12616613e-02 -1.44348733e-04 9.99936575e-01 1.12703466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.97, Y:-48.49, Z:1.13 [[ 8.95178882e-01 4.45635302e-01 7.99672710e-03 2.20972469e+02] [-4.45618593e-01 8.95214592e-01 -3.86047457e-03 -4.84855691e+01] [-8.87915054e-03 -1.07674968e-04 9.99960574e-01 1.12810403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.00, Y:-48.50, Z:1.13 [[ 8.95494176e-01 4.45013881e-01 7.26818239e-03 2.21002696e+02] [-4.45000022e-01 8.95523667e-01 -3.51324751e-03 -4.84975146e+01] [-8.07227326e-03 -8.82486343e-05 9.99967415e-01 1.12800749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.03, Y:-48.51, Z:1.13 [[ 8.95542635e-01 4.44929945e-01 6.38231378e-03 2.21032966e+02] [-4.44919256e-01 8.95565374e-01 -3.08499951e-03 -4.85099328e+01] [-7.08838788e-03 -7.68657102e-05 9.99974874e-01 1.12799245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.06, Y:-48.52, Z:1.13 [[ 8.95673448e-01 4.44652102e-01 7.32000508e-03 2.21063413e+02] [-4.44637978e-01 8.95703356e-01 -3.54501468e-03 -4.85220917e+01] [-8.13285135e-03 -7.95767360e-05 9.99966925e-01 1.12783285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.09, Y:-48.53, Z:1.13 [[ 8.95694995e-01 4.44585496e-01 8.61469782e-03 2.21093970e+02] [-4.44565881e-01 8.95736417e-01 -4.17719278e-03 -4.85339139e+01] [-9.57361788e-03 -8.83100593e-05 9.99954168e-01 1.12848265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.12, Y:-48.55, Z:1.13 [[ 8.95457359e-01 4.45063978e-01 8.61246969e-03 2.21123371e+02] [-4.45044340e-01 8.95498770e-01 -4.18178642e-03 -4.85478271e+01] [-9.57361851e-03 -8.83194723e-05 9.99954168e-01 1.12864652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.15, Y:-48.56, Z:1.13 [[ 8.95225162e-01 4.45487064e-01 1.06387976e-02 2.21153352e+02] [-4.45457069e-01 8.95288369e-01 -5.17071399e-03 -4.85600184e+01] [-1.18282779e-02 -1.10174308e-04 9.99930037e-01 1.12861812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.18, Y:-48.57, Z:1.13 [[ 8.95306502e-01 4.45303875e-01 1.14335540e-02 2.21184854e+02] [-4.45269118e-01 8.95379499e-01 -5.56467021e-03 -4.85717084e+01] [-1.27153391e-02 -1.08923101e-04 9.99919151e-01 1.13069655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.22, Y:-48.58, Z:1.13 [[ 8.95524520e-01 4.44854635e-01 1.18401155e-02 2.21215615e+02] [-4.44817221e-01 8.95602783e-01 -5.77025412e-03 -4.85845818e+01] [-1.31709647e-02 -9.92832178e-05 9.99913254e-01 1.12967346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.25, Y:-48.60, Z:1.13 [[ 8.95893084e-01 4.44149501e-01 1.03345443e-02 2.21245546e+02] [-4.44120882e-01 8.95952686e-01 -5.04248443e-03 -4.85971996e+01] [-1.14988796e-02 -7.22599758e-05 9.99933883e-01 1.12983496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.28, Y:-48.61, Z:1.13 [[ 8.96655705e-01 4.42612933e-01 1.01162433e-02 2.21275074e+02] [-4.42585332e-01 8.96712768e-01 -4.94314213e-03 -4.86109460e+01] [-1.12592632e-02 -4.50043088e-05 9.99936611e-01 1.12955932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.30, Y:-48.63, Z:1.13 [[ 8.96559232e-01 4.42798973e-01 1.05172266e-02 2.21304896e+02] [-4.42769073e-01 8.96620916e-01 -5.14590508e-03 -4.86259917e+01] [-1.17085669e-02 -4.30939846e-05 9.99931451e-01 1.12994958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.33, Y:-48.64, Z:1.13 [[ 8.96551418e-01 4.42787909e-01 1.15940697e-02 2.21334754e+02] [-4.42751477e-01 8.96626381e-01 -5.68011347e-03 -4.86397382e+01] [-1.29106343e-02 -4.07777001e-05 9.99916653e-01 1.12995317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.37, Y:-48.65, Z:1.13 [[ 8.96803039e-01 4.42237491e-01 1.30502991e-02 2.21365110e+02] [-4.42191176e-01 8.96897988e-01 -6.40029133e-03 -4.86520119e+01] [-1.45352358e-02 -3.09264078e-05 9.99894357e-01 1.12968370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.40, Y:-48.66, Z:1.13 [[ 8.97056630e-01 4.41770450e-01 1.13257363e-02 2.21395181e+02] [-4.41735445e-01 8.97128123e-01 -5.56127182e-03 -4.86629877e+01] [-1.26174421e-02 -1.42034115e-05 9.99920397e-01 1.12998092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.42, Y:-48.68, Z:1.13 [[ 8.97093896e-01 4.41695727e-01 1.12883410e-02 2.21424102e+02] [-4.41660847e-01 8.97164915e-01 -5.55079412e-03 -4.86781953e+01] [-1.25792656e-02 -6.03472931e-06 9.99920878e-01 1.12883023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46232058799998 meters Centerline goodness [0,1] 0.9999508430418326 Centerline is valid? [True, True] Translation: X:221.45, Y:-48.69, Z:1.13 [[ 8.96752098e-01 4.42388125e-01 1.13323573e-02 2.21452852e+02] [-4.42352934e-01 8.96823699e-01 -5.57991187e-03 -4.86943143e+01] [-1.26316133e-02 -9.10382402e-06 9.99920218e-01 1.12782494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.48, Y:-48.71, Z:1.13 [[ 8.96253778e-01 4.43423078e-01 1.02537610e-02 2.21480800e+02] [-4.43394268e-01 8.96312431e-01 -5.05463867e-03 -4.87094992e+01] [-1.14319169e-02 -1.62198453e-05 9.99934653e-01 1.12882951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.51, Y:-48.72, Z:1.13 [[ 8.95978729e-01 4.43963519e-01 1.08863024e-02 2.21511294e+02] [-4.43930995e-01 8.96044861e-01 -5.37382783e-03 -4.87230598e+01] [-1.21403988e-02 -1.79316275e-05 9.99926302e-01 1.12953726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.54, Y:-48.74, Z:1.13 [[ 8.96044990e-01 4.43848971e-01 1.00730321e-02 2.21541590e+02] [-4.43821041e-01 8.96101607e-01 -4.97925367e-03 -4.87367599e+01] [-1.12364969e-02 -8.98829645e-06 9.99936869e-01 1.13078761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.57, Y:-48.75, Z:1.13 [[ 8.96403109e-01 4.43164639e-01 8.15897457e-03 2.21570384e+02] [-4.43146243e-01 8.96440239e-01 -4.03798639e-03 -4.87520157e+01] [-9.10352590e-03 4.04463030e-06 9.99958562e-01 1.13103940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.60, Y:-48.77, Z:1.13 [[ 8.96108862e-01 4.43769961e-01 7.55835420e-03 2.21599146e+02] [-4.43754147e-01 8.96140738e-01 -3.74634022e-03 -4.87679218e+01] [-8.43586236e-03 3.07764874e-06 9.99964417e-01 1.13079910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.63, Y:-48.78, Z:1.13 [[ 8.95755035e-01 4.44459714e-01 8.85886682e-03 2.21628271e+02] [-4.44437970e-01 8.95798841e-01 -4.39636670e-03 -4.87835740e+01] [-9.88977051e-03 8.50826319e-07 9.99951095e-01 1.12958127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.66, Y:-48.80, Z:1.13 [[ 8.95149248e-01 4.45616548e-01 1.15635869e-02 2.21657076e+02] [-4.45579527e-01 8.95223934e-01 -5.74395113e-03 -4.87977471e+01] [-1.29115994e-02 -1.08040497e-05 9.99916642e-01 1.13028829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.69, Y:-48.81, Z:1.13 [[ 8.94800132e-01 4.46245414e-01 1.40624927e-02 2.21686330e+02] [-4.46190620e-01 8.94910627e-01 -6.99284770e-03 -4.88110485e+01] [-1.57052003e-02 -1.73512821e-05 9.99876666e-01 1.13072675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.72, Y:-48.82, Z:1.13 [[ 8.94436710e-01 4.46985306e-01 1.36787650e-02 2.21716101e+02] [-4.46933403e-01 8.94541299e-01 -6.81158668e-03 -4.88249551e+01] [-1.52808993e-02 -2.09637865e-05 9.99883240e-01 1.13117351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.762320588 meters Centerline goodness [0,1] 0.9999506976285559 Centerline is valid? [True, True] Translation: X:221.74, Y:-48.84, Z:1.13 [[ 8.93772782e-01 4.48373175e-01 1.14765228e-02 2.21744150e+02] [-4.48336667e-01 8.93846461e-01 -5.72172317e-03 -4.88403132e+01] [-1.28237165e-02 -3.14255473e-05 9.99917772e-01 1.13202933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.792320588 meters Centerline goodness [0,1] 0.9999506976285559 Centerline is valid? [True, True] Translation: X:221.77, Y:-48.85, Z:1.13 [[ 8.93532071e-01 4.48852761e-01 1.14732930e-02 2.21773399e+02] [-4.48816209e-01 8.93605728e-01 -5.72819875e-03 -4.88545478e+01] [-1.28237181e-02 -3.10705586e-05 9.99917772e-01 1.13219320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.80, Y:-48.87, Z:1.13 [[ 8.93381984e-01 4.49155454e-01 1.13140829e-02 2.21802407e+02] [-4.49119837e-01 8.93453624e-01 -5.65633881e-03 -4.88701188e+01] [-1.26491838e-02 -2.81078805e-05 9.99919995e-01 1.13148951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.83, Y:-48.88, Z:1.13 [[ 8.93002070e-01 4.49860945e-01 1.31313696e-02 2.21831447e+02] [-4.49812945e-01 8.93098611e-01 -6.57157823e-03 -4.88847832e+01] [-1.46839043e-02 -3.82270539e-05 9.99892185e-01 1.13028297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.86, Y:-48.90, Z:1.13 [[ 8.91890659e-01 4.52048868e-01 1.35230696e-02 2.21861724e+02] [-4.51998073e-01 8.91993170e-01 -6.77689174e-03 -4.88986223e+01] [-1.51259720e-02 -6.81549809e-05 9.99885594e-01 1.13174099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.89, Y:-48.91, Z:1.13 [[ 8.90886760e-01 4.54037300e-01 1.30732898e-02 2.21891066e+02] [-4.53989913e-01 8.90982672e-01 -6.56028828e-03 -4.89130654e+01] [-1.46266903e-02 -9.06677228e-05 9.99893020e-01 1.13131181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.92, Y:-48.93, Z:1.13 [[ 8.90376797e-01 4.55054712e-01 1.24245061e-02 2.21920241e+02] [-4.55011894e-01 8.90463475e-01 -6.24312219e-03 -4.89279222e+01] [-1.39045310e-02 -9.45669054e-05 9.99903323e-01 1.13207155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.95, Y:-48.94, Z:1.13 [[ 8.90010732e-01 4.55802831e-01 1.11658187e-02 2.21949571e+02] [-4.55768228e-01 8.90080766e-01 -5.61706445e-03 -4.89422769e+01] [-1.24987543e-02 -8.97777493e-05 9.99921883e-01 1.13308090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.98, Y:-48.96, Z:1.13 [[ 8.88901203e-01 4.57979309e-01 1.04691953e-02 2.21980115e+02] [-4.57948952e-01 8.88962846e-01 -5.27411612e-03 -4.89553466e+01] [-1.17221617e-02 -1.06188847e-04 9.99931287e-01 1.13215525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.01, Y:-48.97, Z:1.13 [[ 8.88142141e-01 4.59455146e-01 1.02228600e-02 2.22010300e+02] [-4.59426218e-01 8.88200966e-01 -5.15701579e-03 -4.89690754e+01] [-1.14493715e-02 -1.16486846e-04 9.99934447e-01 1.13093733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.04, Y:-48.98, Z:1.13 [[ 8.87718664e-01 4.60271532e-01 1.02805858e-02 2.22040895e+02] [-4.60242253e-01 8.87778183e-01 -5.19293619e-03 -4.89825840e+01] [-1.15170405e-02 -1.21693590e-04 9.99933669e-01 1.13160161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.07, Y:-48.99, Z:1.13 [[ 8.87002455e-01 4.61680362e-01 8.82542690e-03 2.22072547e+02] [-4.61658792e-01 8.87046352e-01 -4.46422898e-03 -4.89939843e+01] [-9.88960959e-03 -1.14553854e-04 9.99951090e-01 1.13352332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.10, Y:-49.01, Z:1.13 [[ 8.86941536e-01 4.61791885e-01 9.10863106e-03 2.22102898e+02] [-4.61768854e-01 8.86988299e-01 -4.61345574e-03 -4.90072917e+01] [-1.02097056e-02 -1.14216601e-04 9.99947873e-01 1.13447797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.13, Y:-49.02, Z:1.14 [[ 8.86681625e-01 4.62292011e-01 9.04392167e-03 2.22132425e+02] [-4.62269270e-01 8.86727739e-01 -4.58683962e-03 -4.90220775e+01] [-1.01399555e-02 -1.13660662e-04 9.99948583e-01 1.13555077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.16, Y:-49.04, Z:1.14 [[ 8.86940351e-01 4.61787189e-01 9.45544009e-03 2.22162297e+02] [-4.61762236e-01 8.86990744e-01 -4.80177318e-03 -4.90370303e+01] [-1.06042852e-02 -1.07278765e-04 9.99943767e-01 1.13522094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.19, Y:-49.05, Z:1.14 [[ 8.87559384e-01 4.60580444e-01 1.01977808e-02 2.22192706e+02] [-4.60551262e-01 8.87617962e-01 -5.18549845e-03 -4.90497961e+01] [-1.14400726e-02 -9.41629933e-05 9.99934556e-01 1.13519357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.22, Y:-49.06, Z:1.13 [[ 8.87620873e-01 4.60452682e-01 1.06072695e-02 2.22222959e+02] [-4.60421018e-01 8.87684245e-01 -5.40058783e-03 -4.90627380e+01] [-1.19026211e-02 -9.01353293e-05 9.99929157e-01 1.13493242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.25, Y:-49.08, Z:1.13 [[ 8.88024162e-01 4.59681861e-01 1.02798398e-02 2.22253115e+02] [-4.59651989e-01 8.88083657e-01 -5.24088768e-03 -4.90765856e+01] [-1.15384987e-02 -7.11139327e-05 9.99933427e-01 1.13381011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.28, Y:-49.09, Z:1.13 [[ 8.88305237e-01 4.59156085e-01 9.46018881e-03 2.22281767e+02] [-4.59130700e-01 8.88355608e-01 -4.82837124e-03 -4.90909990e+01] [-1.06209878e-02 -5.43956540e-05 9.99943594e-01 1.13406606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.31, Y:-49.11, Z:1.13 [[ 8.89098494e-01 4.57547676e-01 1.24093327e-02 2.22310723e+02] [-4.57503750e-01 8.89185089e-01 -6.34006408e-03 -4.91054602e+01] [-1.39350752e-02 -4.03748059e-05 9.99902901e-01 1.13446931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.34, Y:-49.12, Z:1.13 [[ 8.89568982e-01 4.56610205e-01 1.31964919e-02 2.22340930e+02] [-4.56560292e-01 8.89666859e-01 -6.75124742e-03 -4.91191327e+01] [-1.48231700e-02 -1.92939028e-05 9.99890131e-01 1.13471446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.37, Y:-49.13, Z:1.14 [[ 8.90556438e-01 4.54728595e-01 1.14514726e-02 2.22370294e+02] [-4.54690769e-01 8.90630061e-01 -5.86512966e-03 -4.91330161e+01] [-1.28660679e-02 1.63501054e-05 9.99917229e-01 1.13500018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.40, Y:-49.15, Z:1.13 [[ 8.90965384e-01 4.53928677e-01 1.13771780e-02 2.22399356e+02] [-4.53891175e-01 8.91038021e-01 -5.83498706e-03 -4.91495118e+01] [-1.27861661e-02 3.47707883e-05 9.99918253e-01 1.13405049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.43, Y:-49.17, Z:1.13 [[ 8.91383523e-01 4.53119064e-01 1.08871148e-02 2.22427875e+02] [-4.53084572e-01 8.91450005e-01 -5.59097649e-03 -4.91659475e+01] [-1.22386966e-02 5.09205477e-05 9.99925103e-01 1.13356279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.46, Y:-49.18, Z:1.13 [[ 8.91595013e-01 4.52653840e-01 1.27606116e-02 2.22455865e+02] [-4.52606315e-01 8.91686321e-01 -6.55956085e-03 -4.91813146e+01] [-1.43476732e-02 7.29383527e-05 9.99897064e-01 1.13298530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.512320588 meters Centerline goodness [0,1] 0.999950704919649 Centerline is valid? [True, True] Translation: X:222.48, Y:-49.20, Z:1.13 [[ 8.91776426e-01 4.52309458e-01 1.22865769e-02 2.22484255e+02] [-4.52265246e-01 8.91861058e-01 -6.32451101e-03 -4.91982077e+01] [-1.38185556e-02 8.32581212e-05 9.99904516e-01 1.13314707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.51, Y:-49.22, Z:1.13 [[ 8.91130877e-01 4.53599889e-01 1.15282521e-02 2.22511643e+02] [-4.53560991e-01 8.91205440e-01 -5.94058232e-03 -4.92154552e+01] [-1.29686885e-02 6.50708721e-05 9.99915901e-01 1.13286537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.54, Y:-49.23, Z:1.13 [[ 8.90693912e-01 4.54458434e-01 1.14842162e-02 2.22539408e+02] [-4.54419801e-01 8.90767943e-01 -5.92588504e-03 -4.92336687e+01] [-1.29228401e-02 5.94944709e-05 9.99916495e-01 1.13274619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.57, Y:-49.25, Z:1.13 [[ 8.90358315e-01 4.55136267e-01 1.06324980e-02 2.22566985e+02] [-4.55103113e-01 8.90421796e-01 -5.49369884e-03 -4.92516180e+01] [-1.19677896e-02 5.24774822e-05 9.99928382e-01 1.13242240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.59, Y:-49.27, Z:1.13 [[ 8.88619402e-01 4.58501625e-01 1.14812196e-02 2.22594599e+02] [-4.58463150e-01 8.88693569e-01 -5.93972213e-03 -4.92711801e+01] [-1.29266583e-02 1.44362033e-05 9.99916447e-01 1.13110340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.62, Y:-49.29, Z:1.13 [[ 8.87168016e-01 4.61295505e-01 1.18054147e-02 2.22623348e+02] [-4.61254969e-01 8.87246559e-01 -6.11529985e-03 -4.92884988e+01] [-1.32952739e-02 -2.00077390e-05 9.99911614e-01 1.13191220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.65, Y:-49.31, Z:1.13 [[ 8.85916034e-01 4.63666531e-01 1.28890708e-02 2.22651368e+02] [-4.63618361e-01 8.86009788e-01 -6.68358820e-03 -4.93052670e+01] [-1.45187991e-02 -5.45119308e-05 9.99894595e-01 1.13124385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.68, Y:-49.32, Z:1.13 [[ 8.83374317e-01 4.68520685e-01 1.17552091e-02 2.22678618e+02] [-4.68480934e-01 8.83452520e-01 -6.10408697e-03 -4.93239210e+01] [-1.32450601e-02 -1.14897698e-04 9.99912274e-01 1.13183941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.71, Y:-49.34, Z:1.13 [[ 8.82256887e-01 4.70620751e-01 1.17853166e-02 2.22707443e+02] [-4.70580877e-01 8.82335588e-01 -6.12767303e-03 -4.93403396e+01] [-1.32824143e-02 -1.39762896e-04 9.99911775e-01 1.13174244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.74, Y:-49.36, Z:1.13 [[ 8.80804347e-01 4.73370372e-01 1.02075134e-02 2.22736094e+02] [-4.73340562e-01 8.80863479e-01 -5.31457356e-03 -4.93559701e+01] [-1.15071874e-02 -1.50530634e-04 9.99933779e-01 1.13218456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.76, Y:-49.37, Z:1.13 [[ 8.79044962e-01 4.76642208e-01 9.60003548e-03 2.22764107e+02] [-4.76615975e-01 8.79097364e-01 -5.00375380e-03 -4.93711714e+01] [-1.08243661e-02 -1.77005704e-04 9.99941399e-01 1.13341786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.79, Y:-49.39, Z:1.13 [[ 8.78423209e-01 4.77824266e-01 7.52569967e-03 2.22793173e+02] [-4.77808147e-01 8.78455434e-01 -3.92753652e-03 -4.93857743e+01] [-8.48766403e-03 -1.45801376e-04 9.99963969e-01 1.13436489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.82, Y:-49.40, Z:1.13 [[ 8.77413948e-01 4.79699549e-01 5.75382061e-03 2.22823011e+02] [-4.79690135e-01 8.77432806e-01 -3.00771592e-03 -4.93998827e+01] [-6.49139093e-03 -1.21039080e-04 9.99978923e-01 1.13375984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.85, Y:-49.41, Z:1.13 [[ 8.76566542e-01 4.81279317e-01 -1.14751351e-03 2.22854207e+02] [-4.81278947e-01 8.76567293e-01 5.97290035e-04 -4.94095830e+01] [ 1.29333615e-03 2.87096333e-05 9.99999163e-01 1.13283248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.88, Y:-49.42, Z:1.13 [[ 8.76302460e-01 4.81761340e-01 -1.03664894e-04 2.22884936e+02] [-4.81761337e-01 8.76302466e-01 5.12432419e-05 -4.94226222e+01] [ 1.15528815e-04 5.03715878e-06 9.99999993e-01 1.13265388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.91, Y:-49.44, Z:1.14 [[ 8.77804753e-01 4.79016728e-01 1.33749109e-03 2.22914154e+02] [-4.79016212e-01 8.77805772e-01 -7.03583624e-04 -4.94370756e+01] [-1.51108572e-03 -2.30708656e-05 9.99998858e-01 1.13548470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.94, Y:-49.45, Z:1.14 [[ 8.84129338e-01 4.67216882e-01 4.86811637e-03 2.22943946e+02] [-4.67209886e-01 8.84142740e-01 -2.55688562e-03 -4.94494946e+01] [-5.49872987e-03 -1.38144974e-05 9.99984882e-01 1.13608245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.97, Y:-49.46, Z:1.14 [[ 8.83879375e-01 4.67689605e-01 4.86661100e-03 2.22972885e+02] [-4.67682600e-01 8.83892772e-01 -2.55975151e-03 -4.94643338e+01] [-5.49873147e-03 -1.35177237e-05 9.99984882e-01 1.13624630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.00, Y:-49.48, Z:1.14 [[ 8.83692940e-01 4.68038389e-01 5.18203278e-03 2.23002130e+02] [-4.68030434e-01 8.83708134e-01 -2.72900135e-03 -4.94800229e+01] [-5.85668191e-03 -1.37498212e-05 9.99982849e-01 1.13656228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.03, Y:-49.49, Z:1.14 [[ 8.83443058e-01 4.68509898e-01 5.18057959e-03 2.23031053e+02] [-4.68501934e-01 8.83458248e-01 -2.73176052e-03 -4.94948924e+01] [-5.85668261e-03 -1.37566915e-05 9.99982849e-01 1.13672613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.06, Y:-49.51, Z:1.14 [[ 8.82502429e-01 4.70276869e-01 5.39721857e-03 2.23059760e+02] [-4.70268236e-01 8.82518933e-01 -2.84954683e-03 -4.95112356e+01] [-6.10322353e-03 -2.34084596e-05 9.99981375e-01 1.13668313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.09, Y:-49.53, Z:1.14 [[ 8.82251586e-01 4.70747305e-01 5.39569982e-03 2.23088667e+02] [-4.70738663e-01 8.82268086e-01 -2.85242310e-03 -4.95261362e+01] [-6.10322424e-03 -2.34097120e-05 9.99981375e-01 1.13684698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.12, Y:-49.54, Z:1.14 [[ 8.81118405e-01 4.72851567e-01 6.46162370e-03 2.23116788e+02] [-4.72839209e-01 8.81142096e-01 -3.41876560e-03 -4.95428235e+01] [-7.31017732e-03 -4.29717524e-05 9.99973279e-01 1.13697573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.14, Y:-49.56, Z:1.14 [[ 8.79424844e-01 4.75946104e-01 9.34074877e-03 2.23144357e+02] [-4.75920409e-01 8.79474444e-01 -4.94646013e-03 -4.95600435e+01] [-1.05691983e-02 -9.54130483e-05 9.99944140e-01 1.13910086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.17, Y:-49.58, Z:1.14 [[ 8.78690470e-01 4.77288865e-01 9.91950763e-03 2.23173424e+02] [-4.77259893e-01 8.78746452e-01 -5.26000239e-03 -4.95755497e+01] [-1.12272727e-02 -1.12269181e-04 9.99936966e-01 1.14012027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.20, Y:-49.59, Z:1.14 [[ 8.77890956e-01 4.78773940e-01 9.10958683e-03 2.23202655e+02] [-4.78749520e-01 8.77938210e-01 -4.83695371e-03 -4.95904910e+01] [-1.03134617e-02 -1.14892408e-04 9.99946808e-01 1.14145425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.23, Y:-49.61, Z:1.14 [[ 8.76778408e-01 4.80796302e-01 9.72310546e-03 2.23230426e+02] [-4.80768548e-01 8.76832307e-01 -5.16793556e-03 -4.96070626e+01] [-1.10102573e-02 -1.43428982e-04 9.99939375e-01 1.14024559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.26, Y:-49.62, Z:1.14 [[ 8.76174535e-01 4.81879613e-01 1.04986627e-02 2.23258036e+02] [-4.81847260e-01 8.76237417e-01 -5.58626846e-03 -4.96231262e+01] [-1.18912300e-02 -1.64205683e-04 9.99929283e-01 1.14046335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.29, Y:-49.64, Z:1.14 [[ 8.75413003e-01 4.83263731e-01 1.04038490e-02 2.23286374e+02] [-4.83231968e-01 8.75474806e-01 -5.54343441e-03 -4.96397940e+01] [-1.17872485e-02 -1.74677856e-04 9.99930513e-01 1.14011909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.32, Y:-49.66, Z:1.14 [[ 8.74869405e-01 4.84235504e-01 1.09316030e-02 2.23315203e+02] [-4.84200423e-01 8.74937678e-01 -5.83183988e-03 -4.96557087e+01] [-1.23884552e-02 -1.90988484e-04 9.99923242e-01 1.13971877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.34, Y:-49.67, Z:1.14 [[ 8.73634667e-01 4.86469072e-01 1.05029134e-02 2.23342464e+02] [-4.86436778e-01 8.73697773e-01 -5.60910691e-03 -4.96722114e+01] [-1.19050291e-02 -2.08693122e-04 9.99929111e-01 1.14191634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.37, Y:-49.69, Z:1.14 [[ 8.72776410e-01 4.88009554e-01 1.03929043e-02 2.23371040e+02] [-4.87977955e-01 8.72838259e-01 -5.55781674e-03 -4.96887329e+01] [-1.17835922e-02 -2.20776837e-04 9.99930547e-01 1.14265783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.40, Y:-49.70, Z:1.14 [[ 8.72696071e-01 4.88137961e-01 1.10859699e-02 2.23400047e+02] [-4.88101926e-01 8.72766451e-01 -5.93564849e-03 -4.97037516e+01] [-1.25728779e-02 -2.31066133e-04 9.99920932e-01 1.14337066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.43, Y:-49.72, Z:1.14 [[ 8.73251967e-01 4.87167536e-01 9.93946020e-03 2.23429431e+02] [-4.87138442e-01 8.73308511e-01 -5.32753435e-03 -4.97176859e+01] [-1.12756170e-02 -1.89613302e-04 9.99936410e-01 1.14104864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.46, Y:-49.73, Z:1.14 [[ 8.73480432e-01 4.86794797e-01 7.92213743e-03 2.23457848e+02] [-4.86776252e-01 8.73516345e-01 -4.25149588e-03 -4.97325323e+01] [-8.98972260e-03 -1.42709913e-04 9.99959581e-01 1.14150136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.49, Y:-49.75, Z:1.14 [[ 8.74171296e-01 4.85518798e-01 9.80015901e-03 2.23485059e+02] [-4.85490265e-01 8.74226214e-01 -5.26584639e-03 -4.97514556e+01] [-1.11242233e-02 -1.54630032e-04 9.99938112e-01 1.14304363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.51, Y:-49.77, Z:1.14 [[ 8.74549062e-01 4.84859848e-01 8.65247965e-03 2.23513712e+02] [-4.84837525e-01 8.74591855e-01 -4.65429863e-03 -4.97664823e+01] [-9.82407075e-03 -1.24634319e-04 9.99951735e-01 1.14455836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.54, Y:-49.78, Z:1.14 [[ 8.75109624e-01 4.83880998e-01 6.50586555e-03 2.23542738e+02] [-4.83868316e-01 8.75133803e-01 -3.50425142e-03 -4.97806284e+01] [-7.38914354e-03 -8.13780682e-05 9.99972697e-01 1.14323881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.57, Y:-49.80, Z:1.14 [[ 8.75451193e-01 4.83238669e-01 8.09926595e-03 2.23571223e+02] [-4.83218938e-01 8.75488653e-01 -4.36778200e-03 -4.97966675e+01] [-9.20149659e-03 -8.99387272e-05 9.99957661e-01 1.14133829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.60, Y:-49.81, Z:1.14 [[ 8.75192909e-01 4.83706328e-01 8.09693047e-03 2.23599986e+02] [-4.83686576e-01 8.75230358e-01 -4.37211146e-03 -4.98118300e+01] [-9.20149734e-03 -8.99356331e-05 9.99957661e-01 1.14150216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.63, Y:-49.83, Z:1.14 [[ 8.76047158e-01 4.82079644e-01 1.18572308e-02 2.23625763e+02] [-4.82037065e-01 8.76127392e-01 -6.40792026e-03 -4.98312173e+01] [-1.34775726e-02 -1.01984393e-04 9.99909168e-01 1.14266518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.65, Y:-49.85, Z:1.15 [[ 8.76486905e-01 4.81263472e-01 1.24970288e-02 2.23653745e+02] [-4.81215965e-01 8.76575988e-01 -6.76255406e-03 -4.98491144e+01] [-1.42091656e-02 -8.64796750e-05 9.99899041e-01 1.14582522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.68, Y:-49.87, Z:1.15 [[ 8.75276375e-01 4.83434683e-01 1.34972146e-02 2.23681077e+02] [-4.83379410e-01 8.75380427e-01 -7.31126353e-03 -4.98654057e+01] [-1.53497159e-02 -1.24899386e-04 9.99882178e-01 1.14783275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.71, Y:-49.88, Z:1.15 [[ 8.72107880e-01 4.89138430e-01 1.30936104e-02 2.23709560e+02] [-4.89086936e-01 8.72206141e-01 -7.10052011e-03 -4.98803826e+01] [-1.48934647e-02 -2.11494269e-04 9.99889064e-01 1.14751144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.74, Y:-49.90, Z:1.15 [[ 8.70167551e-01 4.92566182e-01 1.36744367e-02 2.23737607e+02] [-4.92510316e-01 8.70274945e-01 -7.42347565e-03 -4.98958564e+01] [-1.55570727e-02 -2.75133521e-04 9.99878944e-01 1.14732797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.77, Y:-49.91, Z:1.15 [[ 8.66621624e-01 4.98704861e-01 1.61376158e-02 2.23765707e+02] [-4.98628107e-01 8.66771744e-01 -8.76100304e-03 -4.99119609e+01] [-1.83567842e-02 -4.54194139e-04 9.99831397e-01 1.14787240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.79, Y:-49.93, Z:1.15 [[ 8.65033520e-01 5.01448980e-01 1.63073464e-02 2.23794296e+02] [-5.01370881e-01 8.65187068e-01 -8.86437439e-03 -4.99262777e+01] [-1.85539367e-02 -5.08047653e-04 9.99827732e-01 1.14849205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.82, Y:-49.94, Z:1.15 [[ 8.62534354e-01 5.05763159e-01 1.54309501e-02 2.23824188e+02] [-5.05693759e-01 8.62672193e-01 -8.39700694e-03 -4.99393392e+01] [-1.75587483e-02 -5.60628215e-04 9.99845676e-01 1.14671803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.85, Y:-49.95, Z:1.15 [[ 8.61494778e-01 5.07517732e-01 1.58902286e-02 2.23852937e+02] [-5.07444274e-01 8.61641099e-01 -8.65589165e-03 -4.99533151e+01] [-1.80846925e-02 -6.06400052e-04 9.99836275e-01 1.14610403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.88, Y:-49.97, Z:1.15 [[ 8.60623147e-01 5.09014978e-01 1.52168177e-02 2.23882554e+02] [-5.08947697e-01 8.60757451e-01 -8.29778873e-03 -4.99659059e+01] [-1.73216879e-02 -6.03295256e-04 9.99849786e-01 1.14588939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.91, Y:-49.98, Z:1.15 [[ 8.60638603e-01 5.09051300e-01 1.29603003e-02 2.23911981e+02] [-5.09002478e-01 8.60736028e-01 -7.06868963e-03 -4.99801387e+01] [-1.47537231e-02 -5.13237807e-04 9.99891026e-01 1.14547794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.94, Y:-50.00, Z:1.15 [[ 8.60383990e-01 5.09481632e-01 1.29559349e-02 2.23940685e+02] [-5.09432739e-01 8.60481380e-01 -7.07668929e-03 -4.99954583e+01] [-1.47537840e-02 -5.11507250e-04 9.99891026e-01 1.14564188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.97, Y:-50.01, Z:1.15 [[ 8.61026234e-01 5.08454678e-01 1.03761828e-02 2.23970413e+02] [-5.08423216e-01 8.61088663e-01 -5.66991497e-03 -5.00089771e+01] [-1.18177082e-02 -3.93546710e-04 9.99930091e-01 1.14592140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.00, Y:-50.02, Z:1.15 [[ 8.61721138e-01 5.07285627e-01 9.89813704e-03 2.23999850e+02] [-5.07256902e-01 8.61777909e-01 -5.41032740e-03 -5.00218114e+01] [-1.12745772e-02 -3.58704845e-04 9.99936376e-01 1.14566318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.03, Y:-50.04, Z:1.15 [[ 8.61705200e-01 5.07299235e-01 1.05657110e-02 2.24029776e+02] [-5.07266396e-01 8.61769891e-01 -5.78428247e-03 -5.00359105e+01] [-1.20395737e-02 -3.75283875e-04 9.99927451e-01 1.14640683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.06, Y:-50.05, Z:1.15 [[ 8.61732213e-01 5.07194915e-01 1.30732722e-02 2.24059076e+02] [-5.07144531e-01 8.61831253e-01 -7.16347851e-03 -5.00489100e+01] [-1.49002344e-02 -4.57038300e-04 9.99888881e-01 1.14679710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.09, Y:-50.06, Z:1.15 [[ 8.61587887e-01 5.07424666e-01 1.36572633e-02 2.24089470e+02] [-5.07369563e-01 8.61695993e-01 -7.49283940e-03 -5.00629588e+01] [-1.55704606e-02 -4.73540033e-04 9.99878661e-01 1.14816127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.12, Y:-50.08, Z:1.15 [[ 8.61691430e-01 5.07240551e-01 1.39608042e-02 2.24119569e+02] [-5.07182800e-01 8.61804386e-01 -7.66857426e-03 -5.00764926e+01] [-1.59212941e-02 -4.72735029e-04 9.99873136e-01 1.14934492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.15, Y:-50.09, Z:1.15 [[ 8.62115861e-01 5.06535509e-01 1.33424116e-02 2.24148350e+02] [-5.06482562e-01 8.62218992e-01 -7.33645949e-03 -5.00902048e+01] [-1.52202580e-02 -4.32820730e-04 9.99884071e-01 1.14939321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.18, Y:-50.11, Z:1.15 [[ 8.61857329e-01 5.06975373e-01 1.33385172e-02 2.24177002e+02] [-5.06922369e-01 8.61960431e-01 -7.34353912e-03 -5.01056205e+01] [-1.52202675e-02 -4.32509711e-04 9.99884071e-01 1.14955715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.21, Y:-50.12, Z:1.15 [[ 8.62500742e-01 5.05913151e-01 1.20147539e-02 2.24206365e+02] [-5.05869948e-01 8.62584343e-01 -6.62163976e-03 -5.01194637e+01] [-1.37137132e-02 -3.66733731e-04 9.99905895e-01 1.15080805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.24, Y:-50.13, Z:1.15 [[ 8.63138617e-01 5.04866495e-01 1.00771907e-02 2.24235415e+02] [-5.04835959e-01 8.63197393e-01 -5.56019787e-03 -5.01341598e+01] [-1.15057623e-02 -2.88106714e-04 9.99933765e-01 1.15098665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.26, Y:-50.15, Z:1.15 [[ 8.63852245e-01 5.03625762e-01 1.09723004e-02 2.24264364e+02] [-5.03589381e-01 8.63921876e-01 -6.06036448e-03 -5.01489053e+01] [-1.25313660e-02 -2.90274493e-04 9.99921437e-01 1.15025726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.29, Y:-50.16, Z:1.15 [[ 8.64529290e-01 5.02479748e-01 1.01592078e-02 2.24293337e+02] [-5.02448406e-01 8.64588944e-01 -5.61760286e-03 -5.01638842e+01] [-1.16062704e-02 -2.47895535e-04 9.99932614e-01 1.15075700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.32, Y:-50.18, Z:1.15 [[ 8.65656813e-01 5.00487161e-01 1.22834694e-02 2.24323861e+02] [-5.00441024e-01 8.65743919e-01 -6.80055604e-03 -5.01767325e+01] [-1.40379299e-02 -2.60204322e-04 9.99901430e-01 1.15048175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.35, Y:-50.19, Z:1.15 [[ 8.66337600e-01 4.99269435e-01 1.37547833e-02 2.24353928e+02] [-4.99211287e-01 8.66446746e-01 -7.62418856e-03 -5.01911130e+01] [-1.57243116e-02 -2.61421866e-04 9.99876331e-01 1.15101851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.38, Y:-50.20, Z:1.15 [[ 8.67174262e-01 4.97839494e-01 1.28311383e-02 2.24382994e+02] [-4.97788626e-01 8.67269158e-01 -7.11974565e-03 -5.02049669e+01] [-1.46725411e-02 -2.13134515e-04 9.99892330e-01 1.15167175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.41, Y:-50.22, Z:1.15 [[ 8.67301829e-01 4.97652112e-01 1.13979509e-02 2.24411124e+02] [-4.97611863e-01 8.67376702e-01 -6.33176719e-03 -5.02201259e+01] [-1.30373344e-02 -1.80202331e-04 9.99914994e-01 1.15128244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.44, Y:-50.24, Z:1.15 [[ 8.67782210e-01 4.96787089e-01 1.25149787e-02 2.24440034e+02] [-4.96738346e-01 8.67872431e-01 -6.96119806e-03 -5.02359358e+01] [-1.43196383e-02 -1.75866010e-04 9.99897453e-01 1.14966418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.47, Y:-50.25, Z:1.15 [[ 8.68147051e-01 4.96160891e-01 1.20444171e-02 2.24468065e+02] [-4.96115588e-01 8.68230584e-01 -6.70645378e-03 -5.02508589e+01] [-1.37848113e-02 -1.53234982e-04 9.99904973e-01 1.14849826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.50, Y:-50.27, Z:1.15 [[ 8.68577065e-01 4.95379807e-01 1.31426491e-02 2.24497469e+02] [-4.95325635e-01 8.68676479e-01 -7.32732198e-03 -5.02665927e+01] [-1.50465175e-02 -1.45547194e-04 9.99886784e-01 1.14745062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.53, Y:-50.28, Z:1.15 [[ 8.68774521e-01 4.95028438e-01 1.33295860e-02 2.24526316e+02] [-4.94972533e-01 8.68876762e-01 -7.44069334e-03 -5.02823445e+01] [-1.52651223e-02 -1.33494154e-04 9.99883472e-01 1.14777472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.55, Y:-50.30, Z:1.15 [[ 8.69174033e-01 4.94339570e-01 1.28409637e-02 2.24554129e+02] [-4.94287502e-01 8.69268875e-01 -7.17552495e-03 -5.02975854e+01] [-1.47093960e-02 -1.10347931e-04 9.99891805e-01 1.14873472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.58, Y:-50.31, Z:1.15 [[ 8.69505365e-01 4.93808093e-01 1.06764746e-02 2.24583056e+02] [-4.93772047e-01 8.69570906e-01 -5.96707761e-03 -5.03128524e+01] [-1.22305429e-02 -8.33387320e-05 9.99925201e-01 1.14945770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.61, Y:-50.33, Z:1.15 [[ 8.69655556e-01 4.93549164e-01 1.04132912e-02 2.24612759e+02] [-4.93514741e-01 8.69717896e-01 -5.82941053e-03 -5.03270152e+01] [-1.19337264e-02 -6.95334687e-05 9.99928788e-01 1.14910641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.64, Y:-50.34, Z:1.15 [[ 8.69804808e-01 4.93264086e-01 1.14077823e-02 2.24642694e+02] [-4.93222648e-01 8.69879611e-01 -6.39391702e-03 -5.03419400e+01] [-1.30772869e-02 -6.51168341e-05 9.99914487e-01 1.14858465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.67, Y:-50.36, Z:1.15 [[ 8.70505059e-01 4.91941904e-01 1.46323277e-02 2.24670586e+02] [-4.91873413e-01 8.70628026e-01 -8.20885497e-03 -5.03580298e+01] [-1.67775943e-02 -5.14032042e-05 9.99859245e-01 1.14920813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.70, Y:-50.38, Z:1.15 [[ 8.70632226e-01 4.91706324e-01 1.49806051e-02 2.24698620e+02] [-4.91634314e-01 8.70761098e-01 -8.41498919e-03 -5.03757772e+01] [-1.71822315e-02 -3.86187447e-05 9.99852374e-01 1.15013462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.73, Y:-50.39, Z:1.15 [[ 8.71076699e-01 4.90911433e-01 1.52101828e-02 2.24726925e+02] [-4.90836895e-01 8.71209484e-01 -8.55443214e-03 -5.03929272e+01] [-1.74507240e-02 -1.41523788e-05 9.99847724e-01 1.14999237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.882320588 meters Centerline goodness [0,1] 0.9999508091888435 Centerline is valid? [True, True] Translation: X:224.75, Y:-50.41, Z:1.15 [[ 8.71745638e-01 4.89775456e-01 1.33994450e-02 2.24754877e+02] [-4.89717350e-01 8.71848612e-01 -7.54415313e-03 -5.04094403e+01] [-1.53772285e-02 1.46419019e-05 9.99881763e-01 1.15011701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.78, Y:-50.43, Z:1.15 [[ 8.71581893e-01 4.90032199e-01 1.46098608e-02 2.24782383e+02] [-4.89963010e-01 8.71704333e-01 -8.23441299e-03 -5.04254879e+01] [-1.67706065e-02 1.86738805e-05 9.99859363e-01 1.14938636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.81, Y:-50.44, Z:1.15 [[ 8.71702461e-01 4.89724139e-01 1.74667271e-02 2.24809934e+02] [-4.89624978e-01 8.71877438e-01 -9.85467707e-03 -5.04418055e+01] [-2.00549185e-02 3.82003938e-05 9.99798879e-01 1.14982944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.84, Y:-50.46, Z:1.15 [[ 8.71082082e-01 4.90841667e-01 1.70430353e-02 2.24838019e+02] [-4.90747229e-01 8.71248792e-01 -9.62804479e-03 -5.04591906e+01] [-1.95745695e-02 2.29949259e-05 9.99808399e-01 1.15143941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.87, Y:-50.48, Z:1.15 [[ 8.70349717e-01 4.92125544e-01 1.74303877e-02 2.24866132e+02] [-4.92026782e-01 8.70524238e-01 -9.85883960e-03 -5.04764195e+01] [-2.00253617e-02 4.42070641e-06 9.99799472e-01 1.15098264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.89, Y:-50.49, Z:1.15 [[ 8.70187075e-01 4.92494655e-01 1.49489007e-02 2.24893627e+02] [-4.92421912e-01 8.70315468e-01 -8.46443192e-03 -5.04926206e+01] [-1.71789470e-02 4.47300140e-06 9.99852431e-01 1.15026693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.92, Y:-50.51, Z:1.15 [[ 8.69981451e-01 4.92894621e-01 1.36809313e-02 2.24920808e+02] [-4.92833608e-01 8.70089014e-01 -7.75513492e-03 -5.05098502e+01] [-1.57260923e-02 4.40078246e-06 9.99876337e-01 1.14914457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.95, Y:-50.53, Z:1.15 [[ 8.69988688e-01 4.92881733e-01 1.36850495e-02 2.24948081e+02] [-4.92820522e-01 8.70096315e-01 -7.76762066e-03 -5.05280411e+01] [-1.57358294e-02 1.34688928e-05 9.99876184e-01 1.14884246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.97, Y:-50.55, Z:1.15 [[ 8.69602443e-01 4.93584441e-01 1.28837266e-02 2.24973467e+02] [-4.93530152e-01 8.69697878e-01 -7.32051702e-03 -5.05476062e+01] [-1.48182430e-02 7.43193148e-06 9.99890204e-01 1.15064707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.00, Y:-50.56, Z:1.15 [[ 8.69281523e-01 4.94170094e-01 1.20645181e-02 2.25001653e+02] [-4.94122420e-01 8.69365239e-01 -6.86410089e-03 -5.05643298e+01] [-1.38805060e-02 5.48721389e-06 9.99903661e-01 1.15182653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.03, Y:-50.58, Z:1.15 [[ 8.68505566e-01 4.95593920e-01 9.20590001e-03 2.25028621e+02] [-4.95566177e-01 8.68554355e-01 -5.24377629e-03 -5.05825103e+01] [-1.05946082e-02 -7.88377803e-06 9.99943876e-01 1.15054880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.06, Y:-50.60, Z:1.15 [[ 8.67413756e-01 4.97512246e-01 8.65687570e-03 2.25056737e+02] [-4.97487743e-01 8.67456953e-01 -4.93774823e-03 -5.06004138e+01] [-9.96605723e-03 -2.36188129e-05 9.99950337e-01 1.14997947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.08, Y:-50.62, Z:1.15 [[ 8.66338038e-01 4.99350692e-01 1.03581340e-02 2.25084422e+02] [-4.99315677e-01 8.66399956e-01 -5.91353206e-03 -5.06177203e+01] [-1.19272131e-02 -4.88609177e-05 9.99928867e-01 1.15024851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.11, Y:-50.64, Z:1.15 [[ 8.64606558e-01 5.02267913e-01 1.35071673e-02 2.25111331e+02] [-5.02208609e-01 8.64712051e-01 -7.71886712e-03 -5.06352570e+01] [-1.55567496e-02 -1.09632589e-04 9.99878980e-01 1.15155258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.14, Y:-50.65, Z:1.15 [[ 8.63603662e-01 5.04015351e-01 1.25395790e-02 2.25139373e+02] [-5.03964288e-01 8.63694686e-01 -7.17534415e-03 -5.06532529e+01] [-1.44468514e-02 -1.22846542e-04 9.99895631e-01 1.15259457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.17, Y:-50.67, Z:1.15 [[ 8.62936542e-01 5.05221097e-01 9.60041833e-03 2.25166658e+02] [-5.05191172e-01 8.62989937e-01 -5.49977989e-03 -5.06711137e+01] [-1.10636692e-02 -1.04085550e-04 9.99938790e-01 1.15334684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.20, Y:-50.69, Z:1.15 [[ 8.61733765e-01 5.07288014e-01 8.59008483e-03 2.25195025e+02] [-5.07264091e-01 8.61776571e-01 -4.92773403e-03 -5.06883875e+01] [-9.90251426e-03 -1.11046777e-04 9.99950963e-01 1.15276348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.22, Y:-50.70, Z:1.15 [[ 8.60981357e-01 5.08549345e-01 9.41631161e-03 2.25223265e+02] [-5.08520620e-01 8.61032837e-01 -5.40682071e-03 -5.07035865e+01] [-1.08573886e-02 -1.33216783e-04 9.99941048e-01 1.15267407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.25, Y:-50.72, Z:1.15 [[ 8.59833509e-01 5.10461982e-01 1.07192640e-02 2.25251751e+02] [-5.10424827e-01 8.59900305e-01 -6.16122423e-03 -5.07190736e+01] [-1.23625691e-02 -1.73751416e-04 9.99923565e-01 1.15356649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.28, Y:-50.73, Z:1.15 [[ 8.59110165e-01 5.11641106e-01 1.23734657e-02 2.25279787e+02] [-5.11591618e-01 8.59199239e-01 -7.11925486e-03 -5.07341805e+01] [-1.42737758e-02 -2.13937127e-04 9.99898102e-01 1.15288879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.31, Y:-50.75, Z:1.15 [[ 8.57221537e-01 5.14778535e-01 1.32021371e-02 2.25308681e+02] [-5.14722447e-01 8.57323150e-01 -7.60391063e-03 -5.07484343e+01] [-1.52328278e-02 -2.77200375e-04 9.99883935e-01 1.15286829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.34, Y:-50.76, Z:1.15 [[ 8.56319314e-01 5.16300400e-01 1.22934999e-02 2.25338521e+02] [-5.16251795e-01 8.56407509e-01 -7.08965901e-03 -5.07635797e+01] [-1.41886394e-02 -2.75529437e-04 9.99899298e-01 1.15198603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.37, Y:-50.78, Z:1.15 [[ 8.55741358e-01 5.17253548e-01 1.24697736e-02 2.25368582e+02] [-5.17203517e-01 8.55832159e-01 -7.19987422e-03 -5.07782404e+01] [-1.43961938e-02 -2.88180626e-04 9.99896328e-01 1.15131029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.40, Y:-50.79, Z:1.15 [[ 8.55338682e-01 5.17953463e-01 1.09520967e-02 2.25399041e+02] [-5.17914843e-01 8.55408758e-01 -6.33020386e-03 -5.07902326e+01] [-1.26472704e-02 -2.57785195e-04 9.99919987e-01 1.15269896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.43, Y:-50.81, Z:1.15 [[ 8.55067837e-01 5.18400542e-01 1.09486125e-02 2.25427348e+02] [-5.18361882e-01 8.55137891e-01 -6.33622959e-03 -5.08062491e+01] [-1.26472783e-02 -2.57437246e-04 9.99919987e-01 1.15286286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.46, Y:-50.82, Z:1.15 [[ 8.55263362e-01 5.18071722e-01 1.12370866e-02 2.25457523e+02] [-5.18030869e-01 8.55337142e-01 -6.51096641e-03 -5.08205584e+01] [-1.29846451e-02 -2.52566708e-04 9.99915664e-01 1.15317261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.49, Y:-50.83, Z:1.15 [[ 8.55772755e-01 5.17243836e-01 1.05738629e-02 2.25486911e+02] [-5.17207524e-01 8.55838049e-01 -6.13288386e-03 -5.08346425e+01] [-1.22217106e-02 -2.20526523e-04 9.99925288e-01 1.15347793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.52, Y:-50.85, Z:1.15 [[ 8.56802349e-01 5.15554692e-01 9.64851142e-03 2.25515596e+02] [-5.15524280e-01 8.56856656e-01 -5.60242360e-03 -5.08488177e+01] [-1.11557470e-02 -1.73872202e-04 9.99937758e-01 1.15446675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.54, Y:-50.86, Z:1.15 [[ 8.59702248e-01 5.10732908e-01 7.99633544e-03 2.25543885e+02] [-5.10711760e-01 8.59739431e-01 -4.64859724e-03 -5.08634551e+01] [-9.24895647e-03 -8.74130444e-05 9.99957224e-01 1.15233200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.57, Y:-50.88, Z:1.15 [[ 8.60642946e-01 5.09147814e-01 7.88809702e-03 2.25571803e+02] [-5.09127122e-01 8.60679092e-01 -4.59072333e-03 -5.08793647e+01] [-9.12647693e-03 -6.50704865e-05 9.99958351e-01 1.15159237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.60, Y:-50.90, Z:1.15 [[ 8.61762329e-01 5.07240538e-01 8.52786431e-03 2.25600151e+02] [-5.07216196e-01 8.61804523e-01 -4.96941861e-03 -5.08955390e+01] [-9.87004260e-03 -4.30131436e-05 9.99951289e-01 1.15214092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.63, Y:-50.91, Z:1.15 [[ 8.63817107e-01 5.03713513e-01 9.62825047e-03 2.25629842e+02] [-5.03682192e-01 8.63870764e-01 -5.61717097e-03 -5.09104073e+01] [-1.11470090e-02 2.63007833e-06 9.99937870e-01 1.15383014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.66, Y:-50.93, Z:1.15 [[ 8.64118064e-01 5.03209923e-01 8.92996370e-03 2.25658062e+02] [-5.03182885e-01 8.64164205e-01 -5.21643686e-03 -5.09266347e+01] [-1.03419178e-02 1.42124314e-05 9.99946521e-01 1.15464098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.872320588 meters Centerline goodness [0,1] 0.9999507461951436 Centerline is valid? [True, True] Translation: X:225.69, Y:-50.94, Z:1.16 [[ 8.64488317e-01 5.02593245e-01 7.74472062e-03 2.25685319e+02] [-5.02572840e-01 8.64523007e-01 -4.52885776e-03 -5.09434756e+01] [-8.97166247e-03 2.28583842e-05 9.99959754e-01 1.15606773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.71, Y:-50.96, Z:1.16 [[ 8.65020435e-01 5.01679454e-01 7.57446995e-03 2.25711991e+02] [-5.01659850e-01 8.65053596e-01 -4.43511567e-03 -5.09623346e+01] [-8.77732887e-03 3.66582257e-05 9.99961478e-01 1.15523814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.74, Y:-50.98, Z:1.16 [[ 8.64897450e-01 5.01876444e-01 8.51095725e-03 2.25740623e+02] [-5.01851647e-01 8.64939323e-01 -4.98909954e-03 -5.09796972e+01] [-9.86537314e-03 4.38215499e-05 9.99951335e-01 1.15545492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.77, Y:-51.00, Z:1.15 [[ 8.64560576e-01 5.02430444e-01 9.93273099e-03 2.25768495e+02] [-5.02396646e-01 8.64617630e-01 -5.82784543e-03 -5.09963892e+01] [-1.15161013e-02 4.83546684e-05 9.99933686e-01 1.15444773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.80, Y:-51.01, Z:1.15 [[ 8.64056631e-01 5.03263180e-01 1.15026419e-02 2.25795757e+02] [-5.03217836e-01 8.64133189e-01 -6.75573918e-03 -5.10141903e+01] [-1.33397294e-02 4.90066498e-05 9.99911021e-01 1.15377214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.82, Y:-51.03, Z:1.15 [[ 8.63434962e-01 5.04341559e-01 1.09388776e-02 2.25823592e+02] [-5.04300533e-01 8.63504250e-01 -6.43284332e-03 -5.10317891e+01] [-1.26901175e-02 3.78600184e-05 9.99919476e-01 1.15462360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.85, Y:-51.05, Z:1.16 [[ 8.62640465e-01 5.05707971e-01 1.05298182e-02 2.25851664e+02] [-5.05669966e-01 8.62704728e-01 -6.19984352e-03 -5.10490767e+01] [-1.22194342e-02 2.36230894e-05 9.99925340e-01 1.15595467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.88, Y:-51.07, Z:1.16 [[ 8.60642336e-01 5.09124057e-01 9.35221784e-03 2.25878811e+02] [-5.09094216e-01 8.60693147e-01 -5.51231929e-03 -5.10655544e+01] [-1.08558442e-02 -1.70246492e-05 9.99941073e-01 1.15551067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.91, Y:-51.08, Z:1.16 [[ 8.59694304e-01 5.10754653e-01 7.44230091e-03 2.25906845e+02] [-5.10735772e-01 8.59726517e-01 -4.39182111e-03 -5.10816006e+01] [-8.64148651e-03 -2.54257043e-05 9.99962661e-01 1.15598346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.93, Y:-51.10, Z:1.16 [[ 8.59234245e-01 5.11548803e-01 5.85953590e-03 2.25934753e+02] [-5.11537088e-01 8.59254224e-01 -3.46207198e-03 -5.10977552e+01] [-6.80584975e-03 -2.26391274e-05 9.99976840e-01 1.15578033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.96, Y:-51.11, Z:1.16 [[ 8.58400378e-01 5.12955613e-01 5.03290793e-03 2.25963854e+02] [-5.12946969e-01 8.58415132e-01 -2.97806722e-03 -5.11135694e+01] [-5.84794062e-03 -2.52408381e-05 9.99982900e-01 1.15694932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.99, Y:-51.13, Z:1.16 [[ 8.58244519e-01 5.13199712e-01 6.51166177e-03 2.25992941e+02] [-5.13185219e-01 8.58269220e-01 -3.85696157e-03 -5.11293607e+01] [-7.56815044e-03 -3.14724464e-05 9.99971361e-01 1.15744438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.02, Y:-51.15, Z:1.16 [[ 8.57936664e-01 5.13685730e-01 8.46470057e-03 2.26021357e+02] [-5.13661224e-01 8.57978420e-01 -5.01776827e-03 -5.11452478e+01] [-9.84008638e-03 -4.30610826e-05 9.99951584e-01 1.15827207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.05, Y:-51.16, Z:1.16 [[ 8.58388359e-01 5.12914610e-01 9.38229309e-03 2.26049551e+02] [-5.12884382e-01 8.58439632e-01 -5.56861487e-03 -5.11624021e+01] [-1.09103562e-02 -3.19974119e-05 9.99940480e-01 1.15839239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.08, Y:-51.18, Z:1.16 [[ 8.60058306e-01 5.10124773e-01 8.51035958e-03 2.26076174e+02] [-5.10099712e-01 8.60100411e-01 -5.05640662e-03 -5.11799585e+01] [-9.89916205e-03 7.67253669e-06 9.99951002e-01 1.15764258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.10, Y:-51.20, Z:1.16 [[ 8.61204472e-01 5.08193164e-01 8.15873289e-03 2.26104850e+02] [-5.08169984e-01 8.61243117e-01 -4.85393375e-03 -5.11956024e+01] [-9.49338850e-03 3.42062914e-05 9.99954936e-01 1.15781598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.352320588 meters Centerline goodness [0,1] 0.9999507170666798 Centerline is valid? [True, True] Translation: X:226.13, Y:-51.21, Z:1.16 [[ 8.62063937e-01 5.06726515e-01 8.60279750e-03 2.26133962e+02] [-5.06700610e-01 8.62106859e-01 -5.12407150e-03 -5.12111752e+01] [-1.00130336e-02 5.82345105e-05 9.99949867e-01 1.15785713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.16, Y:-51.23, Z:1.16 [[ 8.62926826e-01 5.05248740e-01 9.00021736e-03 2.26162175e+02] [-5.05220241e-01 8.62973756e-01 -5.36700558e-03 -5.12277029e+01] [-1.04786242e-02 8.42411099e-05 9.99945094e-01 1.15791914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.19, Y:-51.25, Z:1.16 [[ 8.65278492e-01 5.01181412e-01 1.05034760e-02 2.26187759e+02] [-5.01142228e-01 8.65342225e-01 -6.26900978e-03 -5.12483824e+01] [-1.22310125e-02 1.60703946e-04 9.99925185e-01 1.15862849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.21, Y:-51.27, Z:1.16 [[ 8.66418243e-01 4.99211174e-01 1.03745849e-02 2.26214401e+02] [-4.99172727e-01 8.66480333e-01 -6.19848729e-03 -5.12672618e+01] [-1.20837279e-02 1.91772610e-04 9.99926971e-01 1.15848185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.24, Y:-51.29, Z:1.16 [[ 8.67617007e-01 4.97122831e-01 1.04699784e-02 2.26239948e+02] [-4.97083446e-01 8.67680148e-01 -6.26173643e-03 -5.12867424e+01] [-1.21974446e-02 2.28336073e-04 9.99925582e-01 1.15819561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.502320588 meters Centerline goodness [0,1] 0.999950821284548 Centerline is valid? [True, True] Translation: X:226.27, Y:-51.30, Z:1.16 [[ 8.67637812e-01 4.97060928e-01 1.16215870e-02 2.26266601e+02] [-4.97012304e-01 8.67715602e-01 -6.95728196e-03 -5.13046285e+01] [-1.35424254e-02 2.60329157e-04 9.99908263e-01 1.15799489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.29, Y:-51.32, Z:1.16 [[ 8.67463619e-01 4.97338484e-01 1.27005038e-02 2.26293057e+02] [-4.97280332e-01 8.67556540e-01 -7.61057468e-03 -5.13233524e+01] [-1.48034368e-02 2.86185885e-04 9.99890382e-01 1.15896892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.562320588 meters Centerline goodness [0,1] 0.9999508140278393 Centerline is valid? [True, True] Translation: X:226.32, Y:-51.34, Z:1.16 [[ 8.66129424e-01 4.99686672e-01 1.15347706e-02 2.26317660e+02] [-4.99638816e-01 8.66206198e-01 -6.91927639e-03 -5.13447268e+01] [-1.34489600e-02 2.29769736e-04 9.99909532e-01 1.16112700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.34, Y:-51.36, Z:1.16 [[ 8.65057283e-01 5.01558563e-01 1.07193646e-02 2.26343825e+02] [-5.01517293e-01 8.65123674e-01 -6.43694549e-03 -5.13635775e+01] [-1.25020812e-02 1.92379853e-04 9.99921827e-01 1.16135382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.37, Y:-51.38, Z:1.16 [[ 8.63367187e-01 5.04484533e-01 9.61540839e-03 2.26369595e+02] [-5.04451437e-01 8.63420718e-01 -5.78025166e-03 -5.13825296e+01] [-1.12181904e-02 1.39973034e-04 9.99937064e-01 1.16019968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.40, Y:-51.40, Z:1.16 [[ 8.60775167e-01 5.08830934e-01 1.25376596e-02 2.26395681e+02] [-5.08774997e-01 8.60866463e-01 -7.54555446e-03 -5.14025983e+01] [-1.46326622e-02 1.16178183e-04 9.99892930e-01 1.15883247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.42, Y:-51.42, Z:1.16 [[ 8.59155575e-01 5.11549333e-01 1.29991466e-02 2.26423188e+02] [-5.11489371e-01 8.59253905e-01 -7.83260024e-03 -5.14199197e+01] [-1.51763289e-02 8.04968390e-05 9.99884830e-01 1.16012087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.45, Y:-51.44, Z:1.16 [[ 8.57873770e-01 5.13723392e-01 1.18689572e-02 2.26450149e+02] [-5.13673509e-01 8.57955870e-01 -7.15900330e-03 -5.14369091e+01] [-1.38607889e-02 4.47522701e-05 9.99903934e-01 1.16173684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.48, Y:-51.46, Z:1.16 [[ 8.55632715e-01 5.17483888e-01 1.01529321e-02 2.26476114e+02] [-5.17447569e-01 8.55692951e-01 -6.13086424e-03 -5.14556548e+01] [-1.18604159e-02 -7.84204396e-06 9.99929663e-01 1.16260078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.50, Y:-51.47, Z:1.16 [[ 8.54638834e-01 5.19149201e-01 8.75052509e-03 2.26503126e+02] [-5.19122248e-01 8.54683630e-01 -5.29002190e-03 -5.14735609e+01] [-1.02252412e-02 -2.15341070e-05 9.99947721e-01 1.16276985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.53, Y:-51.49, Z:1.16 [[ 8.53643818e-01 5.20776543e-01 9.16646541e-03 2.26530894e+02] [-5.20746986e-01 8.53693031e-01 -5.54852291e-03 -5.14921720e+01] [-1.07148882e-02 -3.69469489e-05 9.99942593e-01 1.16284740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.56, Y:-51.51, Z:1.16 [[ 8.52947432e-01 5.21880508e-01 1.10187801e-02 2.26557612e+02] [-5.21837812e-01 8.53018600e-01 -6.67575872e-03 -5.15093188e+01] [-1.28831727e-02 -5.59448134e-05 9.99917007e-01 1.16270045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.58, Y:-51.53, Z:1.16 [[ 8.51672232e-01 5.23934926e-01 1.21079615e-02 2.26584658e+02] [-5.23883473e-01 8.51758291e-01 -7.34310365e-03 -5.15266411e+01] [-1.41603651e-02 -8.92434604e-05 9.99899733e-01 1.16293036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.61, Y:-51.54, Z:1.16 [[ 8.51117882e-01 5.24827110e-01 1.24441097e-02 2.26613428e+02] [-5.24772718e-01 8.51208843e-01 -7.55639964e-03 -5.15435095e+01] [-1.45583396e-02 -9.89424257e-05 9.99894017e-01 1.16328308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.64, Y:-51.56, Z:1.16 [[ 8.50406575e-01 5.26006259e-01 1.12282043e-02 2.26641116e+02] [-5.25961988e-01 8.50480691e-01 -6.82508521e-03 -5.15589338e+01] [-1.31394085e-02 -1.01511307e-04 9.99913669e-01 1.16469650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.67, Y:-51.58, Z:1.16 [[ 8.49783043e-01 5.27025363e-01 1.06323326e-02 2.26669577e+02] [-5.26985642e-01 8.49849549e-01 -6.47125276e-03 -5.15765317e+01] [-1.24463974e-02 -1.03925745e-04 9.99922535e-01 1.16420375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.70, Y:-51.59, Z:1.16 [[ 8.49319176e-01 5.27784163e-01 1.00406476e-02 2.26696960e+02] [-5.27748705e-01 8.49378518e-01 -6.11861677e-03 -5.15940464e+01] [-1.17576194e-02 -1.02280200e-04 9.99930872e-01 1.16418800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.72, Y:-51.61, Z:1.16 [[ 8.48476435e-01 5.29143410e-01 9.74638607e-03 2.26723436e+02] [-5.29110007e-01 8.48532403e-01 -5.94650928e-03 -5.16131165e+01] [-1.14166806e-02 -1.11437408e-04 9.99934821e-01 1.16476026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.75, Y:-51.63, Z:1.16 [[ 8.48014729e-01 5.29831729e-01 1.22212045e-02 2.26751296e+02] [-5.29779185e-01 8.48102775e-01 -7.46309460e-03 -5.16296451e+01] [-1.43190218e-02 -1.45725632e-04 9.99897467e-01 1.16392306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.78, Y:-51.65, Z:1.16 [[ 8.47330359e-01 5.30929150e-01 1.20623303e-02 2.26779955e+02] [-5.30877945e-01 8.47416199e-01 -7.37520091e-03 -5.16463824e+01] [-1.41375233e-02 -1.54393499e-04 9.99900048e-01 1.16403557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.81, Y:-51.66, Z:1.16 [[ 8.46990190e-01 5.31441443e-01 1.33270793e-02 2.26807793e+02] [-5.31378880e-01 8.47095014e-01 -8.15616043e-03 -5.16628157e+01] [-1.56238241e-02 -1.73540600e-04 9.99877926e-01 1.16431316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.84, Y:-51.68, Z:1.16 [[ 8.46521214e-01 5.32220043e-01 1.19858048e-02 2.26835179e+02] [-5.32169407e-01 8.46606047e-01 -7.34317482e-03 -5.16800573e+01] [-1.40554397e-02 -1.62325383e-04 9.99901204e-01 1.16475135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.86, Y:-51.70, Z:1.17 [[ 8.46196577e-01 5.32756570e-01 1.10358909e-02 2.26863319e+02] [-5.32713596e-01 8.46268524e-01 -6.76834613e-03 -5.16963276e+01] [-1.29452080e-02 -1.51617818e-04 9.99916196e-01 1.16517330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.89, Y:-51.71, Z:1.17 [[ 8.45253726e-01 5.34240565e-01 1.15393615e-02 2.26891230e+02] [-5.34193622e-01 8.45332472e-01 -7.08426789e-03 -5.17119213e+01] [-1.35393002e-02 -1.76249478e-04 9.99908324e-01 1.16590827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.92, Y:-51.73, Z:1.17 [[ 8.44739723e-01 5.35030468e-01 1.25378751e-02 2.26920014e+02] [-5.34975023e-01 8.44832740e-01 -7.70498134e-03 -5.17258504e+01] [-1.47148071e-02 -1.98746189e-04 9.99891712e-01 1.16551111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.95, Y:-51.74, Z:1.17 [[ 8.44417743e-01 5.35553706e-01 1.18702566e-02 2.26948794e+02] [-5.35503932e-01 8.44501150e-01 -7.30388296e-03 -5.17423818e+01] [-1.39360669e-02 -1.89040711e-04 9.99902870e-01 1.16623068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.98, Y:-51.76, Z:1.17 [[ 8.44396722e-01 5.35576505e-01 1.23281384e-02 2.26976950e+02] [-5.35522691e-01 8.44486691e-01 -7.59443045e-03 -5.17589079e+01] [-1.44783473e-02 -1.89285648e-04 9.99895165e-01 1.16514041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.01, Y:-51.78, Z:1.16 [[ 8.44245349e-01 5.35807920e-01 1.26358277e-02 2.27006130e+02] [-5.35751278e-01 8.44339882e-01 -7.79307857e-03 -5.17753816e+01] [-1.48445265e-02 -1.90390505e-04 9.99889796e-01 1.16377478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.03, Y:-51.79, Z:1.16 [[ 8.44461453e-01 5.35430136e-01 1.41217279e-02 2.27034301e+02] [-5.35359213e-01 8.44579499e-01 -8.71683659e-03 -5.17899912e+01] [-1.65941789e-02 -1.99164652e-04 9.99862287e-01 1.16273833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.06, Y:-51.80, Z:1.16 [[ 8.43806194e-01 5.36426559e-01 1.54160331e-02 2.27063723e+02] [-5.36342029e-01 8.43946973e-01 -9.52543094e-03 -5.18041443e+01] [-1.81200086e-02 -2.30648853e-04 9.99835793e-01 1.16409708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.402320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.09, Y:-51.82, Z:1.16 [[ 8.43470720e-01 5.36960565e-01 1.51820682e-02 2.27092370e+02] [-5.36878465e-01 8.43607313e-01 -9.39229818e-03 -5.18204886e+01] [-1.78509975e-02 -2.28796934e-04 9.99840632e-01 1.16450944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.12, Y:-51.84, Z:1.17 [[ 8.43548328e-01 5.36847581e-01 1.48624703e-02 2.27120934e+02] [-5.36768694e-01 8.43679222e-01 -9.20537222e-03 -5.18369936e+01] [-1.74810392e-02 -2.12532419e-04 9.99847172e-01 1.16520045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.15, Y:-51.85, Z:1.16 [[ 8.44948822e-01 5.34606290e-01 1.60499878e-02 2.27149484e+02] [-5.34513828e-01 8.45101227e-01 -9.94405128e-03 -5.18538188e+01] [-1.88800168e-02 -1.76726014e-04 9.99821741e-01 1.16309484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.18, Y:-51.87, Z:1.16 [[ 8.44663620e-01 5.35056971e-01 1.60438802e-02 2.27177274e+02] [-5.34964404e-01 8.44815960e-01 -9.95390400e-03 -5.18706805e+01] [-1.88800318e-02 -1.75204227e-04 9.99821741e-01 1.16325867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.20, Y:-51.89, Z:1.16 [[ 8.44902783e-01 5.34669585e-01 1.63622102e-02 2.27204698e+02] [-5.34573002e-01 8.45061187e-01 -1.01634530e-02 -5.18884015e+01] [-1.92611580e-02 -1.59666096e-04 9.99814474e-01 1.16169182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.23, Y:-51.91, Z:1.16 [[ 8.45522551e-01 5.33716524e-01 1.54365849e-02 2.27231623e+02] [-5.33630225e-01 8.45663442e-01 -9.59821458e-03 -5.19065008e+01] [-1.81768813e-02 -1.21921406e-04 9.99834779e-01 1.16143005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.26, Y:-51.92, Z:1.16 [[ 8.45337190e-01 5.34003928e-01 1.56473595e-02 2.27259512e+02] [-5.33915085e-01 8.45481987e-01 -9.74120091e-03 -5.19247750e+01] [-1.84314002e-02 -1.19761888e-04 9.99830120e-01 1.16201182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.29, Y:-51.94, Z:1.16 [[ 8.44629125e-01 5.35167048e-01 1.40667024e-02 2.27286808e+02] [-5.35095261e-01 8.44746244e-01 -8.76617303e-03 -5.19415712e+01] [-1.65741610e-02 -1.22860729e-04 9.99862632e-01 1.16138283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.32, Y:-51.96, Z:1.16 [[ 8.43434296e-01 5.37058089e-01 1.36819869e-02 2.27315423e+02] [-5.36990255e-01 8.43545249e-01 -8.53690327e-03 -5.19580627e+01] [-1.61261880e-02 -1.46776615e-04 9.99869954e-01 1.16033923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.34, Y:-51.97, Z:1.16 [[ 8.41913163e-01 5.39439518e-01 1.36832574e-02 2.27342913e+02] [-5.39371851e-01 8.42024330e-01 -8.54602184e-03 -5.19745595e+01] [-1.61316976e-02 -1.85355619e-04 9.99869859e-01 1.15963141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.37, Y:-51.99, Z:1.16 [[ 8.39520920e-01 5.43172176e-01 1.29850749e-02 2.27369950e+02] [-5.43111556e-01 8.39621302e-01 -8.11830074e-03 -5.19920965e+01] [-1.53121806e-02 -2.36860920e-04 9.99882734e-01 1.15934540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.40, Y:-52.01, Z:1.16 [[ 8.38864425e-01 5.44173717e-01 1.34700454e-02 2.27397570e+02] [-5.44108453e-01 8.38972526e-01 -8.43156041e-03 -5.20096119e+01] [-1.58892316e-02 -2.56229500e-04 9.99873725e-01 1.16006931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.42, Y:-52.03, Z:1.16 [[ 8.38234546e-01 5.45120609e-01 1.43655036e-02 2.27424469e+02] [-5.45046375e-01 8.38357585e-01 -9.00048826e-03 -5.20269393e+01] [-1.69497806e-02 -2.85345485e-04 9.99856301e-01 1.16070337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.45, Y:-52.04, Z:1.16 [[ 8.38033092e-01 5.45446862e-01 1.37207091e-02 2.27451555e+02] [-5.45379045e-01 8.38145362e-01 -8.60523332e-03 -5.20437419e+01] [-1.61936462e-02 -2.71516953e-04 9.99868837e-01 1.16161082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.48, Y:-52.06, Z:1.16 [[ 8.37314331e-01 5.46561131e-01 1.32530019e-02 2.27480274e+02] [-5.46497841e-01 8.37419163e-01 -8.32196846e-03 -5.20606163e+01] [-1.56467822e-02 -2.74633458e-04 9.99877544e-01 1.16062275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.51, Y:-52.08, Z:1.16 [[ 8.36598493e-01 5.47648475e-01 1.35686834e-02 2.27509380e+02] [-5.47582121e-01 8.36708468e-01 -8.52995375e-03 -5.20764528e+01] [-1.60244485e-02 -2.93821961e-04 9.99871557e-01 1.15942634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.54, Y:-52.09, Z:1.16 [[ 8.34838692e-01 5.50289397e-01 1.50312238e-02 2.27539308e+02] [-5.50208238e-01 8.34973916e-01 -9.45807650e-03 -5.20887219e+01] [-1.77553590e-02 -3.74334935e-04 9.99842291e-01 1.15943884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.57, Y:-52.10, Z:1.16 [[ 8.33591698e-01 5.52126281e-01 1.67765273e-02 2.27567923e+02] [-5.52025347e-01 8.33760376e-01 -1.05665254e-02 -5.21040494e+01] [-1.98216601e-02 -4.52900493e-04 9.99803429e-01 1.16004251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.60, Y:-52.12, Z:1.16 [[ 8.33037344e-01 5.52969597e-01 1.65350584e-02 2.27596526e+02] [-5.52871491e-01 8.33201306e-01 -1.04258254e-02 -5.21196131e+01] [-1.95421967e-02 -4.56660494e-04 9.99808929e-01 1.16197893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.62, Y:-52.13, Z:1.16 [[ 8.31828373e-01 5.54857674e-01 1.39470230e-02 2.27624900e+02] [-5.54787994e-01 8.31945184e-01 -8.80300223e-03 -5.21343856e+01] [-1.64875719e-02 -4.15053874e-04 9.99863985e-01 1.15972154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.65, Y:-52.15, Z:1.16 [[ 8.31479729e-01 5.55382351e-01 1.38529709e-02 2.27653772e+02] [-5.55313514e-01 8.31595017e-01 -8.75379619e-03 -5.21505955e+01] [-1.63817655e-02 -4.14137853e-04 9.99865724e-01 1.15823223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.68, Y:-52.17, Z:1.16 [[ 8.30843322e-01 5.56317375e-01 1.45035486e-02 2.27682570e+02] [-5.56241918e-01 8.30969782e-01 -9.17329011e-03 -5.21655723e+01] [-1.71552713e-02 -4.45914880e-04 9.99852738e-01 1.15882036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.71, Y:-52.18, Z:1.16 [[ 8.30695039e-01 5.56477236e-01 1.66984192e-02 2.27712571e+02] [-5.56377045e-01 8.30862700e-01 -1.05715031e-02 -5.21786228e+01] [-1.97568945e-02 -5.08921925e-04 9.99804684e-01 1.15936260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.74, Y:-52.19, Z:1.16 [[ 8.30782497e-01 5.56320722e-01 1.75412985e-02 2.27741517e+02] [-5.56209858e-01 8.30967499e-01 -1.11180064e-02 -5.21945294e+01] [-2.07614263e-02 -5.19998024e-04 9.99784323e-01 1.15991969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.77, Y:-52.21, Z:1.16 [[ 8.30988840e-01 5.56077253e-01 1.53504634e-02 2.27769454e+02] [-5.55992137e-01 8.31130491e-01 -9.73906819e-03 -5.22105690e+01] [-1.81739125e-02 -4.41679999e-04 9.99834743e-01 1.15970402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.152320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.80, Y:-52.23, Z:1.16 [[ 8.32334687e-01 5.54116782e-01 1.31742341e-02 2.27798283e+02] [-5.54053711e-01 8.32438874e-01 -8.36697755e-03 -5.22256941e+01] [-1.56030273e-02 -3.35107665e-04 9.99878209e-01 1.15860692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.83, Y:-52.24, Z:1.16 [[ 8.32808484e-01 5.53349846e-01 1.52963231e-02 2.27826086e+02] [-5.53264535e-01 8.32948867e-01 -9.72314821e-03 -5.22410376e+01] [-1.81213576e-02 -3.65392788e-04 9.99835728e-01 1.15754062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.85, Y:-52.26, Z:1.16 [[ 8.33248922e-01 5.52726466e-01 1.37726947e-02 2.27854509e+02] [-5.52657070e-01 8.33362681e-01 -8.76385190e-03 -5.22563016e+01] [-1.63216627e-02 -3.09106973e-04 9.99866745e-01 1.15965564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.88, Y:-52.27, Z:1.16 [[ 8.33389020e-01 5.52537185e-01 1.28608139e-02 2.27884397e+02] [-5.52476524e-01 8.33488201e-01 -8.19198617e-03 -5.22700529e+01] [-1.52457136e-02 -2.78186442e-04 9.99883739e-01 1.15924736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.91, Y:-52.29, Z:1.16 [[ 8.33295251e-01 5.52660096e-01 1.36324135e-02 2.27913718e+02] [-5.52591789e-01 8.33406704e-01 -8.69372298e-03 -5.22862163e+01] [-1.61660186e-02 -2.88721674e-04 9.99869280e-01 1.15804524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.94, Y:-52.30, Z:1.16 [[ 8.33188817e-01 5.52770111e-01 1.55434635e-02 2.27942781e+02] [-5.52681158e-01 8.33333727e-01 -9.92157966e-03 -5.23000635e+01] [-1.84372450e-02 -3.24030168e-04 9.99829967e-01 1.15905683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.97, Y:-52.32, Z:1.16 [[ 8.33071011e-01 5.52924302e-01 1.63525697e-02 2.27971340e+02] [-5.52825638e-01 8.33231423e-01 -1.04502968e-02 -5.23162979e+01] [-1.94036980e-02 -3.34280516e-04 9.99811675e-01 1.15937156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.00, Y:-52.33, Z:1.16 [[ 8.33056179e-01 5.52963314e-01 1.57790007e-02 2.27999425e+02] [-5.52871274e-01 8.33205541e-01 -1.00935652e-02 -5.23326393e+01] [-1.87285221e-02 -3.15249338e-04 9.99824556e-01 1.15985481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.03, Y:-52.35, Z:1.16 [[ 8.33728998e-01 5.51973961e-01 1.48561511e-02 2.28027589e+02] [-5.51892043e-01 8.33861305e-01 -9.51302397e-03 -5.23483647e+01] [-1.76389111e-02 -2.67707639e-04 9.99844386e-01 1.15996546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.06, Y:-52.36, Z:1.16 [[ 8.35651022e-01 5.49057163e-01 1.49532725e-02 2.28056863e+02] [-5.48973529e-01 8.35784776e-01 -9.58499751e-03 -5.23621421e+01] [-1.77604291e-02 -1.99237818e-04 9.99842251e-01 1.15725870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.09, Y:-52.38, Z:1.16 [[ 8.36053725e-01 5.48426802e-01 1.55631531e-02 2.28085698e+02] [-5.48335876e-01 8.36198547e-01 -9.98785009e-03 -5.23785725e+01] [-1.84914907e-02 -1.83455936e-04 9.99829001e-01 1.15685227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.11, Y:-52.39, Z:1.16 [[ 8.36405794e-01 5.47903514e-01 1.50694307e-02 2.28113381e+02] [-5.47818010e-01 8.36541520e-01 -9.68058320e-03 -5.23947074e+01] [-1.79102300e-02 -1.58409649e-04 9.99839586e-01 1.15777437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.14, Y:-52.41, Z:1.16 [[ 8.36311738e-01 5.48035946e-01 1.54686268e-02 2.28143491e+02] [-5.47945652e-01 8.36454767e-01 -9.94909470e-03 -5.24093645e+01] [-1.83912682e-02 -1.55422135e-04 9.99830854e-01 1.15699665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.17, Y:-52.42, Z:1.16 [[ 8.35946954e-01 5.48556363e-01 1.66915118e-02 2.28171911e+02] [-5.48451126e-01 8.36113561e-01 -1.07459356e-02 -5.24248225e+01] [-1.98507507e-02 -1.71446294e-04 9.99802940e-01 1.15585955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.20, Y:-52.44, Z:1.16 [[ 8.35660566e-01 5.48955736e-01 1.78610947e-02 2.28199765e+02] [-5.48835081e-01 8.35851402e-01 -1.15103388e-02 -5.24406681e+01] [-2.12478875e-02 -1.84059141e-04 9.99774221e-01 1.15506504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.23, Y:-52.46, Z:1.15 [[ 8.34402351e-01 5.50859154e-01 1.80806202e-02 2.28227397e+02] [-5.50735707e-01 8.34598192e-01 -1.16636069e-02 -5.24565391e+01] [-2.15150576e-02 -2.25502159e-04 9.99768499e-01 1.15351754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.25, Y:-52.47, Z:1.15 [[ 8.33901909e-01 5.51672539e-01 1.62792984e-02 2.28254822e+02] [-5.51572412e-01 8.34060768e-01 -1.05123740e-02 -5.24727712e+01] [-1.93773121e-02 -2.12923172e-04 9.99812220e-01 1.15296257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.28, Y:-52.49, Z:1.15 [[ 8.33033359e-01 5.52922670e-01 1.82193507e-02 2.28283578e+02] [-5.52797300e-01 8.33232532e-01 -1.17767510e-02 -5.24876684e+01] [-2.16925884e-02 -2.61181465e-04 9.99764654e-01 1.15123712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.31, Y:-52.50, Z:1.15 [[ 8.33096700e-01 5.52783294e-01 1.95068821e-02 2.28311840e+02] [-5.52639249e-01 8.33325002e-01 -1.26214797e-02 -5.25029661e+01] [-2.32325157e-02 -2.65355581e-04 9.99730053e-01 1.15108041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.34, Y:-52.52, Z:1.15 [[ 8.32879447e-01 5.53116791e-01 1.93298503e-02 2.28340969e+02] [-5.52975096e-01 8.33103684e-01 -1.25217703e-02 -5.25186643e+01] [-2.30297709e-02 -2.59800704e-04 9.99734746e-01 1.15126669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.37, Y:-52.53, Z:1.15 [[ 8.32908524e-01 5.53089777e-01 1.88438336e-02 2.28370932e+02] [-5.52954841e-01 8.33121624e-01 -1.22189810e-02 -5.25309880e+01] [-2.24573987e-02 -2.42495556e-04 9.99747771e-01 1.15102993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.40, Y:-52.55, Z:1.15 [[ 8.32726257e-01 5.53349070e-01 1.92818031e-02 2.28400075e+02] [-5.53207518e-01 8.32949427e-01 -1.25177749e-02 -5.25459800e+01] [-2.29874659e-02 -2.42958661e-04 9.99735724e-01 1.14939462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.43, Y:-52.56, Z:1.15 [[ 8.32711001e-01 5.53365876e-01 1.94575482e-02 2.28429258e+02] [-5.53221399e-01 8.32938265e-01 -1.26463583e-02 -5.25613545e+01] [-2.32049996e-02 -2.33570424e-04 9.99730700e-01 1.14818403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.46, Y:-52.58, Z:1.15 [[ 8.33047175e-01 5.52825798e-01 2.03971021e-02 2.28458666e+02] [-5.52666501e-01 8.33296820e-01 -1.32721201e-02 -5.25773730e+01] [-2.43340107e-02 -2.16492939e-04 9.99703861e-01 1.14810745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.49, Y:-52.59, Z:1.15 [[ 8.34087262e-01 5.51206709e-01 2.16703237e-02 2.28487903e+02] [-5.51026005e-01 8.34368705e-01 -1.41140519e-02 -5.25922377e+01] [-2.58608000e-02 -1.68560959e-04 9.99665539e-01 1.15041125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.902320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.52, Y:-52.61, Z:1.15 [[ 8.34578785e-01 5.50441198e-01 2.21977219e-02 2.28517383e+02] [-5.50250877e-01 8.34873924e-01 -1.44742278e-02 -5.26082293e+01] [-2.64995105e-02 -1.34432477e-04 9.99648817e-01 1.14954769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.55, Y:-52.62, Z:1.15 [[ 8.35491794e-01 5.49110303e-01 2.07686782e-02 2.28545985e+02] [-5.48943218e-01 8.35749884e-01 -1.35453078e-02 -5.26227190e+01] [-2.47952885e-02 -8.38315714e-05 9.99692546e-01 1.15079580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.58, Y:-52.63, Z:1.15 [[ 8.37228526e-01 5.46530822e-01 1.87737874e-02 2.28577684e+02] [-5.46393326e-01 8.37438989e-01 -1.22585779e-02 -5.26338440e+01] [-2.24215922e-02 5.35900447e-06 9.99748604e-01 1.14796146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.61, Y:-52.65, Z:1.15 [[ 8.37549868e-01 5.45987756e-01 2.01888239e-02 2.28606479e+02] [-5.45828282e-01 8.37793154e-01 -1.31953677e-02 -5.26486042e+01] [-2.41185677e-02 3.21474349e-05 9.99709105e-01 1.14708800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.64, Y:-52.66, Z:1.15 [[ 8.38204783e-01 5.44914003e-01 2.19424380e-02 2.28635080e+02] [-5.44724881e-01 8.38491934e-01 -1.43555344e-02 -5.26637284e+01] [-2.62210890e-02 8.02856335e-05 9.99656165e-01 1.14708986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.67, Y:-52.68, Z:1.15 [[ 8.39495234e-01 5.42875078e-01 2.31171349e-02 2.28665348e+02] [-5.42663983e-01 8.39813445e-01 -1.51386659e-02 -5.26756574e+01] [-2.76324851e-02 1.64001351e-04 9.99618137e-01 1.14822938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.70, Y:-52.69, Z:1.15 [[ 8.40384953e-01 5.41519772e-01 2.25713772e-02 2.28695099e+02] [-5.41317589e-01 8.40687986e-01 -1.47979137e-02 -5.26903616e+01] [-2.69888484e-02 2.17660525e-04 9.99635711e-01 1.14884346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.72, Y:-52.71, Z:1.15 [[ 8.41119801e-01 5.40400141e-01 2.20265375e-02 2.28724665e+02] [-5.40206793e-01 8.41408117e-01 -1.44568834e-02 -5.27056771e+01] [-2.63458093e-02 2.61085700e-04 9.99652855e-01 1.14800710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.75, Y:-52.72, Z:1.15 [[ 8.43518380e-01 5.36693530e-01 2.08996901e-02 2.28754889e+02] [-5.36518281e-01 8.43777178e-01 -1.37189059e-02 -5.27186048e+01] [-2.49975296e-02 3.59083485e-04 9.99687448e-01 1.14614430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.78, Y:-52.73, Z:1.15 [[ 8.44364925e-01 5.35329882e-01 2.16746478e-02 2.28782857e+02] [-5.35140575e-01 8.44642964e-01 -1.42418027e-02 -5.27338379e+01] [-2.59314013e-02 4.26295210e-04 9.99663634e-01 1.14508504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.81, Y:-52.75, Z:1.15 [[ 8.45737151e-01 5.33121929e-01 2.25760979e-02 2.28813624e+02] [-5.32915697e-01 8.46038263e-01 -1.48363740e-02 -5.27460508e+01] [-2.70098390e-02 5.16515752e-04 9.99635034e-01 1.14536591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.84, Y:-52.76, Z:1.15 [[ 8.46421575e-01 5.32076521e-01 2.15660119e-02 2.28842773e+02] [-5.31887894e-01 8.46696107e-01 -1.41764197e-02 -5.27604602e+01] [-2.58027984e-02 5.28526894e-04 9.99666913e-01 1.14517255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.87, Y:-52.77, Z:1.15 [[ 8.46957418e-01 5.31287969e-01 1.99054230e-02 2.28871919e+02] [-5.31126974e-01 8.47191142e-01 -1.30884161e-02 -5.27741370e+01] [-2.38174160e-02 5.13023992e-04 9.99716193e-01 1.14609063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.90, Y:-52.79, Z:1.15 [[ 8.46673545e-01 5.31763012e-01 1.92874990e-02 2.28900414e+02] [-5.31611903e-01 8.46893064e-01 -1.26855332e-02 -5.27897210e+01] [-2.30801465e-02 4.87041325e-04 9.99733499e-01 1.14602942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.93, Y:-52.81, Z:1.15 [[ 8.46752682e-01 5.31635955e-01 1.93159438e-02 2.28929197e+02] [-5.31484288e-01 8.46972825e-01 -1.27076876e-02 -5.28052593e+01] [-2.31159431e-02 4.94147904e-04 9.99732669e-01 1.14548800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.96, Y:-52.82, Z:1.14 [[ 8.47095183e-01 5.31132078e-01 1.81236721e-02 2.28958488e+02] [-5.30998372e-01 8.47288904e-01 -1.19265579e-02 -5.28196817e+01] [-2.16905638e-02 4.79289358e-04 9.99764617e-01 1.14411053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.99, Y:-52.84, Z:1.14 [[ 8.46896445e-01 5.31415993e-01 1.90644786e-02 2.28986748e+02] [-5.31268039e-01 8.47110850e-01 -1.25490126e-02 -5.28357892e+01] [-2.28184726e-02 4.99366004e-04 9.99739500e-01 1.14321354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.01, Y:-52.85, Z:1.14 [[ 8.46831140e-01 5.31520107e-01 1.90629383e-02 2.29013249e+02] [-5.31372127e-01 8.47045528e-01 -1.25513523e-02 -5.28531884e+01] [-2.28184728e-02 4.99361941e-04 9.99739500e-01 1.14337320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.04, Y:-52.87, Z:1.14 [[ 8.46780233e-01 5.31622850e-01 1.84494307e-02 2.29042175e+02] [-5.31484173e-01 8.46981057e-01 -1.21516743e-02 -5.28686624e+01] [-2.20864260e-02 4.84217213e-04 9.99755948e-01 1.14366679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.07, Y:-52.88, Z:1.14 [[ 8.46617627e-01 5.31882105e-01 1.84396424e-02 2.29072794e+02] [-5.31743657e-01 8.46818280e-01 -1.21443027e-02 -5.28782473e+01] [-2.20743636e-02 4.76417794e-04 9.99756218e-01 1.14389390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.10, Y:-52.89, Z:1.14 [[ 8.46397705e-01 5.32291645e-01 1.66291515e-02 2.29100711e+02] [-5.32179131e-01 8.46560942e-01 -1.09519178e-02 -5.28916035e+01] [-1.99072045e-02 4.19990723e-04 9.99801744e-01 1.14440410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.13, Y:-52.91, Z:1.14 [[ 8.46422299e-01 5.32287147e-01 1.54817373e-02 2.29125791e+02] [-5.32189848e-01 8.46563788e-01 -1.01842084e-02 -5.29052493e+01] [-1.85272014e-02 3.80917718e-04 9.99828284e-01 1.14398680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.15, Y:-52.92, Z:1.14 [[ 8.46132175e-01 5.32687022e-01 1.74607904e-02 2.29151206e+02] [-5.32563556e-01 8.46312216e-01 -1.14756743e-02 -5.29185313e+01] [-2.08902230e-02 4.10956631e-04 9.99781691e-01 1.14233141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.18, Y:-52.93, Z:1.14 [[ 8.46058077e-01 5.32750118e-01 1.90536737e-02 2.29175837e+02] [-5.32603370e-01 8.46272486e-01 -1.25111769e-02 -5.29329231e+01] [-2.27899308e-02 4.37131440e-04 9.99740180e-01 1.14227113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.20, Y:-52.94, Z:1.14 [[ 8.45385210e-01 5.33770593e-01 2.03175143e-02 2.29202536e+02] [-5.33604376e-01 8.45629218e-01 -1.33265153e-02 -5.29430244e+01] [-2.42943857e-02 4.24524387e-04 9.99704758e-01 1.14327879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.652320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.23, Y:-52.96, Z:1.14 [[ 8.45423529e-01 5.33742328e-01 1.94469645e-02 2.29229394e+02] [-5.33590318e-01 8.45647072e-01 -1.27437224e-02 -5.29552364e+01] [-2.32471326e-02 3.97130745e-04 9.99729670e-01 1.14309010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.26, Y:-52.97, Z:1.14 [[ 8.45830275e-01 5.33160379e-01 1.76396441e-02 2.29255826e+02] [-5.33035419e-01 8.46014112e-01 -1.15483593e-02 -5.29670762e+01] [-2.10805154e-02 3.65396847e-04 9.99777714e-01 1.14222149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.28, Y:-52.98, Z:1.14 [[ 8.46635139e-01 5.31911733e-01 1.66988163e-02 2.29281945e+02] [-5.31799750e-01 8.46799726e-01 -1.09201895e-02 -5.29786200e+01] [-1.99491300e-02 3.64989783e-04 9.99800930e-01 1.14205326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.31, Y:-52.99, Z:1.14 [[ 8.48288083e-01 5.29280720e-01 1.64088017e-02 2.29309415e+02] [-5.29172290e-01 8.48446669e-01 -1.07208788e-02 -5.29898062e+01] [-1.95963476e-02 4.11310584e-04 9.99807889e-01 1.14074839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.33, Y:-53.00, Z:1.14 [[ 8.49430551e-01 5.27446488e-01 1.63689389e-02 2.29334320e+02] [-5.27338436e-01 8.49588139e-01 -1.06849572e-02 -5.30045309e+01] [-1.95425995e-02 4.44158439e-04 9.99808927e-01 1.14133198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.802320588 meters Centerline goodness [0,1] 0.9999507655949977 Centerline is valid? [True, True] Translation: X:229.36, Y:-53.02, Z:1.14 [[ 8.50555613e-01 5.25629354e-01 1.63991083e-02 2.29359250e+02] [-5.25520757e-01 8.50713555e-01 -1.06948764e-02 -5.30193518e+01] [-1.95724847e-02 4.78515387e-04 9.99808326e-01 1.14197905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.832320588 meters Centerline goodness [0,1] 0.9999506075274128 Centerline is valid? [True, True] Translation: X:229.39, Y:-53.03, Z:1.14 [[ 8.53384812e-01 5.21069155e-01 1.48761258e-02 2.29385287e+02] [-5.20979131e-01 8.53514298e-01 -9.69989948e-03 -5.30312848e+01] [-1.77513045e-02 5.27595808e-04 9.99842294e-01 1.14209582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.41, Y:-53.04, Z:1.14 [[ 8.54926875e-01 5.18558128e-01 1.40536773e-02 2.29410721e+02] [-5.18477611e-01 8.55042208e-01 -9.15363794e-03 -5.30441754e+01] [-1.67631807e-02 5.39174025e-04 9.99859343e-01 1.14179476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.44, Y:-53.06, Z:1.14 [[ 8.56252152e-01 5.16376514e-01 1.36948062e-02 2.29436884e+02] [-5.16299912e-01 8.56361478e-01 -8.91174544e-03 -5.30572106e+01] [-1.63295206e-02 5.60073955e-04 9.99866508e-01 1.14165124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.922320588 meters Centerline goodness [0,1] 0.999950544015826 Centerline is valid? [True, True] Translation: X:229.46, Y:-53.07, Z:1.14 [[ 8.57010359e-01 5.15134032e-01 1.30450770e-02 2.29462693e+02] [-5.15064503e-01 8.57109461e-01 -8.48116662e-03 -5.30708351e+01] [-1.55499965e-02 5.49391538e-04 9.99878941e-01 1.14194945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.952320588 meters Centerline goodness [0,1] 0.9999506489660959 Centerline is valid? [True, True] Translation: X:229.49, Y:-53.09, Z:1.14 [[ 8.57487983e-01 5.14303394e-01 1.43658935e-02 2.29486720e+02] [-5.14219096e-01 8.57608093e-01 -9.33166949e-03 -5.30867387e+01] [-1.71196158e-02 6.14577686e-04 9.99853260e-01 1.14131982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.982320588 meters Centerline goodness [0,1] 0.9999015214929342 Centerline is valid? [True, True] Translation: X:229.51, Y:-53.10, Z:1.14 [[ 8.57445055e-01 5.14376478e-01 1.43114098e-02 2.29509786e+02] [-5.14292969e-01 8.57564269e-01 -9.28799790e-03 -5.31037338e+01] [-1.70504813e-02 6.03690415e-04 9.99854448e-01 1.14221271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.012320588 meters Centerline goodness [0,1] 0.9999016232169208 Centerline is valid? [True, True] Translation: X:229.53, Y:-53.12, Z:1.14 [[ 8.57895660e-01 5.13661631e-01 1.29137750e-02 2.29534121e+02] [-5.13593677e-01 8.57992672e-01 -8.37316097e-03 -5.31187714e+01] [-1.53808959e-02 5.50865254e-04 9.99881555e-01 1.14247209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.56, Y:-53.13, Z:1.14 [[ 8.58130502e-01 5.13304838e-01 1.14098258e-02 2.29558770e+02] [-5.13251853e-01 8.58206215e-01 -7.39112629e-03 -5.31336212e+01] [-1.35858843e-02 4.86436685e-04 9.99907589e-01 1.14226032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.58, Y:-53.15, Z:1.14 [[ 8.58043001e-01 5.13463542e-01 1.08351134e-02 2.29584326e+02] [-5.13415856e-01 8.58111290e-01 -7.01241422e-03 -5.31477661e+01] [-1.28983522e-02 4.54033913e-04 9.99916710e-01 1.14178862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.61, Y:-53.16, Z:1.14 [[ 8.57707575e-01 5.13976014e-01 1.28985795e-02 2.29606912e+02] [-5.13908622e-01 8.57804396e-01 -8.33938766e-03 -5.31633266e+01] [-1.53507034e-02 5.24064748e-04 9.99882034e-01 1.14253585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.63, Y:-53.18, Z:1.14 [[ 8.57232856e-01 5.14736444e-01 1.40792209e-02 2.29630242e+02] [-5.14656406e-01 8.57348291e-01 -9.09348769e-03 -5.31793694e+01] [-1.67515455e-02 5.49275203e-04 9.99859532e-01 1.14250585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.65, Y:-53.20, Z:1.14 [[ 8.56579552e-01 5.15830889e-01 1.37827789e-02 2.29653681e+02] [-5.15754455e-01 8.56690279e-01 -8.89425755e-03 -5.31963371e+01] [-1.63955054e-02 5.10109536e-04 9.99865455e-01 1.14281763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.68, Y:-53.21, Z:1.14 [[ 8.55593617e-01 5.17521200e-01 1.14617027e-02 2.29678515e+02] [-5.17468583e-01 8.55670295e-01 -7.38994943e-03 -5.32117428e+01] [-1.36318940e-02 3.91722508e-04 9.99907005e-01 1.14199523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.70, Y:-53.23, Z:1.14 [[ 8.54986428e-01 5.18540208e-01 1.06892849e-02 2.29703643e+02] [-5.18494609e-01 8.55053176e-01 -6.88526919e-03 -5.32259822e+01] [-1.27101959e-02 3.44475135e-04 9.99919163e-01 1.14130404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.73, Y:-53.24, Z:1.14 [[ 8.53191591e-01 5.21474864e-01 1.13170626e-02 2.29730371e+02] [-5.21424097e-01 8.53266587e-01 -7.28300950e-03 -5.32368609e+01] [-1.34543777e-02 3.12813339e-04 9.99909437e-01 1.14068381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.76, Y:-53.25, Z:1.14 [[ 8.52506454e-01 5.22590500e-01 1.14854279e-02 2.29755558e+02] [-5.22538405e-01 8.52583769e-01 -7.38455525e-03 -5.32508463e+01] [-1.36513878e-02 2.93803826e-04 9.99906772e-01 1.14067406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.78, Y:-53.27, Z:1.14 [[ 8.51303218e-01 5.24546335e-01 1.15747096e-02 2.29781090e+02] [-5.24493592e-01 8.51381860e-01 -7.44315426e-03 -5.32653130e+01] [-1.37587771e-02 2.65520136e-04 9.99905308e-01 1.14142740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.81, Y:-53.28, Z:1.14 [[ 8.49910088e-01 5.26826395e-01 1.03340392e-02 2.29809048e+02] [-5.26784626e-01 8.49972889e-01 -6.63679250e-03 -5.32753363e+01] [-1.22800906e-02 1.96863953e-04 9.99924577e-01 1.14095692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.372320588 meters Centerline goodness [0,1] 0.9999508309568296 Centerline is valid? [True, True] Translation: X:229.83, Y:-53.29, Z:1.14 [[ 8.49911538e-01 5.26830161e-01 1.00179036e-02 2.29834017e+02] [-5.26790996e-01 8.49970557e-01 -6.42643946e-03 -5.32879690e+01] [-1.19005653e-02 1.84563614e-04 9.99929169e-01 1.14052846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.86, Y:-53.30, Z:1.14 [[ 8.50345771e-01 5.26127479e-01 1.00967902e-02 2.29858948e+02] [-5.26087729e-01 8.50405691e-01 -6.47001965e-03 -5.33006051e+01] [-1.19904230e-02 1.89956412e-04 9.99928094e-01 1.13972414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.88, Y:-53.31, Z:1.14 [[ 8.50964692e-01 5.25142651e-01 9.18091087e-03 2.29883760e+02] [-5.25109801e-01 8.51014197e-01 -5.87653980e-03 -5.33134488e+01] [-1.08991072e-02 1.79741603e-04 9.99940587e-01 1.14010167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46232058799998 meters Centerline goodness [0,1] 0.9998526015820763 Centerline is valid? [True, True] Translation: X:229.91, Y:-53.32, Z:1.14 [[ 8.52518315e-01 5.22626324e-01 8.61675320e-03 2.29911642e+02] [-5.22597309e-01 8.52561838e-01 -5.51044640e-03 -5.33224684e+01] [-1.02262193e-02 1.94664439e-04 9.99947692e-01 1.14063655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.94, Y:-53.33, Z:1.14 [[ 8.53755343e-01 5.20625252e-01 7.15271173e-03 2.29938130e+02] [-5.20605228e-01 8.53785287e-01 -4.56955098e-03 -5.33337586e+01] [-8.48590367e-03 1.77539450e-04 9.99963978e-01 1.14222150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52232058799999 meters Centerline goodness [0,1] 0.9999508357915438 Centerline is valid? [True, True] Translation: X:229.96, Y:-53.35, Z:1.14 [[ 8.54467214e-01 5.19449117e-01 7.64163220e-03 2.29964671e+02] [-5.19426255e-01 8.54501361e-01 -4.87754469e-03 -5.33457957e+01] [-9.06342139e-03 1.98437636e-04 9.99958907e-01 1.14169207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.552320588 meters Centerline goodness [0,1] 0.9998524638536441 Centerline is valid? [True, True] Translation: X:229.99, Y:-53.36, Z:1.14 [[ 8.54904126e-01 5.18745343e-01 6.49647902e-03 2.29990147e+02] [-5.18728839e-01 8.54928792e-01 -4.14148476e-03 -5.33575681e+01] [-7.70240290e-03 1.70661395e-04 9.99970321e-01 1.14171674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.02, Y:-53.37, Z:1.14 [[ 8.55165363e-01 5.18337052e-01 4.34768218e-03 2.30018042e+02] [-5.18329671e-01 8.55176407e-01 -2.76847793e-03 -5.33672810e+01] [-5.15303992e-03 1.13973765e-04 9.99986717e-01 1.14311960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.612320588 meters Centerline goodness [0,1] 0.999950704919649 Centerline is valid? [True, True] Translation: X:230.04, Y:-53.38, Z:1.14 [[ 8.55127140e-01 5.18409276e-01 3.06540227e-03 2.30043530e+02] [-5.18405617e-01 8.55132631e-01 -1.94939208e-03 -5.33807613e+01] [-3.63190844e-03 7.78563189e-05 9.99993402e-01 1.14309659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.07, Y:-53.39, Z:1.14 [[ 8.54939887e-01 5.18710496e-01 4.14863472e-03 2.30070208e+02] [-5.18703808e-01 8.54949946e-01 -2.63596998e-03 -5.33911477e+01] [-4.91418033e-03 1.01683245e-04 9.99987920e-01 1.14251086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.10, Y:-53.40, Z:1.14 [[ 8.54914803e-01 5.18745433e-01 4.88420079e-03 2.30095672e+02] [-5.18736180e-01 8.54928747e-01 -3.10051436e-03 -5.34034065e+01] [-5.78402132e-03 1.17063961e-04 9.99983266e-01 1.14180183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.12, Y:-53.42, Z:1.14 [[ 8.55251673e-01 5.18190236e-01 4.84306407e-03 2.30121426e+02] [-5.18181148e-01 8.55265377e-01 -3.07116680e-03 -5.34157377e+01] [-5.73355367e-03 1.17036048e-04 9.99983556e-01 1.14240265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.15, Y:-53.43, Z:1.14 [[ 8.54376290e-01 5.19642556e-01 3.57346275e-03 2.30148864e+02] [-5.19637632e-01 8.54383759e-01 -2.26353367e-03 -5.34259642e+01] [-4.22933696e-03 7.70037726e-05 9.99991053e-01 1.14268998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.17, Y:-53.44, Z:1.14 [[ 8.53807463e-01 5.20572520e-01 4.13132178e-03 2.30174468e+02] [-5.20565959e-01 8.53817454e-01 -2.61484189e-03 -5.34388968e+01] [-4.88860948e-03 8.19460326e-05 9.99988047e-01 1.14293494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.20, Y:-53.45, Z:1.14 [[ 8.52912541e-01 5.22033323e-01 4.62679067e-03 2.30202559e+02] [-5.22025129e-01 8.52925087e-01 -2.92598236e-03 -5.34483522e+01] [-5.47376613e-03 8.03060553e-05 9.99985016e-01 1.14439488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.23, Y:-53.46, Z:1.14 [[ 8.52678541e-01 5.22416374e-01 4.52075043e-03 2.30227656e+02] [-5.22408576e-01 8.52690522e-01 -2.85540144e-03 -5.34613402e+01] [-5.34650951e-03 7.30607423e-05 9.99985705e-01 1.14429213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.25, Y:-53.47, Z:1.14 [[ 8.52700309e-01 5.22377815e-01 4.85812294e-03 2.30252876e+02] [-5.22368826e-01 8.52714145e-01 -3.06539988e-03 -5.34742812e+01] [-5.74388704e-03 7.61354420e-05 9.99983501e-01 1.14330077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.28, Y:-53.49, Z:1.14 [[ 8.52951921e-01 5.21968173e-01 4.71664820e-03 2.30277875e+02] [-5.21959713e-01 8.52964959e-01 -2.97278136e-03 -5.34860016e+01] [-5.57483289e-03 7.37392307e-05 9.99984458e-01 1.14177840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.31, Y:-53.49, Z:1.14 [[ 8.52966510e-01 5.21909591e-01 7.64933755e-03 2.30307699e+02] [-5.21887357e-01 8.53000800e-01 -4.81887250e-03 -5.34925115e+01] [-9.03990682e-03 1.18244301e-04 9.99959132e-01 1.13933192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.33, Y:-53.50, Z:1.14 [[ 8.53459803e-01 5.21107838e-01 7.27918483e-03 2.30333765e+02] [-5.21087716e-01 8.53490836e-01 -4.58081463e-03 -5.35036471e+01] [-8.59981596e-03 1.16447352e-04 9.99963014e-01 1.13965035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.36, Y:-53.52, Z:1.14 [[ 8.54446571e-01 5.19476913e-01 8.04949815e-03 2.30359121e+02] [-5.19452277e-01 8.54484474e-01 -5.06122915e-03 -5.35165652e+01] [-9.50736289e-03 1.43219753e-04 9.99954794e-01 1.13899165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.38, Y:-53.53, Z:1.14 [[ 8.55470088e-01 5.17815580e-01 6.16058217e-03 2.30383954e+02] [-5.17801144e-01 8.55492262e-01 -3.86845646e-03 -5.35301469e+01] [-7.27347740e-03 1.19392297e-04 9.99973541e-01 1.14065948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.41, Y:-53.54, Z:1.14 [[ 8.57703782e-01 5.14116684e-01 5.31575117e-03 2.30410167e+02] [-5.14105884e-01 8.57720245e-01 -3.33483280e-03 -5.35425219e+01] [-6.27392058e-03 1.27439745e-04 9.99980311e-01 1.13976502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.44, Y:-53.56, Z:1.14 [[ 8.58916356e-01 5.12096708e-01 4.43340607e-03 2.30435366e+02] [-5.12089184e-01 8.58927790e-01 -2.77832922e-03 -5.35566000e+01] [-5.23074893e-03 1.16053111e-04 9.99986313e-01 1.13944302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.46, Y:-53.57, Z:1.14 [[ 8.60279234e-01 5.09777713e-01 6.80611158e-03 2.30460204e+02] [-5.09759928e-01 8.60306134e-01 -4.26271874e-03 -5.35705548e+01] [-8.02837855e-03 1.97645464e-04 9.99967753e-01 1.13823360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.48, Y:-53.58, Z:1.14 [[ 8.60898762e-01 5.08737430e-01 6.28875800e-03 2.30484322e+02] [-5.08722254e-01 8.60921711e-01 -3.93402172e-03 -5.35844966e+01] [-7.41551239e-03 1.87563287e-04 9.99972487e-01 1.13978642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.51, Y:-53.60, Z:1.14 [[ 8.60363811e-01 5.09617218e-01 8.02520326e-03 2.30509523e+02] [-5.09592585e-01 8.60401209e-01 -5.01571541e-03 -5.35966634e+01] [-9.46098952e-03 2.25755947e-04 9.99955218e-01 1.14115933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.53, Y:-53.61, Z:1.14 [[ 8.60432581e-01 5.09518470e-01 6.83391290e-03 2.30534104e+02] [-5.09500636e-01 8.60459698e-01 -4.26721025e-03 -5.36112203e+01] [-8.05452907e-03 1.89763763e-04 9.99967544e-01 1.14183419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.56, Y:-53.63, Z:1.14 [[ 8.60048219e-01 5.10173515e-01 6.32821102e-03 2.30558141e+02] [-5.10158270e-01 8.60071483e-01 -3.94757112e-03 -5.36265781e+01] [-7.45666007e-03 1.66712328e-04 9.99972185e-01 1.14097271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.58, Y:-53.64, Z:1.14 [[ 8.60498256e-01 5.09423723e-01 5.49752171e-03 2.30581910e+02] [-5.09412229e-01 8.60515804e-01 -3.42509874e-03 -5.36411324e+01] [-6.47553086e-03 1.46786703e-04 9.99979023e-01 1.14093317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.61, Y:-53.66, Z:1.14 [[ 8.60517484e-01 5.09373606e-01 6.94182894e-03 2.30605797e+02] [-5.09355310e-01 8.60545464e-01 -4.32113821e-03 -5.36562638e+01] [-8.17483316e-03 1.82557552e-04 9.99966569e-01 1.14143124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.63, Y:-53.67, Z:1.14 [[ 8.60758017e-01 5.08967012e-01 6.94387054e-03 2.30628841e+02] [-5.08948729e-01 8.60786005e-01 -4.31785775e-03 -5.36709991e+01] [-8.17483374e-03 1.82556584e-04 9.99966569e-01 1.14156975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.65, Y:-53.69, Z:1.14 [[ 8.61328281e-01 5.07994868e-01 7.40309718e-03 2.30653323e+02] [-5.07974083e-01 8.61360072e-01 -4.59971887e-03 -5.36861936e+01] [-8.71336589e-03 2.01286445e-04 9.99962018e-01 1.14192666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.68, Y:-53.70, Z:1.14 [[ 8.62307248e-01 5.06330256e-01 7.47536202e-03 2.30677637e+02] [-5.06309038e-01 8.62339623e-01 -4.64036463e-03 -5.37006911e+01] [-8.79585788e-03 2.16576703e-04 9.99961292e-01 1.14306508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.70, Y:-53.72, Z:1.14 [[ 8.63494793e-01 5.04325226e-01 5.72781663e-03 2.30702083e+02] [-5.04312751e-01 8.63513772e-01 -3.55177975e-03 -5.37151361e+01] [-6.73730067e-03 1.78332359e-04 9.99977288e-01 1.14305766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.73, Y:-53.73, Z:1.14 [[ 8.63769292e-01 5.03859555e-01 5.30654794e-03 2.30725959e+02] [-5.03848864e-01 8.63785576e-01 -3.28653311e-03 -5.37288486e+01] [-6.23967068e-03 1.65108228e-04 9.99980519e-01 1.14202346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.75, Y:-53.74, Z:1.14 [[ 8.64284204e-01 5.02984755e-01 4.37617562e-03 2.30750594e+02] [-5.02977489e-01 8.64295272e-01 -2.70699491e-03 -5.37422824e+01] [-5.14388507e-03 1.38495121e-04 9.99986761e-01 1.14242398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.78, Y:-53.76, Z:1.14 [[ 8.64790324e-01 5.02111868e-01 4.62252501e-03 2.30775873e+02] [-5.02103760e-01 8.64802665e-01 -2.85727020e-03 -5.37559252e+01] [-5.43224123e-03 1.49952432e-04 9.99985234e-01 1.14209463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.80, Y:-53.77, Z:1.14 [[ 8.65014269e-01 5.01702023e-01 6.73756628e-03 2.30799363e+02] [-5.01684776e-01 8.65040479e-01 -4.16591157e-03 -5.37718048e+01] [-7.91831382e-03 2.23438520e-04 9.99968625e-01 1.14186083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.82, Y:-53.79, Z:1.14 [[ 8.66589545e-01 4.98968917e-01 7.25131043e-03 2.30822558e+02] [-4.98948891e-01 8.66619842e-01 -4.47800386e-03 -5.37896062e+01] [-8.51851423e-03 2.62558027e-04 9.99963682e-01 1.14134379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.572320588 meters Centerline goodness [0,1] 0.9999508140278393 Centerline is valid? [True, True] Translation: X:230.85, Y:-53.80, Z:1.14 [[ 8.68207560e-01 4.96163394e-01 6.12521201e-03 2.30847234e+02] [-4.96149063e-01 8.68229133e-01 -3.77880665e-03 -5.38049472e+01] [-7.19299304e-03 2.41770304e-04 9.99974101e-01 1.14177529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.87, Y:-53.82, Z:1.14 [[ 8.69680113e-01 4.93592213e-01 4.81957489e-03 2.30871954e+02] [-4.93583319e-01 8.69693443e-01 -2.97013156e-03 -5.38200029e+01] [-5.65758649e-03 2.04202580e-04 9.99983975e-01 1.14139767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.90, Y:-53.83, Z:1.14 [[ 8.70908963e-01 4.91415384e-01 5.33840870e-03 2.30896957e+02] [-4.91404448e-01 8.70925291e-01 -3.28716640e-03 -5.38348608e+01] [-6.26471929e-03 2.39504898e-04 9.99980348e-01 1.14145167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.662320588 meters Centerline goodness [0,1] 0.9999508382085444 Centerline is valid? [True, True] Translation: X:230.92, Y:-53.85, Z:1.14 [[ 8.72932235e-01 4.87836298e-01 2.24926203e-03 2.30921077e+02] [-4.87834351e-01 8.72935126e-01 -1.38243055e-03 -5.38505299e+01] [-2.63785963e-03 1.09500906e-04 9.99996515e-01 1.14315910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.692320588 meters Centerline goodness [0,1] 0.9999507558969813 Centerline is valid? [True, True] Translation: X:230.94, Y:-53.87, Z:1.14 [[ 8.73729461e-01 4.86408648e-01 1.85919909e-03 2.30944363e+02] [-4.86407318e-01 8.73731434e-01 -1.14127482e-03 -5.38674960e+01] [-2.17956663e-03 9.28373877e-05 9.99997620e-01 1.14303820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.722320588 meters Centerline goodness [0,1] 0.9999508309568296 Centerline is valid? [True, True] Translation: X:230.97, Y:-53.88, Z:1.14 [[ 8.74181267e-01 4.85597925e-01 1.32946364e-03 2.30967636e+02] [-4.85597243e-01 8.74182275e-01 -8.16666860e-04 -5.38835985e+01] [-1.55876528e-03 6.83309947e-05 9.99998783e-01 1.14440935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.752320588 meters Centerline goodness [0,1] 0.9999507704425737 Centerline is valid? [True, True] Translation: X:230.99, Y:-53.90, Z:1.15 [[ 8.74521063e-01 4.84987229e-01 5.45855066e-04 2.30987951e+02] [-4.84987116e-01 8.74521233e-01 -3.32810237e-04 -5.39029664e+01] [-6.38770559e-04 2.63168879e-05 9.99999796e-01 1.14595963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.782320588 meters Centerline goodness [0,1] 0.9999017633479051 Centerline is valid? [True, True] Translation: X:231.01, Y:-53.92, Z:1.15 [[ 8.74801597e-01 4.84480211e-01 1.04468495e-03 2.31010181e+02] [-4.84479794e-01 8.74802219e-01 -6.38389630e-04 -5.39192688e+01] [-1.22317985e-03 5.23355191e-05 9.99999251e-01 1.14528389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.03, Y:-53.94, Z:1.15 [[ 8.74785667e-01 4.84507148e-01 1.69110786e-03 2.31033019e+02] [-4.84506052e-01 8.74787298e-01 -1.03408194e-03 -5.39360884e+01] [-1.98037977e-03 8.52480651e-05 9.99998035e-01 1.14524577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.05, Y:-53.95, Z:1.14 [[ 8.74794788e-01 4.84484823e-01 2.92143907e-03 2.31054736e+02] [-4.84481551e-01 8.74799654e-01 -1.78652949e-03 -5.39538596e+01] [-3.42122031e-03 1.47463358e-04 9.99994137e-01 1.14412113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.08, Y:-53.97, Z:1.14 [[ 8.74732502e-01 4.84588454e-01 4.13273127e-03 2.31075681e+02] [-4.84581916e-01 8.74742241e-01 -2.52573016e-03 -5.39726757e+01] [-4.83901429e-03 2.06691426e-04 9.99988271e-01 1.14375221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.10, Y:-53.99, Z:1.15 [[ 8.74203429e-01 4.85543323e-01 4.00579295e-03 2.31098298e+02] [-4.85537199e-01 8.74212585e-01 -2.44626746e-03 -5.39906892e+01] [-4.68968344e-03 1.93573914e-04 9.99988985e-01 1.14589702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.12, Y:-54.01, Z:1.15 [[ 8.73273801e-01 4.87224466e-01 2.27772500e-03 2.31120325e+02] [-4.87222498e-01 8.73276766e-01 -1.38870151e-03 -5.40094241e+01] [-2.66569367e-03 1.02957781e-04 9.99996442e-01 1.14785688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96232058799998 meters Centerline goodness [0,1] 0.9999508696079394 Centerline is valid? [True, True] Translation: X:231.14, Y:-54.03, Z:1.15 [[ 8.72760007e-01 4.88143368e-01 2.45407000e-03 2.31143479e+02] [-4.88141091e-01 8.72763450e-01 -1.49502626e-03 -5.40272851e+01] [-2.87160975e-03 1.06866724e-04 9.99995871e-01 1.14683156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.17, Y:-54.04, Z:1.15 [[ 8.72371904e-01 4.88839172e-01 1.87745320e-03 2.31166347e+02] [-4.88837844e-01 8.72373921e-01 -1.14213413e-03 -5.40443581e+01] [-2.19616111e-03 7.85955490e-05 9.99997585e-01 1.14616105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.19, Y:-54.06, Z:1.15 [[ 8.71178858e-01 4.90954357e-01 3.34908148e-03 2.31188636e+02] [-4.90950147e-01 8.71185286e-01 -2.03739215e-03 -5.40625971e+01] [-3.91793706e-03 1.30700920e-04 9.99992316e-01 1.14588232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.21, Y:-54.08, Z:1.15 [[ 8.70885894e-01 4.91470412e-01 3.82025745e-03 2.31213143e+02] [-4.91464947e-01 8.70894261e-01 -2.32220992e-03 -5.40776740e+01] [-4.46833775e-03 1.44857234e-04 9.99990006e-01 1.14722014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.24, Y:-54.09, Z:1.15 [[ 8.70522839e-01 4.92114276e-01 3.67785149e-03 2.31237714e+02] [-4.92109225e-01 8.70530598e-01 -2.23349750e-03 -5.40925867e+01] [-4.30081826e-03 1.34405933e-04 9.99990742e-01 1.14814795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.26, Y:-54.11, Z:1.15 [[ 8.70527783e-01 4.92110493e-01 2.93970470e-03 2.31262941e+02] [-4.92107274e-01 8.70532740e-01 -1.78307873e-03 -5.41072471e+01] [-3.43658094e-03 1.05569512e-04 9.99994089e-01 1.14874741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.142320588 meters Centerline goodness [0,1] 0.9999508647798742 Centerline is valid? [True, True] Translation: X:231.29, Y:-54.12, Z:1.15 [[ 8.71241769e-01 4.90853344e-01 8.80301154e-04 2.31287060e+02] [-4.90853055e-01 8.71242213e-01 -5.33636727e-04 -5.41221018e+01] [-1.02889290e-03 3.28280954e-05 9.99999470e-01 1.14667291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.172320588 meters Centerline goodness [0,1] 0.999950821284548 Centerline is valid? [True, True] Translation: X:231.31, Y:-54.14, Z:1.15 [[ 8.71742206e-01 4.89964727e-01 3.04398926e-04 2.31310785e+02] [-4.89964693e-01 8.71742259e-01 -1.82245924e-04 -5.41383932e+01] [-3.54651481e-04 9.72673791e-06 9.99999937e-01 1.14751207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.33, Y:-54.16, Z:1.15 [[ 8.72224334e-01 4.89105004e-01 1.00253766e-03 2.31333585e+02] [-4.89104631e-01 8.72224910e-01 -6.05188620e-04 -5.41561664e+01] [-1.17043910e-03 3.75144277e-05 9.99999314e-01 1.14827416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.36, Y:-54.17, Z:1.15 [[ 8.73132190e-01 4.87483259e-01 -5.01758826e-04 2.31358108e+02] [-4.87483163e-01 8.73132333e-01 3.06224618e-04 -5.41715041e+01] [ 5.87381229e-04 -2.27755914e-05 9.99999827e-01 1.14928977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.262320588 meters Centerline goodness [0,1] 0.9999507801348624 Centerline is valid? [True, True] Translation: X:231.38, Y:-54.19, Z:1.15 [[ 8.73797545e-01 4.86289295e-01 -7.55958788e-04 2.31381717e+02] [-4.86289079e-01 8.73797872e-01 4.59711437e-04 -5.41872428e+01] [ 8.84107931e-04 -3.40802230e-05 9.99999609e-01 1.14946367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.292320588 meters Centerline goodness [0,1] 0.9999508333743056 Centerline is valid? [True, True] Translation: X:231.41, Y:-54.20, Z:1.15 [[ 8.74297857e-01 4.85389796e-01 5.17681321e-05 2.31405221e+02] [-4.85389795e-01 8.74297859e-01 -2.88745764e-05 -5.42042138e+01] [-5.92761913e-05 1.17257280e-07 9.99999998e-01 1.14891781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.322320588 meters Centerline goodness [0,1] 0.9999017102417928 Centerline is valid? [True, True] Translation: X:231.43, Y:-54.22, Z:1.15 [[ 8.74793506e-01 4.84492399e-01 1.85404291e-03 2.31427010e+02] [-4.84491117e-01 8.74795467e-01 -1.11711890e-03 -5.42242219e+01] [-2.16314395e-03 7.89810432e-05 9.99997657e-01 1.14819083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.352320588 meters Centerline goodness [0,1] 0.9999508406253073 Centerline is valid? [True, True] Translation: X:231.45, Y:-54.24, Z:1.15 [[ 8.74871923e-01 4.84347667e-01 2.54084529e-03 2.31449818e+02] [-4.84345262e-01 8.74875606e-01 -1.52987699e-03 -5.42399118e+01] [-2.96391591e-03 1.07800049e-04 9.99995602e-01 1.14807447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.47, Y:-54.25, Z:1.15 [[ 8.75228333e-01 4.83708377e-01 1.25359089e-03 2.31472925e+02] [-4.83707794e-01 8.75229229e-01 -7.52636190e-04 -5.42547683e+01] [-1.46123582e-03 5.23568313e-05 9.99998931e-01 1.14861278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.412320588 meters Centerline goodness [0,1] 0.9999508237029752 Centerline is valid? [True, True] Translation: X:231.50, Y:-54.27, Z:1.15 [[ 8.74927514e-01 4.84253671e-01 4.76641699e-04 2.31497158e+02] [-4.84253588e-01 8.74927644e-01 -2.84740430e-04 -5.42712264e+01] [-5.54913597e-04 1.83117833e-05 9.99999846e-01 1.14889175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.442320588 meters Centerline goodness [0,1] 0.9999507946661418 Centerline is valid? [True, True] Translation: X:231.52, Y:-54.29, Z:1.15 [[ 8.73648407e-01 4.86554191e-01 1.86520468e-03 2.31517023e+02] [-4.86552908e-01 8.73650396e-01 -1.11975271e-03 -5.42932886e+01] [-2.17435718e-03 7.07494082e-05 9.99997634e-01 1.14817519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.472320588 meters Centerline goodness [0,1] 0.9999508285391159 Centerline is valid? [True, True] Translation: X:231.54, Y:-54.31, Z:1.15 [[ 8.73346671e-01 4.87095160e-01 1.97437384e-03 2.31540293e+02] [-4.87093726e-01 8.73348899e-01 -1.18410075e-03 -5.43094695e+01] [-2.30108696e-03 7.24253369e-05 9.99997350e-01 1.14926213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.502320588 meters Centerline goodness [0,1] 0.9999507946661418 Centerline is valid? [True, True] Translation: X:231.56, Y:-54.32, Z:1.15 [[ 8.72231721e-01 4.89090681e-01 1.45979352e-03 2.31564748e+02] [-4.89089903e-01 8.72232941e-01 -8.74059817e-04 -5.43244075e+01] [-1.70077451e-03 4.84124273e-05 9.99998553e-01 1.15111916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.59, Y:-54.34, Z:1.15 [[ 8.71579257e-01 4.90253281e-01 1.14825534e-03 2.31589412e+02] [-4.90252802e-01 8.71580013e-01 -6.86571955e-04 -5.43400960e+01] [-1.33739056e-03 3.54664749e-05 9.99999105e-01 1.15243104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.61, Y:-54.36, Z:1.15 [[ 8.71057056e-01 4.91180070e-01 1.32051967e-03 2.31613219e+02] [-4.91179438e-01 8.71058056e-01 -7.88979304e-04 -5.43567763e+01] [-1.53778021e-03 3.86338811e-05 9.99998817e-01 1.15348511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.64, Y:-54.38, Z:1.15 [[ 8.68555749e-01 4.95579538e-01 3.43986789e-03 2.31635805e+02] [-4.95575267e-01 8.68562556e-01 -2.05933858e-03 -5.43758930e+01] [-4.00830651e-03 8.39369153e-05 9.99991963e-01 1.15289801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.66, Y:-54.39, Z:1.15 [[ 8.68251413e-01 4.96121264e-01 1.78172503e-03 2.31660028e+02] [-4.96120125e-01 8.68253240e-01 -1.06381009e-03 -5.43912267e+01] [-2.07476734e-03 3.97049692e-05 9.99997847e-01 1.15286292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65232058799998 meters Centerline goodness [0,1] 0.9999508164469801 Centerline is valid? [True, True] Translation: X:231.68, Y:-54.41, Z:1.15 [[ 8.67631654e-01 4.97200033e-01 2.72767702e-03 2.31684707e+02] [-4.97197369e-01 8.67635940e-01 -1.62831322e-03 -5.44063047e+01] [-3.17622800e-03 5.65822528e-05 9.99994954e-01 1.15158058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.71, Y:-54.42, Z:1.15 [[ 8.67034861e-01 4.98223549e-01 4.88325110e-03 2.31707616e+02] [-4.98215038e-01 8.67048607e-01 -2.91354571e-03 -5.44220279e+01] [-5.68561315e-03 9.32365616e-05 9.99983832e-01 1.15129311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.73, Y:-54.44, Z:1.15 [[ 8.66928206e-01 4.98409463e-01 4.84696585e-03 2.31731083e+02] [-4.98401099e-01 8.66941751e-01 -2.88870503e-03 -5.44371042e+01] [-5.64179498e-03 8.85667573e-05 9.99984081e-01 1.15144660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.76, Y:-54.45, Z:1.15 [[ 8.67740409e-01 4.97005124e-01 3.53395175e-03 2.31755002e+02] [-4.97000679e-01 8.67747603e-01 -2.10303082e-03 -5.44504451e+01] [-4.11179525e-03 6.85084039e-05 9.99991544e-01 1.15229745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.78, Y:-54.46, Z:1.15 [[ 8.68126883e-01 4.96342075e-01 5.09671937e-04 2.31781469e+02] [-4.96341984e-01 8.68127032e-01 -3.00896792e-04 -5.44625333e+01] [-5.91807724e-04 8.24501394e-06 9.99999825e-01 1.15370955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.81, Y:-54.48, Z:1.15 [[ 8.68565566e-01 4.95572481e-01 1.33164225e-03 2.31806045e+02] [-4.95571852e-01 8.68566587e-01 -7.89471448e-04 -5.44766411e+01] [-1.54786029e-03 2.57833000e-05 9.99998802e-01 1.15368214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.83, Y:-54.49, Z:1.15 [[ 8.68917013e-01 4.94949916e-01 2.79368031e-03 2.31830097e+02] [-4.94947145e-01 8.68921502e-01 -1.65743773e-03 -5.44918296e+01] [-3.24783756e-03 5.74517511e-05 9.99994724e-01 1.15314366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.862320588 meters Centerline goodness [0,1] 0.9999015505783904 Centerline is valid? [True, True] Translation: X:231.85, Y:-54.51, Z:1.15 [[ 8.69751741e-01 4.93483085e-01 2.52073914e-03 2.31854469e+02] [-4.93480827e-01 8.69755392e-01 -1.49380260e-03 -5.45062475e+01] [-2.92959277e-03 5.53009723e-05 9.99995707e-01 1.15377726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.88, Y:-54.52, Z:1.15 [[ 8.71287064e-01 4.90762446e-01 3.32772451e-03 2.31879044e+02] [-4.90758487e-01 8.71293415e-01 -1.97299039e-03 -5.45202900e+01] [-3.86769404e-03 8.59319612e-05 9.99992517e-01 1.15281266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.90, Y:-54.54, Z:1.15 [[ 8.72656312e-01 4.88320359e-01 3.76657590e-03 2.31903952e+02] [-4.88315279e-01 8.72664435e-01 -2.23005665e-03 -5.45353709e+01] [-4.37593889e-03 1.06796450e-04 9.99990420e-01 1.15293755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.93, Y:-54.55, Z:1.15 [[ 8.74199464e-01 4.85549617e-01 4.10682292e-03 2.31927498e+02] [-4.85543542e-01 8.74209101e-01 -2.43251057e-03 -5.45510794e+01] [-4.77132654e-03 1.32458088e-04 9.99988608e-01 1.15303237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.982320588 meters Centerline goodness [0,1] 0.9999507097791798 Centerline is valid? [True, True] Translation: X:231.95, Y:-54.57, Z:1.15 [[ 8.77134792e-01 4.80230237e-01 3.67093345e-03 2.31950231e+02] [-4.80225336e-01 8.77142462e-01 -2.17446722e-03 -5.45705485e+01] [-4.26417651e-03 1.44425599e-04 9.99990898e-01 1.15255674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.012320588 meters Centerline goodness [0,1] 0.9999508067689886 Centerline is valid? [True, True] Translation: X:231.97, Y:-54.59, Z:1.15 [[ 8.78318884e-01 4.78065082e-01 3.11714625e-03 2.31973525e+02] [-4.78061548e-01 8.78324406e-01 -1.84257166e-03 -5.45879666e+01] [-3.61873480e-03 1.28177725e-04 9.99993444e-01 1.15300631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.042320588 meters Centerline goodness [0,1] 0.9999014778325123 Centerline is valid? [True, True] Translation: X:232.00, Y:-54.61, Z:1.15 [[ 8.79865999e-01 4.75192958e-01 5.24181102e-03 2.31995611e+02] [-4.75182922e-01 8.79881581e-01 -3.09724789e-03 -5.46077494e+01] [-6.08396336e-03 2.34344032e-04 9.99981465e-01 1.15242677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.072320588 meters Centerline goodness [0,1] 0.9997539127866916 Centerline is valid? [True, True] Translation: X:232.02, Y:-54.63, Z:1.15 [[ 8.80202469e-01 4.74571110e-01 5.08682734e-03 2.32017759e+02] [-4.74561669e-01 8.80217138e-01 -3.00208439e-03 -5.46255427e+01] [-5.90221512e-03 2.28428816e-04 9.99982556e-01 1.15340099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.102320588 meters Centerline goodness [0,1] 0.9998523985239852 Centerline is valid? [True, True] Translation: X:232.04, Y:-54.65, Z:1.15 [[ 8.78977794e-01 4.76845751e-01 4.02075176e-03 2.32037819e+02] [-4.76839888e-01 8.78986975e-01 -2.37044886e-03 -5.46478477e+01] [-4.66452689e-03 1.66317092e-04 9.99989107e-01 1.15368741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.132320588 meters Centerline goodness [0,1] 0.9999007838079175 Centerline is valid? [True, True] Translation: X:232.06, Y:-54.67, Z:1.15 [[ 8.77605387e-01 4.79367449e-01 3.95396704e-03 2.32059783e+02] [-4.79361815e-01 8.77614282e-01 -2.32884057e-03 -5.46671195e+01] [-4.58642831e-03 1.48422213e-04 9.99989471e-01 1.15363875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.162320588 meters Centerline goodness [0,1] 0.9999507583218437 Centerline is valid? [True, True] Translation: X:232.08, Y:-54.69, Z:1.15 [[ 8.74393769e-01 4.85198184e-01 4.27294407e-03 2.32079948e+02] [-4.85191668e-01 8.74404200e-01 -2.51794610e-03 -5.46894771e+01] [-4.95798312e-03 1.28479521e-04 9.99987701e-01 1.15459601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.192320588 meters Centerline goodness [0,1] 0.9999015069437605 Centerline is valid? [True, True] Translation: X:232.10, Y:-54.71, Z:1.15 [[ 8.71326457e-01 4.90692039e-01 3.39536308e-03 2.32099739e+02] [-4.90687968e-01 8.71333069e-01 -2.00010268e-03 -5.47126879e+01] [-3.93992659e-03 7.66785684e-05 9.99992236e-01 1.15359196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.222320588 meters Centerline goodness [0,1] 0.9999015069437605 Centerline is valid? [True, True] Translation: X:232.12, Y:-54.73, Z:1.15 [[ 8.71565918e-01 4.90266570e-01 3.39728039e-03 2.32123182e+02] [-4.90262509e-01 8.71572536e-01 -1.99684690e-03 -5.47268710e+01] [-3.93996356e-03 7.48244948e-05 9.99992236e-01 1.15373011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.252320588 meters Centerline goodness [0,1] 0.9999505684626792 Centerline is valid? [True, True] Translation: X:232.14, Y:-54.75, Z:1.15 [[ 8.68660185e-01 4.95402027e-01 2.51276840e-03 2.32143765e+02] [-4.95399832e-01 8.68663819e-01 -1.47538246e-03 -5.47481997e+01] [-2.91365846e-03 3.67809611e-05 9.99995755e-01 1.15439920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.17, Y:-54.77, Z:1.16 [[ 8.65820545e-01 5.00345674e-01 2.99843801e-03 2.32166201e+02] [-5.00342583e-01 8.65825736e-01 -1.75899963e-03 -5.47666244e+01] [-3.47623265e-03 2.27318045e-05 9.99993958e-01 1.15618717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.19, Y:-54.78, Z:1.16 [[ 8.65178913e-01 5.01459728e-01 1.89456760e-03 2.32189725e+02] [-5.01458501e-01 8.65180988e-01 -1.10934696e-03 -5.47833990e+01] [-2.19543669e-03 9.73657288e-06 9.99997590e-01 1.15677119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.21, Y:-54.80, Z:1.16 [[ 8.63312268e-01 5.04669533e-01 7.68538444e-04 2.32211290e+02] [-5.04669334e-01 8.63312610e-01 -4.48193971e-04 -5.48042708e+01] [-8.89678771e-04 -9.26431321e-07 9.99999604e-01 1.15504040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.23, Y:-54.82, Z:1.15 [[ 8.61452355e-01 5.07827901e-01 3.26533825e-03 2.32234702e+02] [-5.07824309e-01 8.61458544e-01 -1.90995553e-03 -5.48210629e+01] [-3.78288224e-03 -1.28824578e-05 9.99992845e-01 1.15305443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.26, Y:-54.83, Z:1.15 [[ 8.59847619e-01 5.10534278e-01 4.10168078e-03 2.32260166e+02] [-5.10528650e-01 8.59857401e-01 -2.39742022e-03 -5.48344101e+01] [-4.75082578e-03 -3.26094880e-05 9.99988714e-01 1.15427215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.28, Y:-54.85, Z:1.15 [[ 8.58396062e-01 5.12984993e-01 1.61181189e-03 2.32284085e+02] [-5.12984134e-01 8.58397575e-01 -9.39049293e-04 -5.48495299e+01] [-1.86529361e-03 -2.07577131e-05 9.99998260e-01 1.15346858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.31, Y:-54.86, Z:1.15 [[ 8.58019008e-01 5.13612808e-01 2.29481622e-03 2.32310103e+02] [-5.13611068e-01 8.58022076e-01 -1.33718581e-03 -5.48622356e+01] [-2.65579873e-03 -3.13121686e-05 9.99996473e-01 1.15210156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.34, Y:-54.88, Z:1.15 [[ 8.58650947e-01 5.12558256e-01 1.60808416e-03 2.32335159e+02] [-5.12557404e-01 8.58652452e-01 -9.34740890e-04 -5.48750275e+01] [-1.85989457e-03 -2.16192946e-05 9.99998270e-01 1.15361491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52232058799999 meters Centerline goodness [0,1] 0.9999015457320075 Centerline is valid? [True, True] Translation: X:232.36, Y:-54.89, Z:1.16 [[ 8.60748696e-01 5.09030139e-01 -1.29500642e-05 2.32360442e+02] [-5.09030139e-01 8.60748696e-01 1.02092234e-05 -5.48887762e+01] [ 1.63435538e-05 -2.19560275e-06 1.00000000e+00 1.15541567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.39, Y:-54.90, Z:1.16 [[ 8.63503788e-01 5.04341463e-01 9.46875172e-04 2.32385030e+02] [-5.04341165e-01 8.63504307e-01 -5.47943986e-04 -5.49011802e+01] [-1.09398166e-03 -4.39641981e-06 9.99999402e-01 1.15515124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.41, Y:-54.91, Z:1.16 [[ 8.64976498e-01 5.01804156e-01 2.87181499e-03 2.32410520e+02] [-5.01801389e-01 8.64981265e-01 -1.66664309e-03 -5.49140859e+01] [-3.32039459e-03 5.26354035e-07 9.99994487e-01 1.15590416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.44, Y:-54.93, Z:1.15 [[ 8.67148735e-01 4.98033540e-01 3.95794346e-03 2.32437221e+02] [-4.98028250e-01 8.67157767e-01 -2.29559342e-03 -5.49262739e+01] [-4.57544393e-03 1.94532788e-05 9.99989532e-01 1.15448296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.642320588 meters Centerline goodness [0,1] 0.9998524057856932 Centerline is valid? [True, True] Translation: X:232.46, Y:-54.94, Z:1.15 [[ 8.68699920e-01 4.95336855e-01 1.36010042e-03 2.32461955e+02] [-4.95336231e-01 8.68700984e-01 -7.85911250e-04 -5.49386418e+01] [-1.57081138e-03 9.01402203e-06 9.99998766e-01 1.15495102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.49, Y:-54.95, Z:1.16 [[ 8.69365445e-01 4.94169391e-01 5.80706619e-04 2.32485974e+02] [-4.94169278e-01 8.69365638e-01 -3.33476410e-04 -5.49537606e+01] [-6.69640214e-04 2.94549662e-06 9.99999776e-01 1.15538062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.51, Y:-54.97, Z:1.16 [[ 8.69699039e-01 4.93582187e-01 -4.53500902e-04 2.32508176e+02] [-4.93582116e-01 8.69699157e-01 2.65341242e-04 -5.49710935e+01] [ 5.25377064e-04 -6.92708841e-06 9.99999862e-01 1.15548259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.53, Y:-54.98, Z:1.16 [[ 8.70012450e-01 4.93029685e-01 2.56353749e-04 2.32532408e+02] [-4.93029664e-01 8.70012488e-01 -1.45232683e-04 -5.49848949e+01] [-2.94634986e-04 -3.57604348e-08 9.99999957e-01 1.15593970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.762320588 meters Centerline goodness [0,1] 0.9999014729789645 Centerline is valid? [True, True] Translation: X:232.56, Y:-55.00, Z:1.15 [[ 8.70332406e-01 4.92464666e-01 2.33879610e-04 2.32558156e+02] [-4.92464649e-01 8.70332438e-01 -1.32098575e-04 -5.49964254e+01] [-2.68606891e-04 -2.07769527e-07 9.99999964e-01 1.15492348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.792320588 meters Centerline goodness [0,1] 0.9998521293375394 Centerline is valid? [True, True] Translation: X:232.58, Y:-55.01, Z:1.15 [[ 8.70040590e-01 4.92980080e-01 -1.15968316e-04 2.32580127e+02] [-4.92980075e-01 8.70040597e-01 6.98097480e-05 -5.50140938e+01] [ 1.35311958e-04 -3.56724527e-06 9.99999991e-01 1.15230618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.60, Y:-55.03, Z:1.15 [[ 8.68879274e-01 4.95021509e-01 1.58513921e-03 2.32601128e+02] [-4.95020673e-01 8.68880720e-01 -9.09990972e-04 -5.50342059e+01] [-1.82776200e-03 5.99561814e-06 9.99998330e-01 1.15405852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.63, Y:-55.05, Z:1.15 [[ 8.68547041e-01 4.95599619e-01 2.65625364e-03 2.32625048e+02] [-4.95597273e-01 8.68551102e-01 -1.52510471e-03 -5.50488307e+01] [-3.06293334e-03 8.19312698e-06 9.99995309e-01 1.15497089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.65, Y:-55.06, Z:1.16 [[ 8.67102091e-01 4.98125515e-01 2.22144204e-03 2.32649024e+02] [-4.98123887e-01 8.67104937e-01 -1.27345946e-03 -5.50637647e+01] [-2.56056601e-03 -2.33397581e-06 9.99996722e-01 1.15531326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.67, Y:-55.08, Z:1.16 [[ 8.64991877e-01 5.01782288e-01 1.89429108e-03 2.32670850e+02] [-5.01781117e-01 8.64993951e-01 -1.08447790e-03 -5.50815219e+01] [-2.18272212e-03 -1.24549206e-05 9.99997618e-01 1.15509806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.942320588 meters Centerline goodness [0,1] 0.9999507970871876 Centerline is valid? [True, True] Translation: X:232.69, Y:-55.10, Z:1.16 [[ 8.64352469e-01 5.02881198e-01 2.30419400e-03 2.32694734e+02] [-5.02879472e-01 8.64355540e-01 -1.31794900e-03 -5.50965278e+01] [-2.65441462e-03 -1.95593851e-05 9.99996477e-01 1.15574466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.972320588 meters Centerline goodness [0,1] 0.9999505904441919 Centerline is valid? [True, True] Translation: X:232.72, Y:-55.11, Z:1.16 [[ 8.62605727e-01 5.05875305e-01 1.23937808e-03 2.32719908e+02] [-5.05874808e-01 8.62606617e-01 -7.09311009e-04 -5.51095620e+01] [-1.42791865e-03 -1.51144085e-05 9.99998980e-01 1.15655959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.74, Y:-55.13, Z:1.16 [[ 8.62159931e-01 5.06634833e-01 1.18309408e-03 2.32743566e+02] [-5.06634384e-01 8.62160742e-01 -6.74669050e-04 -5.51257046e+01] [-1.36182811e-03 -1.77235210e-05 9.99999073e-01 1.15648931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.77, Y:-55.14, Z:1.16 [[ 8.62550721e-01 5.05953076e-01 4.21181222e-03 2.32767602e+02] [-5.05947358e-01 8.62561002e-01 -2.40597049e-03 -5.51411339e+01] [-4.85025314e-03 -5.56836876e-05 9.99988236e-01 1.15729178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.79, Y:-55.15, Z:1.16 [[ 8.63067158e-01 5.05070765e-01 4.31312081e-03 2.32793845e+02] [-5.05064774e-01 8.63077934e-01 -2.46053247e-03 -5.51513716e+01] [-4.96530241e-03 -5.48006178e-05 9.99987671e-01 1.15939493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.82, Y:-55.16, Z:1.16 [[ 8.63287565e-01 5.04704959e-01 2.73586555e-03 2.32819031e+02] [-5.04702556e-01 8.63291899e-01 -1.55773978e-03 -5.51641892e+01] [-3.14804955e-03 -3.60209554e-05 9.99995044e-01 1.16001149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.84, Y:-55.18, Z:1.16 [[ 8.62810888e-01 5.05526376e-01 6.74799385e-04 2.32843072e+02] [-5.05526232e-01 8.62811152e-01 -3.81459097e-04 -5.51785798e+01] [-7.75062069e-04 -1.20017279e-05 9.99999700e-01 1.15767017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15232058799998 meters Centerline goodness [0,1] 0.99995068547194 Centerline is valid? [True, True] Translation: X:232.87, Y:-55.19, Z:1.16 [[ 8.62501184e-01 5.06048784e-01 2.51723067e-03 2.32868621e+02] [-5.06046764e-01 8.62504856e-01 -1.43016914e-03 -5.51927234e+01] [-2.89485904e-03 -4.03138576e-05 9.99995809e-01 1.15726593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.89, Y:-55.21, Z:1.16 [[ 8.62113788e-01 5.06693990e-01 4.58437349e-03 2.32894632e+02] [-5.06687305e-01 8.62125973e-01 -2.60400141e-03 -5.52051773e+01] [-5.27173932e-03 -7.78983305e-05 9.99986101e-01 1.15816524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.92, Y:-55.22, Z:1.16 [[ 8.62184417e-01 5.06579385e-01 3.91878548e-03 2.32919422e+02] [-5.06574515e-01 8.62193320e-01 -2.22246336e-03 -5.52189975e+01] [-4.50460479e-03 -6.89835771e-05 9.99989852e-01 1.15885072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.94, Y:-55.23, Z:1.16 [[ 8.61300660e-01 5.08085449e-01 3.21701598e-03 2.32944213e+02] [-5.08082185e-01 8.61306665e-01 -1.82243985e-03 -5.52341611e+01] [-3.69679248e-03 -6.48398628e-05 9.99993165e-01 1.15956156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27232058799999 meters Centerline goodness [0,1] 0.9999016619136591 Centerline is valid? [True, True] Translation: X:232.97, Y:-55.25, Z:1.16 [[ 8.60268816e-01 5.09836981e-01 1.95354359e-03 2.32969791e+02] [-5.09835787e-01 8.60271033e-01 -1.10449939e-03 -5.52464596e+01] [-2.24369160e-03 -4.58200517e-05 9.99997482e-01 1.16023915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.00, Y:-55.26, Z:1.16 [[ 8.59248339e-01 5.11557481e-01 1.11141295e-03 2.32995720e+02] [-5.11557098e-01 8.59249058e-01 -6.26574295e-04 -5.52594608e+01] [-1.27550930e-03 -3.01682608e-05 9.99999186e-01 1.15952082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.02, Y:-55.27, Z:1.16 [[ 8.58908844e-01 5.12122398e-01 2.49957817e-03 2.33021020e+02] [-5.12120459e-01 8.58912478e-01 -1.41094171e-03 -5.52731120e+01] [-2.86949373e-03 -6.82148069e-05 9.99995881e-01 1.15989541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.05, Y:-55.29, Z:1.16 [[ 8.59077895e-01 5.11839075e-01 2.43546123e-03 2.33045779e+02] [-5.11837239e-01 8.59081344e-01 -1.37269104e-03 -5.52852359e+01] [-2.79485622e-03 -6.73112263e-05 9.99996092e-01 1.16167248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.07, Y:-55.30, Z:1.16 [[ 8.59357262e-01 5.11375458e-01 -4.87273472e-04 2.33071828e+02] [-5.11375383e-01 8.59357400e-01 2.77565673e-04 -5.52965833e+01] [ 5.60682338e-04 1.06515820e-05 9.99999843e-01 1.16231959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.10, Y:-55.31, Z:1.16 [[ 8.58996450e-01 5.11981490e-01 -2.28604068e-04 2.33097865e+02] [-5.11981473e-01 8.58996481e-01 1.31472107e-04 -5.53096736e+01] [ 2.63681376e-04 4.10697443e-06 9.99999965e-01 1.16189773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.12, Y:-55.32, Z:1.16 [[ 8.59758014e-01 5.10693184e-01 2.93763080e-03 2.33123697e+02] [-5.10690523e-01 8.59763028e-01 -1.65075553e-03 -5.53211259e+01] [-3.36869595e-03 -8.09699140e-05 9.99994323e-01 1.16205824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.15, Y:-55.33, Z:1.16 [[ 8.60090508e-01 5.10133514e-01 2.84885862e-03 2.33148599e+02] [-5.10131015e-01 8.60095222e-01 -1.59882607e-03 -5.53341380e+01] [-3.26590445e-03 -7.81560122e-05 9.99994664e-01 1.16302849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.17, Y:-55.35, Z:1.16 [[ 8.60346995e-01 5.09706047e-01 1.67154498e-03 2.33172797e+02] [-5.09705190e-01 8.60348618e-01 -9.35767359e-04 -5.53476915e+01] [-1.91507769e-03 -4.69105140e-05 9.99998165e-01 1.16307985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.20, Y:-55.36, Z:1.16 [[ 8.61000971e-01 5.08603310e-01 2.54241549e-05 2.33197664e+02] [-5.08603309e-01 8.61000972e-01 -1.16624218e-05 -5.53614733e+01] [-2.78217679e-05 -2.88945279e-06 1.00000000e+00 1.16241826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.22, Y:-55.37, Z:1.16 [[ 8.60766132e-01 5.08999999e-01 8.16992812e-04 2.33223263e+02] [-5.08999796e-01 8.60766519e-01 -4.55238197e-04 -5.53743606e+01] [-9.34956300e-04 -2.39955526e-05 9.99999563e-01 1.16226728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.25, Y:-55.38, Z:1.16 [[ 8.60359290e-01 5.09671993e-01 4.04361245e-03 2.33250640e+02] [-5.09666991e-01 8.60368785e-01 -2.26109380e-03 -5.53847911e+01] [-4.63141411e-03 -1.15542732e-04 9.99989268e-01 1.16300414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.28, Y:-55.40, Z:1.16 [[ 8.59005683e-01 5.11959640e-01 2.56187999e-03 2.33276906e+02] [-5.11957649e-01 8.59009500e-01 -1.43010471e-03 -5.53968359e+01] [-2.93283514e-03 -8.31059797e-05 9.99995696e-01 1.16288136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.30, Y:-55.41, Z:1.16 [[ 8.56933375e-01 5.15426610e-01 7.75421489e-04 2.33304183e+02] [-5.15426431e-01 8.56933725e-01 -4.30589671e-04 -5.54072167e+01] [-8.86422199e-04 -3.06860709e-05 9.99999607e-01 1.16223758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.33, Y:-55.42, Z:1.16 [[ 8.56697561e-01 5.15818111e-01 9.82909395e-04 2.33331401e+02] [-5.15817823e-01 8.56698124e-01 -5.45935332e-04 -5.54180580e+01] [-1.12365997e-03 -3.93007176e-05 9.99999368e-01 1.16327330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.36, Y:-55.43, Z:1.16 [[ 8.57280962e-01 5.14846622e-01 1.51959792e-03 2.33358706e+02] [-5.14845933e-01 8.57282306e-01 -8.44024478e-04 -5.54259130e+01] [-1.73726756e-03 -5.87926955e-05 9.99998489e-01 1.16430359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.39, Y:-55.44, Z:1.16 [[ 8.58102526e-01 5.13472990e-01 2.35437572e-03 2.33385121e+02] [-5.13471330e-01 8.58105752e-01 -1.30831104e-03 -5.54382973e+01] [-2.69208573e-03 -8.62394181e-05 9.99996373e-01 1.16171990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.41, Y:-55.45, Z:1.16 [[ 8.59984001e-01 5.10311532e-01 3.10774610e-03 2.33412686e+02] [-5.10308622e-01 8.59989611e-01 -1.72628405e-03 -5.54486688e+01] [-3.55357201e-03 -1.01332964e-04 9.99993681e-01 1.16291059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.44, Y:-55.46, Z:1.16 [[ 8.61049581e-01 5.08507821e-01 3.66282059e-03 2.33440713e+02] [-5.08503770e-01 8.61057364e-01 -2.03271174e-03 -5.54582577e+01] [-4.18754846e-03 -1.12292491e-04 9.99991226e-01 1.16392687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.47, Y:-55.46, Z:1.16 [[ 8.62402720e-01 5.06213777e-01 3.02675010e-03 2.33470254e+02] [-5.06211005e-01 8.62408027e-01 -1.67748489e-03 -5.54648249e+01] [-3.45945955e-03 -8.55066759e-05 9.99994012e-01 1.16326424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.50, Y:-55.48, Z:1.16 [[ 8.63121350e-01 5.04991294e-01 2.30823802e-03 2.33496882e+02] [-5.04989683e-01 8.63124434e-01 -1.27734963e-03 -5.54755961e+01] [-2.63734708e-03 -6.31286476e-05 9.99996520e-01 1.16347281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.52, Y:-55.49, Z:1.16 [[ 8.63072544e-01 5.05072065e-01 2.82706347e-03 2.33522857e+02] [-5.05069652e-01 8.63077171e-01 -1.56335394e-03 -5.54880996e+01] [-3.22958034e-03 -7.85761017e-05 9.99994782e-01 1.16326668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.55, Y:-55.50, Z:1.16 [[ 8.63452953e-01 5.04417569e-01 3.45171336e-03 2.33548783e+02] [-5.04413975e-01 8.63459847e-01 -1.90665750e-03 -5.54985581e+01] [-3.94216743e-03 -9.47834069e-05 9.99992225e-01 1.16319748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.57, Y:-55.51, Z:1.16 [[ 8.64224547e-01 5.03090245e-01 4.01708838e-03 2.33574374e+02] [-5.03085372e-01 8.64233877e-01 -2.21681278e-03 -5.55092210e+01] [-4.58696075e-03 -1.05114380e-04 9.99989474e-01 1.16281052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.60, Y:-55.52, Z:1.16 [[ 8.65141727e-01 5.01502161e-01 5.03730546e-03 2.33600388e+02] [-5.01494482e-01 8.65156383e-01 -2.77800459e-03 -5.55207004e+01] [-5.75123228e-03 -1.22813209e-04 9.99983454e-01 1.16272117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.63, Y:-55.53, Z:1.16 [[ 8.65625491e-01 5.00661880e-01 5.49468583e-03 2.33627001e+02] [-5.00652750e-01 8.65642920e-01 -3.02648057e-03 -5.55301418e+01] [-6.27167933e-03 -1.31130846e-04 9.99980324e-01 1.16188489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.65, Y:-55.54, Z:1.16 [[ 8.66179996e-01 4.99704586e-01 5.24802139e-03 2.33651864e+02] [-4.99696261e-01 8.66195886e-01 -2.88704844e-03 -5.55429530e+01] [-5.98848588e-03 -1.21713063e-04 9.99982061e-01 1.16068293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.68, Y:-55.56, Z:1.16 [[ 8.66715297e-01 4.98776847e-01 5.12352010e-03 2.33676649e+02] [-4.98768916e-01 8.66730433e-01 -2.81515871e-03 -5.55557029e+01] [-5.84484678e-03 -1.15511446e-04 9.99982912e-01 1.16141716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.70, Y:-55.57, Z:1.16 [[ 8.66965986e-01 4.98340962e-01 5.12493849e-03 2.33700478e+02] [-4.98333038e-01 8.66981126e-01 -2.81257706e-03 -5.55691551e+01] [-5.84484730e-03 -1.15517525e-04 9.99982912e-01 1.16155566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.73, Y:-55.58, Z:1.16 [[ 8.68511504e-01 4.95640270e-01 5.33769545e-03 2.33726885e+02] [-4.95631639e-01 8.68527900e-01 -2.92675333e-03 -5.55811264e+01] [-6.08655423e-03 -1.03611810e-04 9.99981471e-01 1.16363086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.75, Y:-55.60, Z:1.16 [[ 8.71210913e-01 4.90879561e-01 5.36666000e-03 2.33751902e+02] [-4.90870765e-01 8.71227439e-01 -2.93950604e-03 -5.55957155e+01] [-6.11852488e-03 -7.34067598e-05 9.99981279e-01 1.16349968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.78, Y:-55.61, Z:1.16 [[ 8.73038989e-01 4.87624310e-01 5.04550567e-03 2.33777100e+02] [-4.87616499e-01 8.73053567e-01 -2.76047523e-03 -5.56102278e+01] [-5.75107155e-03 -5.02693071e-05 9.99983461e-01 1.16429488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.80, Y:-55.63, Z:1.17 [[ 8.76008000e-01 4.82272505e-01 4.81821276e-03 2.33802074e+02] [-4.82265317e-01 8.76021250e-01 -2.63324522e-03 -5.56251590e+01] [-5.49079853e-03 -1.69130195e-05 9.99984925e-01 1.16559446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.82, Y:-55.64, Z:1.17 [[ 8.79120456e-01 4.76577702e-01 4.57361490e-03 2.33824788e+02] [-4.76571166e-01 8.79132353e-01 -2.49609080e-03 -5.56417546e+01] [-5.21039405e-03 1.47114988e-05 9.99986426e-01 1.16599213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.85, Y:-55.66, Z:1.16 [[ 8.80370157e-01 4.74258286e-01 5.24068730e-03 2.33848248e+02] [-4.74249675e-01 8.80385755e-01 -2.85797030e-03 -5.56579852e+01] [-5.96924254e-03 3.06775113e-05 9.99982183e-01 1.16487203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.87, Y:-55.68, Z:1.16 [[ 8.81442928e-01 4.72256445e-01 5.67583495e-03 2.33869992e+02] [-4.72246322e-01 8.81461201e-01 -3.09233817e-03 -5.56785954e+01] [-6.46340492e-03 4.53274278e-05 9.99979111e-01 1.16437157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.89, Y:-55.70, Z:1.17 [[ 8.82671159e-01 4.69973568e-01 4.05848479e-03 2.33891568e+02] [-4.69968385e-01 8.82680488e-01 -2.20749651e-03 -5.56979824e+01] [-4.61981034e-03 4.11339645e-05 9.99989328e-01 1.16523587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.91, Y:-55.72, Z:1.17 [[ 8.82598652e-01 4.70121234e-01 2.37578228e-03 2.33913200e+02] [-4.70119464e-01 8.82601850e-01 -1.29032958e-03 -5.57193561e+01] [-2.70348117e-03 2.19416587e-05 9.99996345e-01 1.16538728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.94, Y:-55.74, Z:1.16 [[ 8.82494517e-01 4.70312883e-01 3.03637609e-03 2.33935410e+02] [-4.70309999e-01 8.82499740e-01 -1.64726672e-03 -5.57379086e+01] [-3.45433187e-03 2.56658156e-05 9.99994033e-01 1.16468524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.96, Y:-55.76, Z:1.16 [[ 8.82307442e-01 4.70640234e-01 5.59896585e-03 2.33957348e+02] [-4.70630437e-01 8.82325205e-01 -3.03709542e-03 -5.57585697e+01] [-6.36948799e-03 4.46081415e-05 9.99979714e-01 1.16313170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.98, Y:-55.78, Z:1.16 [[ 8.81868247e-01 4.71464007e-01 5.48497722e-03 2.33979167e+02] [-4.71454642e-01 8.81885304e-01 -2.97173821e-03 -5.57762966e+01] [-6.23818840e-03 3.47635892e-05 9.99980542e-01 1.16445503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.00, Y:-55.79, Z:1.17 [[ 8.81708010e-01 4.71772774e-01 4.62983273e-03 2.34002664e+02] [-4.71766125e-01 8.81720165e-01 -2.50476024e-03 -5.57918340e+01] [-5.26389457e-03 2.42689199e-05 9.99986145e-01 1.16523128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.03, Y:-55.81, Z:1.17 [[ 8.80375605e-01 4.74261633e-01 3.83370792e-03 2.34025272e+02] [-4.74257106e-01 8.80383952e-01 -2.07206687e-03 -5.58099827e+01] [-4.35783674e-03 6.03389804e-06 9.99990505e-01 1.16542653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.05, Y:-55.83, Z:1.16 [[ 8.80140613e-01 4.74693151e-01 4.34891225e-03 2.34048537e+02] [-4.74687347e-01 8.80151358e-01 -2.34736968e-03 -5.58251472e+01] [-4.94198133e-03 1.64177549e-06 9.99987788e-01 1.16367098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.07, Y:-55.84, Z:1.16 [[ 8.79438804e-01 4.75985752e-01 4.99538061e-03 2.34071010e+02] [-4.75978131e-01 8.79452991e-01 -2.69343971e-03 -5.58422319e+01] [-5.67524135e-03 -8.97653181e-06 9.99983896e-01 1.16343218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.09, Y:-55.86, Z:1.17 [[ 8.79034589e-01 4.76734361e-01 4.74768685e-03 2.34093452e+02] [-4.76727506e-01 8.79047410e-01 -2.55666241e-03 -5.58582946e+01] [-5.39229065e-03 -1.59582174e-05 9.99985461e-01 1.16546272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.12, Y:-55.87, Z:1.17 [[ 8.79297328e-01 4.76239186e-01 5.69629373e-03 2.34117813e+02] [-4.76229328e-01 8.79315778e-01 -3.06428975e-03 -5.58722424e+01] [-6.46817581e-03 -1.83203444e-05 9.99979081e-01 1.16665041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.14, Y:-55.89, Z:1.17 [[ 8.79435360e-01 4.75966498e-01 7.02429168e-03 2.34142236e+02] [-4.75951522e-01 8.79463412e-01 -3.77569492e-03 -5.58874282e+01] [-7.97471181e-03 -2.27426960e-05 9.99968201e-01 1.16769003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.17, Y:-55.90, Z:1.17 [[ 8.79764797e-01 4.75358893e-01 6.91557098e-03 2.34166091e+02] [-4.75344398e-01 8.79791977e-01 -3.71228126e-03 -5.59013083e+01] [-7.84892977e-03 -2.13435523e-05 9.99969196e-01 1.16749969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.19, Y:-55.92, Z:1.17 [[ 8.79792469e-01 4.75327963e-01 5.34219785e-03 2.34190717e+02] [-4.75319333e-01 8.79808688e-01 -2.86435972e-03 -5.59166727e+01] [-6.06162236e-03 -1.92078060e-05 9.99981628e-01 1.16623653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.21, Y:-55.93, Z:1.17 [[ 8.80339778e-01 4.74312986e-01 5.39133232e-03 2.34214651e+02] [-4.74304202e-01 8.80356286e-01 -2.88679703e-03 -5.59300653e+01] [-6.11553862e-03 -1.57693217e-05 9.99981300e-01 1.16554539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.24, Y:-55.94, Z:1.17 [[ 8.81374986e-01 4.72391402e-01 4.94952441e-03 2.34238910e+02] [-4.72383987e-01 8.81388883e-01 -2.64672106e-03 -5.59434361e+01] [-5.61274407e-03 -5.32233867e-06 9.99984248e-01 1.16714591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.27, Y:-55.96, Z:1.17 [[ 8.83709868e-01 4.67991665e-01 6.37735991e-03 2.34265085e+02] [-4.67979259e-01 8.83732878e-01 -3.40780618e-03 -5.59560637e+01] [-7.23070751e-03 2.70397870e-05 9.99973858e-01 1.16874628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.29, Y:-55.97, Z:1.17 [[ 8.85331154e-01 4.64913659e-01 6.63603977e-03 2.34290175e+02] [-4.64900166e-01 8.85356023e-01 -3.54240668e-03 -5.59710163e+01] [-7.52217103e-03 5.11070074e-05 9.99971707e-01 1.16890418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.31, Y:-55.99, Z:1.17 [[ 8.88442800e-01 4.58940155e-01 6.58213858e-03 2.34312441e+02] [-4.58926743e-01 8.88467177e-01 -3.50993323e-03 -5.59910897e+01] [-7.45886338e-03 9.76554915e-05 9.99972178e-01 1.16716493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.34, Y:-56.01, Z:1.17 [[ 8.90174195e-01 4.55567293e-01 6.95291172e-03 2.34336110e+02] [-4.55552254e-01 8.90201339e-01 -3.70394577e-03 -5.60071961e+01] [-7.87688787e-03 1.29742338e-04 9.99968968e-01 1.16695333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.36, Y:-56.02, Z:1.17 [[ 8.92705814e-01 4.50579173e-01 7.39853096e-03 2.34360794e+02] [-4.50562006e-01 8.92736454e-01 -3.93740323e-03 -5.60228412e+01] [-8.37905018e-03 1.81445809e-04 9.99964879e-01 1.16655290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.38, Y:-56.04, Z:1.17 [[ 8.94595697e-01 4.46835376e-01 6.05692501e-03 2.34383405e+02] [-4.46823809e-01 8.94616184e-01 -3.21975039e-03 -5.60419862e+01] [-6.85732152e-03 1.73996536e-04 9.99976473e-01 1.16705647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.41, Y:-56.06, Z:1.17 [[ 8.95101245e-01 4.45830269e-01 5.39746631e-03 2.34405232e+02] [-4.45821089e-01 8.95117504e-01 -2.86526581e-03 -5.60597453e+01] [-6.10878880e-03 1.58398680e-04 9.99981329e-01 1.16798776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.042320588 meters Centerline goodness [0,1] 0.9999013417521705 Centerline is valid? [True, True] Translation: X:234.43, Y:-56.08, Z:1.17 [[ 8.95749150e-01 4.44541178e-01 4.07445314e-03 2.34425394e+02] [-4.44535948e-01 8.95758408e-01 -2.15974875e-03 -5.60816545e+01] [-4.60982291e-03 1.23352217e-04 9.99989367e-01 1.16902301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.072320588 meters Centerline goodness [0,1] 0.9999507631708517 Centerline is valid? [True, True] Translation: X:234.45, Y:-56.10, Z:1.17 [[ 8.95848460e-01 4.44341023e-01 4.07328078e-03 2.34447392e+02] [-4.44335806e-01 8.95857712e-01 -2.15656529e-03 -5.60989435e+01] [-4.60733043e-03 1.22051198e-04 9.99989379e-01 1.16901472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.102320588 meters Centerline goodness [0,1] 0.9998517933010572 Centerline is valid? [True, True] Translation: X:234.47, Y:-56.12, Z:1.17 [[ 8.96422688e-01 4.43189120e-01 3.12540854e-03 2.34467936e+02] [-4.43186049e-01 8.96428131e-01 -1.65272133e-03 -5.61209484e+01] [-3.53417225e-03 9.63994362e-05 9.99993750e-01 1.16792247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.132320588 meters Centerline goodness [0,1] 0.9998029847805743 Centerline is valid? [True, True] Translation: X:234.49, Y:-56.14, Z:1.17 [[ 8.96698210e-01 4.42625512e-01 3.86985966e-03 2.34490734e+02] [-4.42620808e-01 8.96706553e-01 -2.04416697e-03 -5.61381568e+01] [-4.37492896e-03 1.20120455e-04 9.99990423e-01 1.16695452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.162320588 meters Centerline goodness [0,1] 0.9999507170666798 Centerline is valid? [True, True] Translation: X:234.51, Y:-56.16, Z:1.17 [[ 8.96778422e-01 4.42451706e-01 4.99498058e-03 2.34511103e+02] [-4.42443880e-01 8.96792319e-01 -2.63621914e-03 -5.61586295e+01] [-5.64585987e-03 1.54105849e-04 9.99984050e-01 1.16672711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.53, Y:-56.18, Z:1.17 [[ 8.96928123e-01 4.42134206e-01 6.10625043e-03 2.34531292e+02] [-4.42122524e-01 8.96948888e-01 -3.21953037e-03 -5.61805044e+01] [-6.90045904e-03 1.87976480e-04 9.99976174e-01 1.16544493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.222320588 meters Centerline goodness [0,1] 0.9999507461951436 Centerline is valid? [True, True] Translation: X:234.55, Y:-56.20, Z:1.16 [[ 8.96401971e-01 4.43230392e-01 3.21361274e-03 2.34551660e+02] [-4.43227172e-01 8.96407726e-01 -1.69196188e-03 -5.62038080e+01] [-3.63063622e-03 9.23174738e-05 9.99993405e-01 1.16485257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.57, Y:-56.22, Z:1.16 [[ 8.96442910e-01 4.43145445e-01 3.49638722e-03 2.34574143e+02] [-4.43141643e-01 8.96449723e-01 -1.83826759e-03 -5.62203562e+01] [-3.94895527e-03 9.85071706e-05 9.99992198e-01 1.16441191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.60, Y:-56.24, Z:1.17 [[ 8.95438766e-01 4.45146412e-01 5.83849126e-03 2.34597141e+02] [-4.45135860e-01 8.95457788e-01 -3.06863835e-03 -5.62392996e+01] [-6.59411582e-03 1.48855909e-04 9.99978248e-01 1.16567237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.62, Y:-56.26, Z:1.17 [[ 8.94556200e-01 4.46894695e-01 7.37126176e-03 2.34620350e+02] [-4.46877964e-01 8.94586554e-01 -3.87077349e-03 -5.62562288e+01] [-8.32405980e-03 1.68569981e-04 9.99965340e-01 1.16723035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.64, Y:-56.28, Z:1.17 [[ 8.93131317e-01 4.49699840e-01 9.30078742e-03 2.34642452e+02] [-4.49673402e-01 8.93179726e-01 -4.87941735e-03 -5.62758607e+01] [-1.05015480e-02 1.75643719e-04 9.99944842e-01 1.16775299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.67, Y:-56.29, Z:1.17 [[ 8.92451952e-01 4.51055533e-01 8.85551005e-03 2.34666442e+02] [-4.51031682e-01 8.92495874e-01 -4.64077637e-03 -5.62915679e+01] [-9.99675404e-03 1.47554334e-04 9.99950020e-01 1.16838375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.69, Y:-56.31, Z:1.17 [[ 8.91419970e-01 4.53074081e-01 9.71158363e-03 2.34690820e+02] [-4.53045499e-01 8.91472859e-01 -5.09098978e-03 -5.63097494e+01] [-1.09642087e-02 1.38420707e-04 9.99939882e-01 1.16678124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.72, Y:-56.33, Z:1.17 [[ 8.91135246e-01 4.53658433e-01 8.48523202e-03 2.34715815e+02] [-4.53636637e-01 8.91175635e-01 -4.44842795e-03 -5.63275222e+01] [-9.57989889e-03 1.14938816e-04 9.99954105e-01 1.16716470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.74, Y:-56.35, Z:1.17 [[ 8.90823097e-01 4.54275881e-01 8.22398950e-03 2.34740932e+02] [-4.54255414e-01 8.90861051e-01 -4.31353056e-03 -5.63489130e+01] [-9.28596483e-03 1.06800897e-04 9.99956879e-01 1.16885725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49232058799998 meters Centerline goodness [0,1] 0.9999507461951436 Centerline is valid? [True, True] Translation: X:234.77, Y:-56.36, Z:1.17 [[ 8.90221374e-01 4.55452103e-01 8.32392783e-03 2.34768261e+02] [-4.55431183e-01 8.90260284e-01 -4.36626379e-03 -5.63636560e+01] [-9.39908638e-03 9.59650443e-05 9.99955823e-01 1.16983250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52232058799999 meters Centerline goodness [0,1] 0.9999506903353057 Centerline is valid? [True, True] Translation: X:234.80, Y:-56.38, Z:1.17 [[ 8.89563897e-01 4.56737076e-01 8.20472598e-03 2.34796220e+02] [-4.56716790e-01 8.89601729e-01 -4.30545641e-03 -5.63791727e+01] [-9.26539999e-03 8.27424697e-05 9.99957072e-01 1.17000474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.82, Y:-56.40, Z:1.17 [[ 8.88366856e-01 4.59104185e-01 5.26090899e-03 2.34821642e+02] [-4.59095880e-01 8.88382432e-01 -2.76181134e-03 -5.63993053e+01] [-5.94165827e-03 3.82400082e-05 9.99982347e-01 1.17018773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.85, Y:-56.42, Z:1.17 [[ 8.87961616e-01 4.59897315e-01 4.31600790e-03 2.34848666e+02] [-4.59891730e-01 8.87972105e-01 -2.26662956e-03 -5.64160967e+01] [-4.87491147e-03 2.77837069e-05 9.99988117e-01 1.17071288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.88, Y:-56.43, Z:1.17 [[ 8.86249620e-01 4.63177565e-01 5.30609551e-03 2.34875541e+02] [-4.63169178e-01 8.86265504e-01 -2.78729993e-03 -5.64337045e+01] [-5.99362421e-03 1.26236097e-05 9.99982038e-01 1.17084151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.90, Y:-56.45, Z:1.17 [[ 8.85626821e-01 4.64364211e-01 5.56895950e-03 2.34903348e+02] [-4.64354990e-01 8.85644330e-01 -2.92628428e-03 -5.64499336e+01] [-6.29097910e-03 5.62171447e-06 9.99980212e-01 1.17019712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.93, Y:-56.47, Z:1.17 [[ 8.84061025e-01 4.67343899e-01 5.07785876e-03 2.34929781e+02] [-4.67336277e-01 8.84075608e-01 -2.66915610e-03 -5.64688511e+01] [-5.73662489e-03 -1.33707334e-05 9.99983545e-01 1.17082239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.96, Y:-56.48, Z:1.17 [[ 8.82944305e-01 4.69453602e-01 4.76131497e-03 2.34958437e+02] [-4.69446927e-01 8.82957142e-01 -2.50361966e-03 -5.64841632e+01] [-5.37937033e-03 -2.46279633e-05 9.99985531e-01 1.17209457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.99, Y:-56.50, Z:1.17 [[ 8.80887228e-01 4.73284080e-01 6.31437091e-03 2.34987643e+02] [-4.73272432e-01 8.80909857e-01 -3.32107776e-03 -5.64969701e+01] [-7.13420480e-03 -6.29226901e-05 9.99974549e-01 1.17287747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.02, Y:-56.51, Z:1.17 [[ 8.79871487e-01 4.75151187e-01 7.58395079e-03 2.35015769e+02] [-4.75134443e-01 8.79904166e-01 -3.98994926e-03 -5.65124026e+01] [-8.56897902e-03 -9.27536418e-05 9.99963281e-01 1.17323071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.04, Y:-56.53, Z:1.17 [[ 8.78978227e-01 4.76804162e-01 7.42076748e-03 2.35043642e+02] [-4.76788179e-01 8.79009545e-01 -3.90535447e-03 -5.65283355e+01] [-8.38501471e-03 -1.05412665e-04 9.99964840e-01 1.17368328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.07, Y:-56.54, Z:1.17 [[ 8.78256463e-01 4.78166552e-01 4.72585139e-03 2.35072356e+02] [-4.78160082e-01 8.78269174e-01 -2.48853680e-03 -5.65437166e+01] [-5.34050466e-03 -7.41399644e-05 9.99985737e-01 1.17193855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.10, Y:-56.56, Z:1.17 [[ 8.78262941e-01 4.78166468e-01 3.32201885e-03 2.35101127e+02] [-4.78163268e-01 8.78269222e-01 -1.74997750e-03 -5.65576788e+01] [-3.75440747e-03 -5.15270103e-05 9.99992951e-01 1.17113855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.13, Y:-56.57, Z:1.17 [[ 8.79252000e-01 4.76309040e-01 6.75411996e-03 2.35130409e+02] [-4.76295757e-01 8.79277937e-01 -3.55832238e-03 -5.65720856e+01] [-7.63360978e-03 -8.82966116e-05 9.99970860e-01 1.17204497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.16, Y:-56.59, Z:1.17 [[ 8.81259344e-01 4.72586107e-01 6.65878460e-03 2.35158498e+02] [-4.72573081e-01 8.81284499e-01 -3.50923329e-03 -5.65872659e+01] [-7.52669855e-03 -5.42177281e-05 9.99971673e-01 1.17473844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.19, Y:-56.60, Z:1.18 [[ 8.82339363e-01 4.70577961e-01 5.79930142e-03 2.35186693e+02] [-4.70568030e-01 8.82358420e-01 -3.05736736e-03 -5.66020381e+01] [-6.55579213e-03 -3.13302746e-05 9.99978510e-01 1.17536303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.22, Y:-56.62, Z:1.17 [[ 8.83321065e-01 4.68727580e-01 6.19291252e-03 2.35215318e+02] [-4.68716202e-01 8.83342774e-01 -3.26587474e-03 -5.66168762e+01] [-7.00127008e-03 -1.79024840e-05 9.99975491e-01 1.17454716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.24, Y:-56.63, Z:1.17 [[ 8.84732840e-01 4.66026011e-01 8.21948149e-03 2.35243621e+02] [-4.66005841e-01 8.84771020e-01 -4.33574081e-03 -5.66315147e+01] [-9.29292701e-03 5.64589625e-06 9.99956820e-01 1.17210343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.27, Y:-56.65, Z:1.17 [[ 8.85980450e-01 4.63657321e-01 7.78016858e-03 2.35273241e+02] [-4.63639138e-01 8.86014609e-01 -4.10638858e-03 -5.66468159e+01] [-8.79730015e-03 3.09893546e-05 9.99961303e-01 1.17437353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.30, Y:-56.66, Z:1.17 [[ 8.85889147e-01 4.63831759e-01 7.77936269e-03 2.35302029e+02] [-4.63813569e-01 8.85923303e-01 -4.10791529e-03 -5.66619433e+01] [-8.79730027e-03 3.09835980e-05 9.99961303e-01 1.17453731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.33, Y:-56.68, Z:1.18 [[ 8.86129685e-01 4.63399293e-01 5.93943553e-03 2.35330082e+02] [-4.63388674e-01 8.86149589e-01 -3.13721563e-03 -5.66786287e+01] [-6.71701186e-03 2.77127476e-05 9.99977440e-01 1.17704602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.36, Y:-56.70, Z:1.18 [[ 8.86626742e-01 4.62465641e-01 4.30702723e-03 2.35356086e+02] [-4.62460042e-01 8.86637203e-01 -2.27591366e-03 -5.66978151e+01] [-4.87130244e-03 2.60579258e-05 9.99988135e-01 1.17625582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.38, Y:-56.71, Z:1.18 [[ 8.86917382e-01 4.61914491e-01 3.54395176e-03 2.35384169e+02] [-4.61910693e-01 8.86924463e-01 -1.87341731e-03 -5.67133542e+01] [-4.00857611e-03 2.45771629e-05 9.99991965e-01 1.17515432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.41, Y:-56.73, Z:1.17 [[ 8.86706019e-01 4.62323072e-01 3.13263540e-03 2.35412711e+02] [-4.62320104e-01 8.86711552e-01 -1.65658463e-03 -5.67279341e+01] [-3.54362129e-03 2.06232362e-05 9.99993721e-01 1.17480057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.44, Y:-56.74, Z:1.18 [[ 8.85528784e-01 4.64566474e-01 4.09428734e-03 2.35441125e+02] [-4.64561427e-01 8.85538249e-01 -2.16558714e-03 -5.67426975e+01] [-4.63170722e-03 1.56417817e-05 9.99989273e-01 1.17769853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.47, Y:-56.76, Z:1.18 [[ 8.84759185e-01 4.66026075e-01 4.56964427e-03 2.35468777e+02] [-4.66019800e-01 8.84770986e-01 -2.41847795e-03 -5.67610449e+01] [-5.17016245e-03 1.02258774e-05 9.99986635e-01 1.18136632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.50, Y:-56.78, Z:1.18 [[ 8.84686499e-01 4.66171353e-01 3.75072248e-03 2.35496987e+02] [-4.66167125e-01 8.84694450e-01 -1.98552237e-03 -5.67769211e+01] [-4.24383701e-03 8.10131869e-06 9.99990995e-01 1.18264942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.53, Y:-56.79, Z:1.18 [[ 8.84611489e-01 4.66311360e-01 4.02860662e-03 2.35526141e+02] [-4.66306477e-01 8.84620662e-01 -2.13398596e-03 -5.67926560e+01] [-4.55889055e-03 9.18313492e-06 9.99989608e-01 1.18126810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.55, Y:-56.81, Z:1.18 [[ 8.84820439e-01 4.65905225e-01 5.01113328e-03 2.35553811e+02] [-4.65897663e-01 8.84834629e-01 -2.65462172e-03 -5.68082906e+01] [-5.67082639e-03 1.41882762e-05 9.99983921e-01 1.18028250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.58, Y:-56.82, Z:1.18 [[ 8.84560070e-01 4.66408615e-01 4.06031342e-03 2.35581701e+02] [-4.66403651e-01 8.84569389e-01 -2.15176389e-03 -5.68243679e+01] [-4.59523017e-03 9.61940957e-06 9.99989442e-01 1.18006685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.61, Y:-56.84, Z:1.18 [[ 8.84668761e-01 4.66210577e-01 2.98009771e-03 2.35610796e+02] [-4.66207900e-01 8.84673781e-01 -1.58000062e-03 -5.68385301e+01] [-3.37302730e-03 8.43209966e-06 9.99994311e-01 1.18080383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.64, Y:-56.85, Z:1.18 [[ 8.84309819e-01 4.66890719e-01 3.03311866e-03 2.35640001e+02] [-4.66887946e-01 8.84315021e-01 -1.60926058e-03 -5.68537574e+01] [-3.43358122e-03 6.95839230e-06 9.99994105e-01 1.18130872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.67, Y:-56.87, Z:1.18 [[ 8.83188711e-01 4.68992861e-01 4.83694159e-03 2.35666307e+02] [-4.68985841e-01 8.83201957e-01 -2.56606369e-03 -5.68718113e+01] [-5.47546183e-03 -2.13864031e-06 9.99985010e-01 1.18174312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.69, Y:-56.89, Z:1.18 [[ 8.83392671e-01 4.68617337e-01 3.89622669e-03 2.35694066e+02] [-4.68612775e-01 8.83401263e-01 -2.06780917e-03 -5.68880915e+01] [-4.41094281e-03 8.65860311e-07 9.99990272e-01 1.18196046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.72, Y:-56.90, Z:1.18 [[ 8.83335643e-01 4.68731382e-01 3.00542791e-03 2.35722380e+02] [-4.68728666e-01 8.83340756e-01 -1.59572722e-03 -5.69040740e+01] [-3.40278438e-03 8.32514733e-07 9.99994211e-01 1.18121123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.75, Y:-56.92, Z:1.18 [[ 8.83409912e-01 4.68593412e-01 2.67222823e-03 2.35749874e+02] [-4.68591261e-01 8.83413954e-01 -1.41998391e-03 -5.69218279e+01] [-3.02607881e-03 2.24506492e-06 9.99995421e-01 1.17981317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.78, Y:-56.94, Z:1.18 [[ 8.82920431e-01 4.69513977e-01 2.85259773e-03 2.35778593e+02] [-4.69511528e-01 8.82925039e-01 -1.51647214e-03 -5.69389084e+01] [-3.23063483e-03 -4.03282256e-07 9.99994781e-01 1.18128196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.81, Y:-56.95, Z:1.18 [[ 8.82074341e-01 4.71098839e-01 3.27723569e-03 2.35807881e+02] [-4.71095615e-01 8.82080429e-01 -1.74289081e-03 -5.69531524e+01] [-3.71185930e-03 -6.53210280e-06 9.99993111e-01 1.18349720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.84, Y:-56.97, Z:1.18 [[ 8.81105039e-01 4.72903756e-01 3.99350363e-03 2.35836633e+02] [-4.72898987e-01 8.81114089e-01 -2.12384490e-03 -5.69668241e+01] [-4.52310654e-03 -1.71933803e-05 9.99989771e-01 1.18454114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.86, Y:-56.98, Z:1.18 [[ 8.80524408e-01 4.73977055e-01 4.74532587e-03 2.35864673e+02] [-4.73970333e-01 8.80537195e-01 -2.52435211e-03 -5.69816169e+01] [-5.37492091e-03 -2.63900360e-05 9.99985555e-01 1.18430014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.89, Y:-57.00, Z:1.19 [[ 8.79797457e-01 4.75329659e-01 4.26029914e-03 2.35892078e+02] [-4.75324250e-01 8.79807771e-01 -2.26789591e-03 -5.70000967e+01] [-4.82624249e-03 -2.97344402e-05 9.99988353e-01 1.18585319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.92, Y:-57.02, Z:1.19 [[ 8.79914669e-01 4.75101696e-01 5.34349365e-03 2.35920361e+02] [-4.75093181e-01 8.79930893e-01 -2.84475211e-03 -5.70151623e+01] [-6.05345169e-03 -3.55182796e-05 9.99981677e-01 1.18501498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.95, Y:-57.03, Z:1.18 [[ 8.80735128e-01 4.73568083e-01 6.23734247e-03 2.35950783e+02] [-4.73556428e-01 8.80757214e-01 -3.32250743e-03 -5.70281561e+01] [-7.06701785e-03 -2.74846164e-05 9.99975028e-01 1.18427681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.98, Y:-57.04, Z:1.18 [[ 8.81234488e-01 4.72637035e-01 6.32535237e-03 2.35980877e+02] [-4.72625014e-01 8.81257189e-01 -3.37100174e-03 -5.70428468e+01] [-7.16752252e-03 -1.88767549e-05 9.99974313e-01 1.18469312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.01, Y:-57.06, Z:1.19 [[ 8.82002479e-01 4.71204095e-01 6.19096407e-03 2.36010415e+02] [-4.71192533e-01 8.82024206e-01 -3.30099598e-03 -5.70576334e+01] [-7.01602299e-03 -5.64940128e-06 9.99975387e-01 1.18577846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.04, Y:-57.07, Z:1.19 [[ 8.83496534e-01 4.68416832e-01 4.42107376e-03 2.36040125e+02] [-4.68410897e-01 8.83507595e-01 -2.35798714e-03 -5.70709169e+01] [-5.01057312e-03 1.23943411e-05 9.99987447e-01 1.18807033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.07, Y:-57.09, Z:1.19 [[ 8.84036192e-01 4.67398134e-01 4.35844203e-03 2.36069604e+02] [-4.67392346e-01 8.84046935e-01 -2.32609388e-03 -5.70857526e+01] [-4.94027926e-03 1.92487316e-05 9.99987797e-01 1.18823189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.10, Y:-57.10, Z:1.19 [[ 8.84425018e-01 4.66647178e-01 5.72701307e-03 2.36097995e+02] [-4.66637167e-01 8.84443560e-01 -3.05672183e-03 -5.71017916e+01] [-6.49163044e-03 3.10041015e-05 9.99978929e-01 1.18745152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.12, Y:-57.12, Z:1.19 [[ 8.85886493e-01 4.63830928e-01 8.12355958e-03 2.36124451e+02] [-4.63810659e-01 8.85923735e-01 -4.33689782e-03 -5.71198806e+01] [-9.20844159e-03 7.42056754e-05 9.99957599e-01 1.18780626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96232058799998 meters Centerline goodness [0,1] 0.9999507437690868 Centerline is valid? [True, True] Translation: X:236.15, Y:-57.14, Z:1.19 [[ 8.86346167e-01 4.62937078e-01 8.92934302e-03 2.36152476e+02] [-4.62912528e-01 8.86391140e-01 -4.76850409e-03 -5.71360747e+01] [-1.01224079e-02 9.30405771e-05 9.99948763e-01 1.18764113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.18, Y:-57.15, Z:1.19 [[ 8.87148795e-01 4.61412929e-01 8.06993190e-03 2.36180237e+02] [-4.61392792e-01 8.87185493e-01 -4.31200288e-03 -5.71535529e+01] [-9.14914038e-03 1.01979750e-04 9.99958141e-01 1.18687939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.21, Y:-57.17, Z:1.19 [[ 8.87912553e-01 4.59966038e-01 6.52245611e-03 2.36209087e+02] [-4.59952831e-01 8.87936503e-01 -3.48699067e-03 -5.71698963e+01] [-7.39542416e-03 9.61206374e-05 9.99972649e-01 1.18815564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.24, Y:-57.19, Z:1.19 [[ 8.88352772e-01 4.59090195e-01 8.09600044e-03 2.36236401e+02] [-4.59069804e-01 8.88389653e-01 -4.32890782e-03 -5.71862134e+01] [-9.17976216e-03 1.28967930e-04 9.99957857e-01 1.18791040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.082320588 meters Centerline goodness [0,1] 0.999950731635217 Centerline is valid? [True, True] Translation: X:236.26, Y:-57.20, Z:1.19 [[ 8.88540999e-01 4.58678255e-01 1.04475373e-02 2.36262885e+02] [-4.58644178e-01 8.88602401e-01 -5.59385456e-03 -5.72043831e+01] [-1.18494862e-02 1.78666949e-04 9.99929776e-01 1.18959867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.29, Y:-57.22, Z:1.19 [[ 8.88358320e-01 4.59016663e-01 1.10994933e-02 2.36291106e+02] [-4.58978132e-01 8.88427637e-01 -5.95045630e-03 -5.72210509e+01] [-1.25924552e-02 1.91712652e-04 9.99920694e-01 1.18953772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.32, Y:-57.24, Z:1.19 [[ 8.88749358e-01 4.58259971e-01 1.10624184e-02 2.36319297e+02] [-4.58221547e-01 8.88818179e-01 -5.93782927e-03 -5.72374733e+01] [-1.25535480e-02 2.08203496e-04 9.99921179e-01 1.18960653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.35, Y:-57.26, Z:1.19 [[ 8.89096251e-01 4.57644569e-01 8.32495694e-03 2.36345110e+02] [-4.57622734e-01 8.89135209e-01 -4.47361922e-03 -5.72568492e+01] [-9.44933987e-03 1.67788525e-04 9.99955340e-01 1.18884811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.202320588 meters Centerline goodness [0,1] 0.9999507146377525 Centerline is valid? [True, True] Translation: X:236.37, Y:-57.27, Z:1.19 [[ 8.88883479e-01 4.58061949e-01 8.08772135e-03 2.36373035e+02] [-4.58041305e-01 8.88920258e-01 -4.35184720e-03 -5.72749607e+01] [-9.18275495e-03 1.63774639e-04 9.99957824e-01 1.18815414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.232320588 meters Centerline goodness [0,1] 0.9999506416584403 Centerline is valid? [True, True] Translation: X:236.40, Y:-57.29, Z:1.19 [[ 8.88627623e-01 4.58550138e-01 8.52756684e-03 2.36400079e+02] [-4.58527158e-01 8.88668522e-01 -4.59394105e-03 -5.72948200e+01] [-9.68473252e-03 1.72181931e-04 9.99953087e-01 1.18897166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.43, Y:-57.31, Z:1.19 [[ 8.88107228e-01 4.59548222e-01 8.99905713e-03 2.36427950e+02] [-4.59522622e-01 8.88152803e-01 -4.85372178e-03 -5.73120592e+01] [-1.02230570e-02 1.75355066e-04 9.99947728e-01 1.18983332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.292320588 meters Centerline goodness [0,1] 0.9999507097791798 Centerline is valid? [True, True] Translation: X:236.46, Y:-57.33, Z:1.19 [[ 8.88085513e-01 4.59606089e-01 8.14643210e-03 2.36455179e+02] [-4.59585061e-01 8.88122861e-01 -4.39947765e-03 -5.73306691e+01] [-9.25705930e-03 1.63133870e-04 9.99957139e-01 1.19102124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.48, Y:-57.35, Z:1.19 [[ 8.87676191e-01 4.60387086e-01 8.64352305e-03 2.36482191e+02] [-4.60363396e-01 8.87718256e-01 -4.67348136e-03 -5.73502874e+01] [-9.82462367e-03 1.69376512e-04 9.99951723e-01 1.18994511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.51, Y:-57.37, Z:1.19 [[ 8.85908200e-01 4.63790407e-01 8.06968965e-03 2.36507605e+02] [-4.63769857e-01 8.85944943e-01 -4.36776294e-03 -5.73712056e+01] [-9.17502729e-03 1.26958181e-04 9.99957900e-01 1.18989057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.54, Y:-57.39, Z:1.19 [[ 8.84540138e-01 4.66403705e-01 7.50521143e-03 2.36535566e+02] [-4.66385985e-01 8.84571972e-01 -4.06683548e-03 -5.73877372e+01] [-8.53568681e-03 9.69537934e-05 9.99963566e-01 1.19021194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.56, Y:-57.41, Z:1.19 [[ 8.81325268e-01 4.72446302e-01 7.76298748e-03 2.36562037e+02] [-4.72427536e-01 8.81359456e-01 -4.21111230e-03 -5.74060858e+01] [-8.83150686e-03 4.39106337e-05 9.99961001e-01 1.19007271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.59, Y:-57.42, Z:1.19 [[ 8.79674045e-01 4.75515544e-01 7.65129753e-03 2.36588929e+02] [-4.75497380e-01 8.79707319e-01 -4.15624237e-03 -5.74247310e+01] [-8.70726029e-03 1.79666106e-05 9.99962091e-01 1.19065019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.62, Y:-57.44, Z:1.19 [[ 8.78268144e-01 4.78124370e-01 6.49260331e-03 2.36616438e+02] [-4.78111325e-01 8.78292142e-01 -3.53187056e-03 -5.74435946e+01] [-7.39107585e-03 -2.25776819e-06 9.99972686e-01 1.19200701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.65, Y:-57.46, Z:1.19 [[ 8.76718567e-01 4.80954329e-01 6.89120883e-03 2.36645343e+02] [-4.80939684e-01 8.76745649e-01 -3.75329694e-03 -5.74600876e+01] [-7.84700177e-03 -2.36706788e-05 9.99969212e-01 1.19437526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.68, Y:-57.47, Z:1.19 [[ 8.75941719e-01 4.82360030e-01 7.40983926e-03 2.36675095e+02] [-4.82343107e-01 8.75973059e-01 -4.04066643e-03 -5.74742635e+01] [-8.43987555e-03 -3.46965887e-05 9.99964383e-01 1.19458934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.70, Y:-57.49, Z:1.19 [[ 8.75454727e-01 4.83253430e-01 6.71894489e-03 2.36704049e+02] [-4.83239504e-01 8.75480509e-01 -3.66887347e-03 -5.74902905e+01] [-7.65530097e-03 -3.49269744e-05 9.99970697e-01 1.19320321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.73, Y:-57.51, Z:1.19 [[ 8.74979941e-01 4.84119906e-01 6.16600722e-03 2.36732485e+02] [-4.84108167e-01 8.75001666e-01 -3.37151246e-03 -5.75079317e+01] [-7.02748288e-03 -3.50086876e-05 9.99975306e-01 1.19204618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.76, Y:-57.52, Z:1.19 [[ 8.74565400e-01 4.84850324e-01 7.45146952e-03 2.36761555e+02] [-4.84833168e-01 8.74597142e-01 -4.07894065e-03 -5.75241555e+01] [-8.49470964e-03 -4.54192148e-05 9.99963918e-01 1.19197397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.79, Y:-57.54, Z:1.19 [[ 8.74403875e-01 4.85118293e-01 8.83772726e-03 2.36791728e+02] [-4.85094117e-01 8.74448534e-01 -4.84340647e-03 -5.75386217e+01] [-1.00777627e-02 -5.20361172e-05 9.99949217e-01 1.19236000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.82, Y:-57.55, Z:1.19 [[ 8.73993824e-01 4.85853284e-01 9.02122986e-03 2.36820725e+02] [-4.85828069e-01 8.74040378e-01 -4.95019134e-03 -5.75540185e+01] [-1.02899859e-02 -5.63300257e-05 9.99947055e-01 1.19267961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.85, Y:-57.57, Z:1.19 [[ 8.73682366e-01 4.86405158e-01 9.44170658e-03 2.36849792e+02] [-4.86377500e-01 8.73733380e-01 -5.18739916e-03 -5.75704239e+01] [-1.07727119e-02 -6.00944626e-05 9.99941971e-01 1.19317990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.88, Y:-57.59, Z:1.19 [[ 8.73880439e-01 4.86072456e-01 8.15757873e-03 2.36877811e+02] [-4.86051748e-01 8.73918512e-01 -4.48688481e-03 -5.75860751e+01] [-9.31001018e-03 -4.40045329e-05 9.99956660e-01 1.19388259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.91, Y:-57.60, Z:1.19 [[ 8.73758483e-01 4.86282216e-01 8.70174209e-03 2.36907157e+02] [-4.86258601e-01 8.73801811e-01 -4.79252870e-03 -5.76002460e+01] [-9.93411947e-03 -4.37843278e-05 9.99950654e-01 1.19411340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.94, Y:-57.61, Z:1.19 [[ 8.73506540e-01 4.86727380e-01 9.09843343e-03 2.36937344e+02] [-4.86701523e-01 8.73553922e-01 -5.01723078e-03 -5.76142662e+01] [-1.03899958e-02 -4.56375010e-05 9.99946021e-01 1.19437574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.97, Y:-57.63, Z:1.20 [[ 8.73655322e-01 4.86457671e-01 9.23644988e-03 2.36966951e+02] [-4.86430940e-01 8.73704145e-01 -5.09981601e-03 -5.76295877e+01] [-1.05507692e-02 -3.74135957e-05 9.99944338e-01 1.19550881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.00, Y:-57.64, Z:1.20 [[ 8.74172627e-01 4.85526502e-01 9.28618737e-03 2.36996329e+02] [-4.85499360e-01 8.74221948e-01 -5.13385431e-03 -5.76448533e+01] [-1.06108111e-02 -2.05631095e-05 9.99943704e-01 1.19631948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.03, Y:-57.66, Z:1.20 [[ 8.75210834e-01 4.83663089e-01 8.71853017e-03 2.37025879e+02] [-4.83639009e-01 8.75254258e-01 -4.82629707e-03 -5.76598556e+01] [-9.96523240e-03 7.40619043e-06 9.99950346e-01 1.19690221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.05, Y:-57.68, Z:1.20 [[ 8.74951664e-01 4.84131819e-01 8.71594787e-03 2.37054478e+02] [-4.84107715e-01 8.74995076e-01 -4.83096044e-03 -5.76753254e+01] [-9.96523313e-03 7.39927159e-06 9.99950346e-01 1.19706607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.08, Y:-57.69, Z:1.20 [[ 8.75717447e-01 4.82762169e-01 7.72280395e-03 2.37082790e+02] [-4.82743142e-01 8.75751499e-01 -4.28623959e-03 -5.76914548e+01] [-8.83249146e-03 2.54041495e-05 9.99960992e-01 1.19725163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.11, Y:-57.71, Z:1.20 [[ 8.76767132e-01 4.80839770e-01 8.51537999e-03 2.37111006e+02] [-4.80816490e-01 8.76808481e-01 -4.73175852e-03 -5.77088773e+01] [-9.74157507e-03 5.43152279e-05 9.99952548e-01 1.19771231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.14, Y:-57.72, Z:1.20 [[ 8.77102091e-01 4.80237727e-01 7.97798894e-03 2.37140713e+02] [-4.80217217e-01 8.77138371e-01 -4.43881811e-03 -5.77239398e+01] [-9.12948814e-03 6.21289961e-05 9.99958323e-01 1.19858634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.17, Y:-57.74, Z:1.20 [[ 8.77341529e-01 4.79805991e-01 7.61916591e-03 2.37170309e+02] [-4.79787221e-01 8.77374610e-01 -4.24456388e-03 -5.77389915e+01] [-8.72142989e-03 6.83537281e-05 9.99961965e-01 1.19994198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.20, Y:-57.76, Z:1.20 [[ 8.77330034e-01 4.79816320e-01 8.26502774e-03 2.37197753e+02] [-4.79794182e-01 8.77368960e-01 -4.60985306e-03 -5.77567996e+01] [-9.46336153e-03 7.88503223e-05 9.99955218e-01 1.19841002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.23, Y:-57.77, Z:1.20 [[ 8.77063096e-01 4.80313405e-01 7.70446242e-03 2.37225164e+02] [-4.80294137e-01 8.77096932e-01 -4.30277683e-03 -5.77747839e+01] [-8.82424173e-03 7.33986395e-05 9.99961063e-01 1.19830883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.25, Y:-57.79, Z:1.20 [[ 8.76375772e-01 4.81548639e-01 8.74158260e-03 2.37251523e+02] [-4.81523840e-01 8.76419365e-01 -4.88763161e-03 -5.77946994e+01] [-1.00149246e-02 7.41215018e-05 9.99949847e-01 1.19914700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.28, Y:-57.81, Z:1.20 [[ 8.76338142e-01 4.81571935e-01 1.09513787e-02 2.37278794e+02] [-4.81532946e-01 8.76406562e-01 -6.12861519e-03 -5.78114052e+01] [-1.25492292e-02 9.72896112e-05 9.99921251e-01 1.19859301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.31, Y:-57.83, Z:1.20 [[ 8.75996160e-01 4.82216153e-01 9.91511216e-03 2.37306382e+02] [-4.82184163e-01 8.76052267e-01 -5.55499635e-03 -5.78284740e+01] [-1.13648655e-02 8.52454106e-05 9.99935414e-01 1.19953368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.33, Y:-57.85, Z:1.20 [[ 8.75804506e-01 4.82590029e-01 8.56339952e-03 2.37332522e+02] [-4.82566131e-01 8.75846367e-01 -4.80319204e-03 -5.78479489e+01] [-9.81819494e-03 7.42506578e-05 9.99951798e-01 1.20008495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.36, Y:-57.87, Z:1.20 [[ 8.75523169e-01 4.83094559e-01 8.87848742e-03 2.37360693e+02] [-4.83068831e-01 8.75568182e-01 -4.98638727e-03 -5.78658849e+01] [-1.01826176e-02 7.67770471e-05 9.99948153e-01 1.20027234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.39, Y:-57.89, Z:1.20 [[ 8.75058766e-01 4.83937042e-01 8.78037634e-03 2.37387325e+02] [-4.83911860e-01 8.75102813e-01 -4.93742000e-03 -5.78860789e+01] [-1.00731325e-02 7.16044045e-05 9.99949262e-01 1.20090960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.42, Y:-57.90, Z:1.20 [[ 8.74596833e-01 4.84749703e-01 9.90479874e-03 2.37415019e+02] [-4.84717634e-01 8.74652914e-01 -5.57630035e-03 -5.79034898e+01] [-1.13663710e-02 7.59840158e-05 9.99935398e-01 1.20103161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.44, Y:-57.92, Z:1.20 [[ 8.74351768e-01 4.85188135e-01 1.00727174e-02 2.37441415e+02] [-4.85154984e-01 8.74409783e-01 -5.67213513e-03 -5.79236714e+01] [-1.15597353e-02 7.26123130e-05 9.99933181e-01 1.20112508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.47, Y:-57.94, Z:1.20 [[ 8.74359920e-01 4.85175574e-01 9.96960380e-03 2.37469113e+02] [-4.85142997e-01 8.74416752e-01 -5.62288901e-03 -5.79416252e+01] [-1.14456770e-02 7.97453180e-05 9.99934493e-01 1.20233438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.50, Y:-57.96, Z:1.20 [[ 8.73789082e-01 4.86218270e-01 9.18886698e-03 2.37496499e+02] [-4.86190580e-01 8.73837393e-01 -5.18937295e-03 -5.79601898e+01] [-1.05527435e-02 6.68768547e-05 9.99944316e-01 1.20317667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.52, Y:-57.98, Z:1.20 [[ 8.72938290e-01 4.87741407e-01 9.33073161e-03 2.37522892e+02] [-4.87712872e-01 8.72988154e-01 -5.27608310e-03 -5.79814109e+01] [-1.07189824e-02 5.49770470e-05 9.99942549e-01 1.20295665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.55, Y:-58.00, Z:1.20 [[ 8.72237151e-01 4.89012206e-01 8.33152886e-03 2.37550241e+02] [-4.88989465e-01 8.72276941e-01 -4.71612178e-03 -5.79986502e+01] [-9.57364162e-03 3.95467875e-05 9.99954171e-01 1.20426173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.58, Y:-58.01, Z:1.20 [[ 8.70883406e-01 4.91434531e-01 7.36171971e-03 2.37578124e+02] [-4.91416821e-01 8.70914520e-01 -4.17212307e-03 -5.80149422e+01] [-8.46175393e-03 1.57598567e-05 9.99964199e-01 1.20409752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.61, Y:-58.03, Z:1.21 [[ 8.69728572e-01 4.93482848e-01 6.84753416e-03 2.37606468e+02] [-4.93467546e-01 8.69755528e-01 -3.88616735e-03 -5.80326423e+01] [-7.87343762e-03 8.74903325e-07 9.99969004e-01 1.20513143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.63, Y:-58.05, Z:1.21 [[ 8.68725931e-01 4.95249963e-01 6.53691661e-03 2.37634035e+02] [-4.95236031e-01 8.68750525e-01 -3.71471623e-03 -5.80514560e+01] [-7.51866281e-03 -1.02463232e-05 9.99971734e-01 1.20624171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.66, Y:-58.07, Z:1.21 [[ 8.66515130e-01 4.99073560e-01 8.78133462e-03 2.37659534e+02] [-4.99048574e-01 8.66559622e-01 -4.99413157e-03 -5.80713740e+01] [-1.01019890e-02 -5.48219620e-05 9.99948972e-01 1.20764937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.69, Y:-58.09, Z:1.21 [[ 8.65625089e-01 5.00628573e-01 8.01484183e-03 2.37688390e+02] [-5.00607768e-01 8.65662190e-01 -4.56446562e-03 -5.80869856e+01] [-9.22324744e-03 -6.11761297e-05 9.99957463e-01 1.20822948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.72, Y:-58.10, Z:1.21 [[ 8.64749642e-01 5.02164289e-01 6.25169398e-03 2.37717578e+02] [-5.02151635e-01 8.64772238e-01 -3.56542912e-03 -5.81014359e+01] [-7.19672257e-03 -5.60947978e-05 9.99974102e-01 1.20533852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.75, Y:-58.12, Z:1.20 [[ 8.64373406e-01 5.02805088e-01 6.75707194e-03 2.37745425e+02] [-5.02790289e-01 8.64399814e-01 -3.85818850e-03 -5.81188978e+01] [-7.78072854e-03 -6.24746244e-05 9.99969728e-01 1.20472696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.77, Y:-58.14, Z:1.21 [[ 8.63779550e-01 5.03811117e-01 7.69727104e-03 2.37772527e+02] [-5.03791909e-01 8.63813841e-01 -4.40000700e-03 -5.81380918e+01] [-8.86578171e-03 -7.71868023e-05 9.99960695e-01 1.20560984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.80, Y:-58.16, Z:1.21 [[ 8.62812380e-01 5.05444429e-01 8.98477021e-03 2.37799477e+02] [-5.05418298e-01 8.62859153e-01 -5.14058816e-03 -5.81564300e+01] [-1.03508729e-02 -1.05704170e-04 9.99946423e-01 1.20906788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.83, Y:-58.17, Z:1.21 [[ 8.62458842e-01 5.06057462e-01 8.40186102e-03 2.37828857e+02] [-5.06034579e-01 8.62499759e-01 -4.81353629e-03 -5.81713800e+01] [-9.68252907e-03 -1.00155272e-04 9.99953118e-01 1.21016698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.86, Y:-58.19, Z:1.21 [[ 8.61576262e-01 5.07568636e-01 7.77331641e-03 2.37857952e+02] [-5.07549060e-01 8.61611321e-01 -4.45903463e-03 -5.81863556e+01] [-8.96084354e-03 -1.03541046e-04 9.99959845e-01 1.20709287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.89, Y:-58.20, Z:1.21 [[ 8.60923813e-01 5.08684277e-01 7.10593476e-03 2.37886665e+02] [-5.08667914e-01 8.60953132e-01 -4.08141408e-03 -5.82033901e+01] [-8.19402795e-03 -1.00774437e-04 9.99966423e-01 1.20619784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.92, Y:-58.22, Z:1.21 [[ 8.61027017e-01 5.08500589e-01 7.72180328e-03 2.37915180e+02] [-5.08481213e-01 8.61061635e-01 -4.44028559e-03 -5.82198828e+01] [-8.90683639e-03 -1.03186044e-04 9.99960328e-01 1.20590773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.94, Y:-58.24, Z:1.21 [[ 8.60635952e-01 5.09129150e-01 9.65747625e-03 2.37942152e+02] [-5.09098828e-01 8.60690125e-01 -5.55808380e-03 -5.82367739e+01] [-1.11418769e-02 -1.33123096e-04 9.99937919e-01 1.20696760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.97, Y:-58.25, Z:1.21 [[ 8.60803876e-01 5.08861852e-01 8.73514577e-03 2.37969565e+02] [-5.08837012e-01 8.60848188e-01 -5.02921208e-03 -5.82532719e+01] [-1.00788086e-02 -1.15600219e-04 9.99949201e-01 1.20866263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.00, Y:-58.27, Z:1.21 [[ 8.60901257e-01 5.08686604e-01 9.32550548e-03 2.37997970e+02] [-5.08658195e-01 8.60951756e-01 -5.37723484e-03 -5.82703401e+01] [-1.07641376e-02 -1.14226550e-04 9.99942058e-01 1.20902808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.03, Y:-58.29, Z:1.21 [[ 8.60301231e-01 5.09704026e-01 9.14315773e-03 2.38027650e+02] [-5.09676763e-01 8.60349807e-01 -5.27320595e-03 -5.82856686e+01] [-1.05540883e-02 -1.23509466e-04 9.99944296e-01 1.20975931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.06, Y:-58.30, Z:1.21 [[ 8.59632411e-01 5.10818426e-01 9.83121996e-03 2.38057561e+02] [-5.10786880e-01 8.59688616e-01 -5.67863892e-03 -5.83005840e+01] [-1.13525413e-02 -1.40116106e-04 9.99935548e-01 1.20885622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.09, Y:-58.32, Z:1.21 [[ 8.58172579e-01 5.13280010e-01 9.13547809e-03 2.38087085e+02] [-5.13252841e-01 8.58221188e-01 -5.28337400e-03 -5.83155775e+01] [-1.05521111e-02 -1.54763391e-04 9.99944313e-01 1.20962504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.12, Y:-58.33, Z:1.21 [[ 8.57608442e-01 5.14224766e-01 8.98057255e-03 2.38115862e+02] [-5.14198497e-01 8.57655447e-01 -5.20007973e-03 -5.83326851e+01] [-1.03762467e-02 -1.58164628e-04 9.99946153e-01 1.20948414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.14, Y:-58.35, Z:1.21 [[ 8.56163598e-01 5.16647906e-01 7.67030234e-03 2.38144437e+02] [-5.16628790e-01 8.56197942e-01 -4.44714742e-03 -5.83493598e+01] [-8.86490649e-03 -1.55213275e-04 9.99960694e-01 1.20958706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.17, Y:-58.36, Z:1.21 [[ 8.55479239e-01 5.17768284e-01 8.44251588e-03 2.38172799e+02] [-5.17745141e-01 8.55520877e-01 -4.89878016e-03 -5.83636052e+01] [-9.75918159e-03 -1.80266853e-04 9.99952362e-01 1.20985170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.20, Y:-58.38, Z:1.21 [[ 8.54804725e-01 5.18864656e-01 9.39950046e-03 2.38201817e+02] [-5.18835980e-01 8.54856377e-01 -5.45906176e-03 -5.83767131e+01] [-1.08677371e-02 -2.10367239e-04 9.99940922e-01 1.21016040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.23, Y:-58.39, Z:1.21 [[ 8.53569278e-01 5.20904174e-01 8.85041695e-03 2.38232977e+02] [-5.20878802e-01 8.53615132e-01 -5.14579023e-03 -5.83873811e+01] [-1.02353134e-02 -2.17706134e-04 9.99947594e-01 1.21150917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.26, Y:-58.40, Z:1.21 [[ 8.52577237e-01 5.22534611e-01 8.34481950e-03 2.38262499e+02] [-5.22512073e-01 8.52618046e-01 -4.85807112e-03 -5.84017743e+01] [-9.65345401e-03 -2.18388083e-04 9.99953380e-01 1.21173132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.29, Y:-58.42, Z:1.21 [[ 8.52020670e-01 5.23456373e-01 7.36232116e-03 2.38292757e+02] [-5.23438818e-01 8.52052456e-01 -4.29152104e-03 -5.84157308e+01] [-8.51950785e-03 -1.97260052e-04 9.99963689e-01 1.21220811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.32, Y:-58.43, Z:1.21 [[ 8.51375626e-01 5.24501880e-01 7.57108573e-03 2.38322317e+02] [-5.24483311e-01 8.51409264e-01 -4.41839708e-03 -5.84310573e+01] [-8.76355010e-03 -2.09192535e-04 9.99961577e-01 1.21181469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.36, Y:-58.44, Z:1.21 [[ 8.51208446e-01 5.24757616e-01 8.58057309e-03 2.38355301e+02] [-5.24733723e-01 8.51251660e-01 -5.01303765e-03 -5.84404587e+01] [-9.93485677e-03 -2.35376083e-04 9.99950620e-01 1.21269427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.39, Y:-58.45, Z:1.21 [[ 8.51077061e-01 5.24964908e-01 8.92650718e-03 2.38386033e+02] [-5.24938998e-01 8.51123838e-01 -5.22121332e-03 -5.84526551e+01] [-1.03385168e-02 -2.42216854e-04 9.99946527e-01 1.21273700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.42, Y:-58.47, Z:1.21 [[ 8.51299794e-01 5.24595925e-01 9.36888543e-03 2.38416550e+02] [-5.24567293e-01 8.51351312e-01 -5.48621877e-03 -5.84653333e+01] [-1.08542609e-02 -2.44193958e-04 9.99941061e-01 1.21342623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.45, Y:-58.48, Z:1.21 [[ 8.51289979e-01 5.24590959e-01 1.04736933e-02 2.38447134e+02] [-5.24555092e-01 8.51354365e-01 -6.14010941e-03 -5.84788286e+01] [-1.21378704e-02 -2.67015558e-04 9.99926298e-01 1.21207599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.48, Y:-58.49, Z:1.21 [[ 8.50984373e-01 5.25089445e-01 1.03281402e-02 2.38475996e+02] [-5.25054519e-01 8.51047005e-01 -6.06195414e-03 -5.84939998e+01] [-1.19728009e-02 -2.64208447e-04 9.99928289e-01 1.21150627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.51, Y:-58.50, Z:1.21 [[ 8.51413194e-01 5.24408910e-01 9.53250638e-03 2.38507509e+02] [-5.24379052e-01 8.51466525e-01 -5.60060351e-03 -5.85038226e+01] [-1.10536165e-02 -2.30218943e-04 9.99938880e-01 1.21243144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.54, Y:-58.52, Z:1.21 [[ 8.51531045e-01 5.24216252e-01 9.60211712e-03 2.38538607e+02] [-5.24185866e-01 8.51585152e-01 -5.64858825e-03 -5.85167793e+01] [-1.11381021e-02 -2.23345832e-04 9.99937944e-01 1.21288866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.57, Y:-58.53, Z:1.22 [[ 8.52516310e-01 5.22570972e-01 1.16412773e-02 2.38570606e+02] [-5.22526054e-01 8.52595755e-01 -6.85575211e-03 -5.85279850e+01] [-1.35079207e-02 -2.38230221e-04 9.99908735e-01 1.21586151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.60, Y:-58.54, Z:1.22 [[ 8.52941164e-01 5.21876699e-01 1.16654178e-02 2.38599556e+02] [-5.21831436e-01 8.53020903e-01 -6.87683112e-03 -5.85427522e+01] [-1.35397031e-02 -2.21849357e-04 9.99908309e-01 1.21618442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.63, Y:-58.56, Z:1.22 [[ 8.53996270e-01 5.20155338e-01 1.13487794e-02 2.38628146e+02] [-5.20112252e-01 8.54071654e-01 -6.69738115e-03 -5.85576760e+01] [-1.31763493e-02 -1.83100683e-04 9.99913171e-01 1.21598353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.66, Y:-58.57, Z:1.21 [[ 8.55495845e-01 5.17727366e-01 9.23217121e-03 2.38657239e+02] [-5.17698644e-01 8.55545651e-01 -5.45458696e-03 -5.85713693e+01] [-1.07225329e-02 -1.13106031e-04 9.99942506e-01 1.21332497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.69, Y:-58.59, Z:1.21 [[ 8.55872033e-01 5.17101785e-01 9.42374674e-03 2.38686310e+02] [-5.17071742e-01 8.55923906e-01 -5.57494893e-03 -5.85862736e+01] [-1.09488262e-02 -1.01310263e-04 9.99940055e-01 1.21279395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.72, Y:-58.60, Z:1.21 [[ 8.56605258e-01 5.15856351e-01 1.09388144e-02 2.38716999e+02] [-5.15815675e-01 8.56675094e-01 -6.47865924e-03 -5.85995936e+01] [-1.27130674e-02 -9.27583568e-05 9.99919181e-01 1.21407503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.75, Y:-58.62, Z:1.22 [[ 8.56982568e-01 5.15232965e-01 1.07642654e-02 2.38746372e+02] [-5.15193429e-01 8.57050166e-01 -6.38313583e-03 -5.86155958e+01] [-1.25143174e-02 -7.54426701e-05 9.99921690e-01 1.21590482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.77, Y:-58.63, Z:1.22 [[ 8.57275408e-01 5.14725231e-01 1.16966229e-02 2.38774029e+02] [-5.14678390e-01 8.57355196e-01 -6.94426035e-03 -5.86328475e+01] [-1.36025464e-02 -6.68554240e-05 9.99907479e-01 1.21582663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.80, Y:-58.65, Z:1.22 [[ 8.57505756e-01 5.14356565e-01 1.10091883e-02 2.38801340e+02] [-5.14314951e-01 8.57576423e-01 -6.54292099e-03 -5.86498272e+01] [-1.28066147e-02 -5.15977404e-05 9.99917991e-01 1.21502343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.83, Y:-58.67, Z:1.21 [[ 8.57708098e-01 5.14057495e-01 9.03941569e-03 2.38829061e+02] [-5.14029359e-01 8.57755729e-01 -5.37843638e-03 -5.86660949e+01] [-1.05184361e-02 -3.33966145e-05 9.99944679e-01 1.21433199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.86, Y:-58.68, Z:1.21 [[ 8.58920769e-01 5.12004758e-01 1.03072746e-02 2.38857781e+02] [-5.11967936e-01 8.58982612e-01 -6.14044549e-03 -5.86819794e+01] [-1.19977070e-02 -2.83793297e-06 9.99928025e-01 1.21221948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.89, Y:-58.70, Z:1.21 [[ 8.58923270e-01 5.11980230e-01 1.12721045e-02 2.38885815e+02] [-5.11936086e-01 8.58997231e-01 -6.72307546e-03 -5.86990233e+01] [-1.31247883e-02 4.00887963e-06 9.99913866e-01 1.21265650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.91, Y:-58.72, Z:1.21 [[ 8.58648818e-01 5.12440463e-01 1.12685002e-02 2.38913904e+02] [-5.12396279e-01 8.58722756e-01 -6.72911627e-03 -5.87154112e+01] [-1.31247890e-02 4.01013977e-06 9.99913866e-01 1.21282036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.94, Y:-58.73, Z:1.22 [[ 8.58614213e-01 5.12510376e-01 1.07120187e-02 2.38940815e+02] [-5.12470355e-01 8.58681032e-01 -6.40475594e-03 -5.87340117e+01] [-1.24807111e-02 9.62247482e-06 9.99922113e-01 1.21531876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93232058799998 meters Centerline goodness [0,1] 0.9998522604156407 Centerline is valid? [True, True] Translation: X:238.97, Y:-58.75, Z:1.21 [[ 8.57961333e-01 5.13609454e-01 1.03768714e-02 2.38968731e+02] [-5.13571885e-01 8.58024084e-01 -6.21210486e-03 -5.87516204e+01] [-1.20942014e-02 4.76358642e-07 9.99926862e-01 1.21430947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96232058799998 meters Centerline goodness [0,1] 0.9998026056060008 Centerline is valid? [True, True] Translation: X:238.99, Y:-58.77, Z:1.21 [[ 8.56342427e-01 5.16251166e-01 1.27428915e-02 2.38993922e+02] [-5.16194711e-01 8.56437232e-01 -7.63467840e-03 -5.87713018e+01] [-1.48548984e-02 -3.99141820e-05 9.99889659e-01 1.21338299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99232058799998 meters Centerline goodness [0,1] 0.9998025763782636 Centerline is valid? [True, True] Translation: X:239.02, Y:-58.79, Z:1.21 [[ 8.55161702e-01 5.18155579e-01 1.46033774e-02 2.39020678e+02] [-5.18081558e-01 8.55286379e-01 -8.75840212e-03 -5.87891733e+01] [-1.70282847e-02 -7.58904716e-05 9.99855005e-01 1.21357231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02232058799999 meters Centerline goodness [0,1] 0.9997529155959676 Centerline is valid? [True, True] Translation: X:239.05, Y:-58.81, Z:1.21 [[ 8.54234537e-01 5.19642700e-01 1.59630814e-02 2.39047732e+02] [-5.19554345e-01 8.54383669e-01 -9.58277042e-03 -5.88057136e+01] [-1.86182127e-02 -1.07754825e-04 9.99826660e-01 1.21427186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.052320588 meters Centerline goodness [0,1] 0.9997534516765286 Centerline is valid? [True, True] Translation: X:239.08, Y:-58.82, Z:1.21 [[ 8.52636272e-01 5.22309092e-01 1.43038295e-02 2.39076156e+02] [-5.22238368e-01 8.52756233e-01 -8.59617404e-03 -5.88199801e+01] [-1.66875396e-02 -1.40598796e-04 9.99860743e-01 1.21478698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.082320588 meters Centerline goodness [0,1] 0.9998029071199803 Centerline is valid? [True, True] Translation: X:239.10, Y:-58.84, Z:1.21 [[ 8.51834255e-01 5.23651710e-01 1.29340167e-02 2.39103996e+02] [-5.23593911e-01 8.51932430e-01 -7.78139884e-03 -5.88359906e+01] [-1.50936511e-02 -1.43710319e-04 9.99886074e-01 1.21393633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.13, Y:-58.85, Z:1.21 [[ 8.49513148e-01 5.27443069e-01 1.14551363e-02 2.39131642e+02] [-5.27397956e-01 8.49590358e-01 -6.90072383e-03 -5.88540574e+01] [-1.33719123e-02 -1.79159867e-04 9.99910576e-01 1.21308146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.16, Y:-58.87, Z:1.21 [[ 8.48297084e-01 5.29425613e-01 1.00288383e-02 2.39160484e+02] [-5.29391084e-01 8.48356345e-01 -6.04910425e-03 -5.88706143e+01] [-1.17105794e-02 -1.77740097e-04 9.99931413e-01 1.21350973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.19, Y:-58.89, Z:1.21 [[ 8.47158992e-01 5.31234217e-01 1.05758734e-02 2.39189277e+02] [-5.31195884e-01 8.47224978e-01 -6.38509263e-03 -5.88856304e+01] [-1.23521238e-02 -2.08671769e-04 9.99923688e-01 1.21461454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.22, Y:-58.90, Z:1.22 [[ 8.45645669e-01 5.33601752e-01 1.23520099e-02 2.39219900e+02] [-5.33549609e-01 8.45735829e-01 -7.46466501e-03 -5.88977287e+01] [-1.44296957e-02 -2.77948422e-04 9.99895848e-01 1.21553721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.25, Y:-58.91, Z:1.21 [[ 8.44341610e-01 5.35647983e-01 1.29801551e-02 2.39248778e+02] [-5.35590522e-01 8.44441315e-01 -7.85231474e-03 -5.89125000e+01] [-1.51670558e-02 -3.22011988e-04 9.99884922e-01 1.21461232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.28, Y:-58.92, Z:1.21 [[ 8.42288981e-01 5.38898516e-01 1.17328962e-02 2.39279409e+02] [-5.38851780e-01 8.42370628e-01 -7.10523160e-03 -5.89243235e+01] [-1.37124459e-02 -3.37633726e-04 9.99905923e-01 1.21450153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.31, Y:-58.94, Z:1.22 [[ 8.41914128e-01 5.39492140e-01 1.13503795e-02 2.39309667e+02] [-5.39448425e-01 8.41990569e-01 -6.87587573e-03 -5.89371606e+01] [-1.32663934e-02 -3.34047399e-04 9.99911942e-01 1.21601045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.34, Y:-58.95, Z:1.22 [[ 8.41417484e-01 5.40274028e-01 1.09814686e-02 2.39340344e+02] [-5.40233051e-01 8.41489078e-01 -6.66202946e-03 -5.89509748e+01] [-1.28401074e-02 -3.27004246e-04 9.99917509e-01 1.21623655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.37, Y:-58.96, Z:1.22 [[ 8.41677212e-01 5.39866654e-01 1.11115684e-02 2.39370945e+02] [-5.39824581e-01 8.41750494e-01 -6.74743315e-03 -5.89627811e+01] [-1.29958823e-02 -3.19137019e-04 9.99915499e-01 1.21749847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.40, Y:-58.98, Z:1.22 [[ 8.42057704e-01 5.39263421e-01 1.15665814e-02 2.39399409e+02] [-5.39217677e-01 8.42137081e-01 -7.03093997e-03 -5.89770615e+01] [-1.35321758e-02 -3.16447959e-04 9.99908386e-01 1.21708216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.412320588 meters Centerline goodness [0,1] 0.99995068547194 Centerline is valid? [True, True] Translation: X:239.43, Y:-58.99, Z:1.22 [[ 8.43061562e-01 5.37705232e-01 1.09675076e-02 2.39431126e+02] [-5.37663961e-01 8.43132853e-01 -6.66763503e-03 -5.89877598e+01] [-1.28322882e-02 -2.75606754e-04 9.99917625e-01 1.21728869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.46, Y:-59.00, Z:1.22 [[ 8.43312837e-01 5.37312525e-01 1.08954016e-02 2.39460914e+02] [-5.37271652e-01 8.43383177e-01 -6.63240056e-03 -5.90013217e+01] [-1.27526703e-02 -2.60601887e-04 9.99918647e-01 1.21700042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.49, Y:-59.02, Z:1.22 [[ 8.42814722e-01 5.38100579e-01 1.05409096e-02 2.39491270e+02] [-5.38062285e-01 8.42880597e-01 -6.42470617e-03 -5.90157719e+01] [-1.23418663e-02 -2.56828966e-04 9.99923803e-01 1.21758326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.502320588 meters Centerline goodness [0,1] 0.9999506660088802 Centerline is valid? [True, True] Translation: X:239.52, Y:-59.03, Z:1.22 [[ 8.42222075e-01 5.39016962e-01 1.10765812e-02 2.39523169e+02] [-5.38974653e-01 8.42294864e-01 -6.75908822e-03 -5.90272784e+01] [-1.29730106e-02 -2.77343197e-04 9.99915808e-01 1.21716345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.55, Y:-59.04, Z:1.22 [[ 8.41880943e-01 5.39535838e-01 1.17284355e-02 2.39552953e+02] [-5.39488340e-01 8.41962583e-01 -7.16514172e-03 -5.90412962e+01] [-1.37407546e-02 -2.95157906e-04 9.99905548e-01 1.21753740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.562320588 meters Centerline goodness [0,1] 0.9999507558969813 Centerline is valid? [True, True] Translation: X:239.58, Y:-59.05, Z:1.22 [[ 8.42569152e-01 5.38462274e-01 1.16449013e-02 2.39582673e+02] [-5.38415252e-01 8.42649575e-01 -7.12110540e-03 -5.90536106e+01] [-1.36470177e-02 -2.69768724e-04 9.99906839e-01 1.21762315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.61, Y:-59.07, Z:1.22 [[ 8.43399626e-01 5.37204947e-01 9.37631879e-03 2.39611537e+02] [-5.37174313e-01 8.43451721e-01 -5.74033318e-03 -5.90687450e+01] [-1.09922076e-02 -1.95322742e-04 9.99939565e-01 1.21855143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.64, Y:-59.08, Z:1.22 [[ 8.44377332e-01 5.35655898e-01 9.98400222e-03 2.39640601e+02] [-5.35620983e-01 8.44436336e-01 -6.11852166e-03 -5.90834041e+01] [-1.17082765e-02 -1.81300092e-04 9.99931439e-01 1.21872016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65232058799998 meters Centerline goodness [0,1] 0.9997536703123461 Centerline is valid? [True, True] Translation: X:239.67, Y:-59.10, Z:1.22 [[ 8.46986661e-01 5.31520225e-01 9.99231186e-03 2.39670730e+02] [-5.31484965e-01 8.47045592e-01 -6.12349754e-03 -5.90954116e+01] [-1.17187065e-02 -1.24242786e-04 9.99931326e-01 1.21818168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68232058799998 meters Centerline goodness [0,1] 0.9997535731887629 Centerline is valid? [True, True] Translation: X:239.70, Y:-59.11, Z:1.22 [[ 8.47820272e-01 5.30188098e-01 1.00680674e-02 2.39699062e+02] [-5.30152186e-01 8.47880044e-01 -6.17173659e-03 -5.91102059e+01] [-1.18086947e-02 -1.05084534e-04 9.99930269e-01 1.21797144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71232058799998 meters Centerline goodness [0,1] 0.9998521657714483 Centerline is valid? [True, True] Translation: X:239.73, Y:-59.13, Z:1.22 [[ 8.49262338e-01 5.27886849e-01 9.43166860e-03 2.39727019e+02] [-5.27855171e-01 8.49314706e-01 -5.78339710e-03 -5.91253086e+01] [-1.10634341e-02 -6.69336996e-05 9.99938796e-01 1.21830189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74232058799998 meters Centerline goodness [0,1] 0.9997536460386283 Centerline is valid? [True, True] Translation: X:239.76, Y:-59.14, Z:1.22 [[ 8.49571500e-01 5.27384006e-01 9.71473112e-03 2.39756053e+02] [-5.27350331e-01 8.49627039e-01 -5.96001846e-03 -5.91411905e+01] [-1.13971167e-02 -5.96048565e-05 9.99935049e-01 1.21843169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77232058799999 meters Centerline goodness [0,1] 0.9999507970871876 Centerline is valid? [True, True] Translation: X:239.79, Y:-59.16, Z:1.22 [[ 8.49317336e-01 5.27802654e-01 9.18807597e-03 2.39785303e+02] [-5.27772542e-01 8.49367032e-01 -5.63824142e-03 -5.91559771e+01] [-1.07799276e-02 -6.05580289e-05 9.99941893e-01 1.21958370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.802320588 meters Centerline goodness [0,1] 0.9995573697929474 Centerline is valid? [True, True] Translation: X:239.82, Y:-59.17, Z:1.22 [[ 8.49351830e-01 5.27738672e-01 9.66246635e-03 2.39816408e+02] [-5.27705331e-01 8.49406788e-01 -5.93235466e-03 -5.91692744e+01] [-1.13380975e-02 -6.02787179e-05 9.99935720e-01 1.22179944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.832320588 meters Centerline goodness [0,1] 0.9996553421959625 Centerline is valid? [True, True] Translation: X:239.84, Y:-59.19, Z:1.22 [[ 8.49374166e-01 5.27696028e-01 1.00213899e-02 2.39844892e+02] [-5.27660130e-01 8.49433281e-01 -6.15542576e-03 -5.91862529e+01] [-1.17606958e-02 -5.96282768e-05 9.99930839e-01 1.22105963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.862320588 meters Centerline goodness [0,1] 0.9998520637112284 Centerline is valid? [True, True] Translation: X:239.87, Y:-59.20, Z:1.22 [[ 8.49865873e-01 5.26893249e-01 1.05594173e-02 2.39872884e+02] [-5.26853295e-01 8.49931469e-01 -6.48871870e-03 -5.92040177e+01] [-1.23936431e-02 -4.87232052e-05 9.99923195e-01 1.21921978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.892320588 meters Centerline goodness [0,1] 0.9996066089693155 Centerline is valid? [True, True] Translation: X:239.90, Y:-59.22, Z:1.22 [[ 8.50281085e-01 5.26237071e-01 9.82965859e-03 2.39900198e+02] [-5.26202388e-01 8.50337900e-01 -6.04175780e-03 -5.92203883e+01] [-1.15379282e-02 -3.51974484e-05 9.99933435e-01 1.21935857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.922320588 meters Centerline goodness [0,1] 0.99955723914006 Centerline is valid? [True, True] Translation: X:239.93, Y:-59.24, Z:1.22 [[ 8.51501130e-01 5.24253127e-01 1.02217185e-02 2.39929519e+02] [-5.24215442e-01 8.51562481e-01 -6.28587296e-03 -5.92364146e+01] [-1.19998205e-02 -5.95476598e-06 9.99928000e-01 1.21953594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.952320588 meters Centerline goodness [0,1] 0.999457111834962 Centerline is valid? [True, True] Translation: X:239.96, Y:-59.25, Z:1.22 [[ 8.52135782e-01 5.23249025e-01 8.66410360e-03 2.39957083e+02] [-5.23221884e-01 8.52179827e-01 -5.32937690e-03 -5.92535327e+01] [-1.01719656e-02 8.10414201e-06 9.99948264e-01 1.22196438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.982320588 meters Centerline goodness [0,1] 0.999753706713955 Centerline is valid? [True, True] Translation: X:239.98, Y:-59.27, Z:1.22 [[ 8.52329714e-01 5.22892760e-01 1.08267858e-02 2.39984100e+02] [-5.22850326e-01 8.52398476e-01 -6.66145746e-03 -5.92716628e+01] [-1.27119636e-02 1.69696276e-05 9.99919200e-01 1.22274410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.012320588 meters Centerline goodness [0,1] 0.9993588795186664 Centerline is valid? [True, True] Translation: X:240.01, Y:-59.29, Z:1.22 [[ 8.52057095e-01 5.23324843e-01 1.13937061e-02 2.40011734e+02] [-5.23277860e-01 8.52133269e-01 -7.01228332e-03 -5.92882363e+01] [-1.33786581e-02 1.27916249e-05 9.99910502e-01 1.22275945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.042320588 meters Centerline goodness [0,1] 0.9994582615119428 Centerline is valid? [True, True] Translation: X:240.04, Y:-59.31, Z:1.22 [[ 8.51456844e-01 5.24307631e-01 1.10792806e-02 2.40039116e+02] [-5.24263263e-01 8.51528924e-01 -6.82081588e-03 -5.93050024e+01] [-1.30105337e-02 -8.29430427e-07 9.99915359e-01 1.22233113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.072320588 meters Centerline goodness [0,1] 0.9995075589698134 Centerline is valid? [True, True] Translation: X:240.07, Y:-59.32, Z:1.22 [[ 8.51559304e-01 5.24165685e-01 9.85330300e-03 2.40065790e+02] [-5.24130561e-01 8.51616308e-01 -6.06794694e-03 -5.93231674e+01] [-1.15718431e-02 2.79944416e-06 9.99933044e-01 1.22091449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.102320588 meters Centerline goodness [0,1] 0.9996553930980161 Centerline is valid? [True, True] Translation: X:240.09, Y:-59.34, Z:1.22 [[ 8.51945429e-01 5.23526080e-01 1.04608502e-02 2.40092729e+02] [-5.23486420e-01 8.52009650e-01 -6.44395251e-03 -5.93415121e+01] [-1.22863225e-02 1.37828561e-05 9.99924520e-01 1.22023545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.132320588 meters Centerline goodness [0,1] 0.9993108879700728 Centerline is valid? [True, True] Translation: X:240.12, Y:-59.36, Z:1.22 [[ 8.52487907e-01 5.22634395e-01 1.08469696e-02 2.40119483e+02] [-5.22591656e-01 8.52556912e-01 -6.68373957e-03 -5.93601507e+01] [-1.27408111e-02 2.92713222e-05 9.99918832e-01 1.22103363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.162320588 meters Centerline goodness [0,1] 0.9993102089081592 Centerline is valid? [True, True] Translation: X:240.15, Y:-59.38, Z:1.22 [[ 8.52255677e-01 5.23009846e-01 1.09982776e-02 2.40147310e+02] [-5.22965894e-01 8.52326640e-01 -6.78034418e-03 -5.93777865e+01] [-1.29203118e-02 2.68627232e-05 9.99916529e-01 1.22153966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.192320588 meters Centerline goodness [0,1] 0.9996053085993389 Centerline is valid? [True, True] Translation: X:240.18, Y:-59.39, Z:1.22 [[ 8.51840252e-01 5.23683797e-01 1.11115269e-02 2.40175758e+02] [-5.23638953e-01 8.51912719e-01 -6.85320169e-03 -5.93947944e+01] [-1.30549618e-02 1.94047359e-05 9.99914780e-01 1.22248895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.222320588 meters Centerline goodness [0,1] 0.9998027321595897 Centerline is valid? [True, True] Translation: X:240.20, Y:-59.41, Z:1.22 [[ 8.50278792e-01 5.26204674e-01 1.16024846e-02 2.40203013e+02] [-5.26155991e-01 8.50357949e-01 -7.15767388e-03 -5.94118370e+01] [-1.36326664e-02 -1.86984711e-05 9.99907071e-01 1.22297002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.252320588 meters Centerline goodness [0,1] 0.9999013758074856 Centerline is valid? [True, True] Translation: X:240.23, Y:-59.43, Z:1.22 [[ 8.48434019e-01 5.29176255e-01 1.14980742e-02 2.40230908e+02] [-5.29128669e-01 8.48511925e-01 -7.09685282e-03 -5.94299704e+01] [-1.35117391e-02 -6.27493474e-05 9.99908710e-01 1.22358251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.282320588 meters Centerline goodness [0,1] 0.9999508067689886 Centerline is valid? [True, True] Translation: X:240.26, Y:-59.45, Z:1.22 [[ 8.45689475e-01 5.33531905e-01 1.23700790e-02 2.40258419e+02] [-5.33477265e-01 8.45779928e-01 -7.63681864e-03 -5.94464318e+01] [-1.45368509e-02 -1.40778743e-04 9.99894324e-01 1.22437157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.29, Y:-59.46, Z:1.23 [[ 8.44852383e-01 5.34853044e-01 1.25168740e-02 2.40286686e+02] [-5.34797211e-01 8.44945084e-01 -7.72970302e-03 -5.94626983e+01] [-1.47103263e-02 -1.63531269e-04 9.99891784e-01 1.22502127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.32, Y:-59.48, Z:1.23 [[ 8.43819684e-01 5.36500457e-01 1.16447933e-02 2.40315502e+02] [-5.36452240e-01 8.43900011e-01 -7.19479255e-03 -5.94781749e+01] [-1.36870507e-02 -1.75767882e-04 9.99906312e-01 1.22564492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.34, Y:-59.50, Z:1.23 [[ 8.44156561e-01 5.35952512e-01 1.24340072e-02 2.40343975e+02] [-5.35897430e-01 8.44248112e-01 -7.68574660e-03 -5.94952814e+01] [-1.46165823e-02 -1.75379101e-04 9.99893157e-01 1.22578224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.37, Y:-59.51, Z:1.23 [[ 8.44332214e-01 5.35687125e-01 1.19338568e-02 2.40371001e+02] [-5.35636332e-01 8.44416531e-01 -7.37845016e-03 -5.95119082e+01] [-1.40296867e-02 -1.62344121e-04 9.99901566e-01 1.22670151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.40, Y:-59.53, Z:1.23 [[ 8.44805676e-01 5.34951342e-01 1.14207152e-02 2.40398564e+02] [-5.34904728e-01 8.44882857e-01 -7.06329152e-03 -5.95281934e+01] [-1.34276837e-02 -1.41885766e-04 9.99909835e-01 1.22806603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.43, Y:-59.54, Z:1.23 [[ 8.44996291e-01 5.34644623e-01 1.16788574e-02 2.40426983e+02] [-5.34595800e-01 8.45076983e-01 -7.22656101e-03 -5.95446682e+01] [-1.37331755e-02 -1.37050846e-04 9.99905686e-01 1.22771577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.45, Y:-59.56, Z:1.23 [[ 8.45685444e-01 5.33549898e-01 1.18590528e-02 2.40454501e+02] [-5.33499424e-01 8.45768581e-01 -7.33980006e-03 -5.95610673e+01] [-1.39461638e-02 -1.19635763e-04 9.99902740e-01 1.22664935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.48, Y:-59.58, Z:1.23 [[ 8.45976208e-01 5.33098593e-01 1.14081912e-02 2.40482131e+02] [-5.33051805e-01 8.46053119e-01 -7.06356523e-03 -5.95784913e+01] [-1.34175124e-02 -1.05548757e-04 9.99909976e-01 1.22702876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.51, Y:-59.60, Z:1.23 [[ 8.45622172e-01 5.33618992e-01 1.31876643e-02 2.40509746e+02] [-5.33556500e-01 8.45724988e-01 -8.16742084e-03 -5.95957846e+01] [-1.55114281e-02 -1.29811860e-04 9.99879682e-01 1.22789615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.54, Y:-59.61, Z:1.23 [[ 8.45010663e-01 5.34589007e-01 1.30985854e-02 2.40537245e+02] [-5.34527412e-01 8.45112166e-01 -8.11621151e-03 -5.96132560e+01] [-1.54086113e-02 -1.43267662e-04 9.99881270e-01 1.22835820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.56, Y:-59.63, Z:1.23 [[ 8.44861407e-01 5.34838908e-01 1.25117723e-02 2.40564335e+02] [-5.34782707e-01 8.44954036e-01 -7.75456644e-03 -5.96309000e+01] [-1.47193163e-02 -1.39545538e-04 9.99891655e-01 1.22870192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.59, Y:-59.65, Z:1.23 [[ 8.43400198e-01 5.37136890e-01 1.26517717e-02 2.40590569e+02] [-5.37079648e-01 8.43495068e-01 -7.84362478e-03 -5.96504452e+01] [-1.48848072e-02 -1.79694369e-04 9.99889199e-01 1.22800289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.62, Y:-59.67, Z:1.23 [[ 8.42307731e-01 5.38855251e-01 1.23573988e-02 2.40617123e+02] [-5.38800794e-01 8.42398348e-01 -7.66342292e-03 -5.96683624e+01] [-1.45393280e-02 -2.03215933e-04 9.99894278e-01 1.22790631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.64, Y:-59.69, Z:1.23 [[ 8.40581385e-01 5.41559914e-01 1.16531011e-02 2.40643896e+02] [-5.41511717e-01 8.40662123e-01 -7.22881383e-03 -5.96860006e+01] [-1.37111565e-02 -2.33884440e-04 9.99905970e-01 1.22906647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.67, Y:-59.70, Z:1.23 [[ 8.40473042e-01 5.41728076e-01 1.16514729e-02 2.40671564e+02] [-5.41679858e-01 8.40553768e-01 -7.23143809e-03 -5.97031045e+01] [-1.37111625e-02 -2.33539424e-04 9.99905970e-01 1.22923031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.70, Y:-59.72, Z:1.23 [[ 8.39594577e-01 5.43062261e-01 1.28190302e-02 2.40698028e+02] [-5.43004023e-01 8.39692386e-01 -7.95790283e-03 -5.97209338e+01] [-1.50856788e-02 -2.79372927e-04 9.99886166e-01 1.22962523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.792320588 meters Centerline goodness [0,1] 0.999950799507995 Centerline is valid? [True, True] Translation: X:240.73, Y:-59.74, Z:1.23 [[ 8.39061670e-01 5.43891142e-01 1.25674121e-02 2.40725841e+02] [-5.43835203e-01 8.39155733e-01 -7.80558357e-03 -5.97395938e+01] [-1.47914037e-02 -2.85235117e-04 9.99890561e-01 1.23101460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.75, Y:-59.76, Z:1.23 [[ 8.38206178e-01 5.45240108e-01 1.11188459e-02 2.40753761e+02] [-5.45196399e-01 8.38279877e-01 -6.90907560e-03 -5.97580858e+01] [-1.30878099e-02 -2.70724912e-04 9.99914314e-01 1.23093868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.78, Y:-59.77, Z:1.23 [[ 8.37741885e-01 5.45950308e-01 1.12603003e-02 2.40781398e+02] [-5.45905522e-01 8.37817510e-01 -6.99862832e-03 -5.97746175e+01] [-1.32549800e-02 -2.84016003e-04 9.99912109e-01 1.23061077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.81, Y:-59.79, Z:1.23 [[ 8.37820101e-01 5.45783045e-01 1.33546648e-02 2.40808168e+02] [-5.45719990e-01 8.37926463e-01 -8.30267708e-03 -5.97917444e+01] [-1.57216874e-02 -3.31757785e-04 9.99876352e-01 1.22986696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.84, Y:-59.81, Z:1.23 [[ 8.37496115e-01 5.46305248e-01 1.22814095e-02 2.40835027e+02] [-5.46251835e-01 8.37586104e-01 -7.64526992e-03 -5.98091178e+01] [-1.44633891e-02 -3.05858649e-04 9.99895353e-01 1.23157899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.86, Y:-59.83, Z:1.23 [[ 8.36891689e-01 5.47269778e-01 1.03966792e-02 2.40861464e+02] [-5.47231490e-01 8.36956222e-01 -6.47908348e-03 -5.98281744e+01] [-1.22473719e-02 -2.67099137e-04 9.99924962e-01 1.23202541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.89, Y:-59.85, Z:1.23 [[ 8.36465828e-01 5.47923341e-01 1.02435924e-02 2.40888789e+02] [-5.47886204e-01 8.36528505e-01 -6.38501207e-03 -5.98461960e+01] [-1.20675542e-02 -2.71478537e-04 9.99927148e-01 1.23184783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.002320588 meters Centerline goodness [0,1] 0.9999506367854675 Centerline is valid? [True, True] Translation: X:240.92, Y:-59.86, Z:1.23 [[ 8.35540265e-01 5.49319861e-01 1.09615518e-02 2.40915610e+02] [-5.49277347e-01 8.35612109e-01 -6.84098414e-03 -5.98639785e+01] [-1.29174938e-02 -3.05014367e-04 9.99916519e-01 1.23240493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.032320588 meters Centerline goodness [0,1] 0.9999015893322836 Centerline is valid? [True, True] Translation: X:240.94, Y:-59.88, Z:1.23 [[ 8.35160469e-01 5.49893660e-01 1.11334824e-02 2.40943753e+02] [-5.49849740e-01 8.35234617e-01 -6.95682836e-03 -5.98807831e+01] [-1.31245857e-02 -3.11674372e-04 9.99913820e-01 1.23275926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.062320588 meters Centerline goodness [0,1] 0.9999508454581203 Centerline is valid? [True, True] Translation: X:240.97, Y:-59.90, Z:1.23 [[ 8.35010708e-01 5.50145719e-01 9.83894643e-03 2.40971725e+02] [-5.50111364e-01 8.35068628e-01 -6.15415717e-03 -5.98974723e+01] [-1.16018787e-02 -2.73729103e-04 9.99932658e-01 1.23308861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.00, Y:-59.92, Z:1.23 [[ 8.34949345e-01 5.50225936e-01 1.05361964e-02 2.40999295e+02] [-5.50186447e-01 8.35015770e-01 -6.59823921e-03 -5.99158364e+01] [-1.24284125e-02 -2.87676965e-04 9.99922723e-01 1.23183798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.03, Y:-59.93, Z:1.23 [[ 8.35093588e-01 5.50008483e-01 1.04578815e-02 2.41026158e+02] [-5.49969484e-01 8.35159022e-01 -6.55553423e-03 -5.99334436e+01] [-1.23395935e-02 -2.77031098e-04 9.99923826e-01 1.23228106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.06, Y:-59.95, Z:1.23 [[ 8.35553694e-01 5.49261352e-01 1.27276256e-02 2.41055088e+02] [-5.49203362e-01 8.35650565e-01 -7.98748570e-03 -5.99502880e+01] [-1.50230647e-02 -3.16081572e-04 9.99887097e-01 1.23268004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.08, Y:-59.97, Z:1.23 [[ 8.35145704e-01 5.49890767e-01 1.23206481e-02 2.41084009e+02] [-5.49836363e-01 8.35236523e-01 -7.74112794e-03 -5.99671028e+01] [-1.45474301e-02 -3.09370613e-04 9.99894133e-01 1.23333897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.11, Y:-59.98, Z:1.23 [[ 8.35178226e-01 5.49862215e-01 1.13523172e-02 2.41112049e+02] [-5.49815928e-01 8.35255330e-01 -7.13989156e-03 -5.99836177e+01] [-1.34080400e-02 -2.78602837e-04 9.99910069e-01 1.23236997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.14, Y:-60.00, Z:1.23 [[ 8.35059930e-01 5.50041136e-01 1.13869070e-02 2.41140218e+02] [-5.49994561e-01 8.35137516e-01 -7.16329638e-03 -6.00008802e+01] [-1.34497409e-02 -2.80955162e-04 9.99909509e-01 1.23252052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.17, Y:-60.02, Z:1.23 [[ 8.34953076e-01 5.50165824e-01 1.30739414e-02 2.41168433e+02] [-5.50104290e-01 8.35055367e-01 -8.23431586e-03 -6.00172840e+01] [-1.54477041e-02 -3.16763902e-04 9.99880627e-01 1.23290055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.20, Y:-60.03, Z:1.23 [[ 8.34774724e-01 5.50422713e-01 1.36380494e-02 2.41196974e+02] [-5.50355623e-01 8.34886058e-01 -8.59993074e-03 -6.00332263e+01] [-1.61198145e-02 -3.26772365e-04 9.99870014e-01 1.23417854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.23, Y:-60.05, Z:1.23 [[ 8.34184621e-01 5.51322513e-01 1.33979420e-02 2.41225844e+02] [-5.51257722e-01 8.34292142e-01 -8.45848609e-03 -6.00494719e+01] [-1.58411516e-02 -3.29779988e-04 9.99874467e-01 1.23468236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.25, Y:-60.07, Z:1.23 [[ 8.33546826e-01 5.52296520e-01 1.29708763e-02 2.41254073e+02] [-5.52235763e-01 8.33647675e-01 -8.19856633e-03 -6.00669930e+01] [-1.53411805e-02 -3.29092816e-04 9.99882263e-01 1.23437937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.28, Y:-60.08, Z:1.23 [[ 8.34791585e-01 5.50397008e-01 1.36434325e-02 2.41282705e+02] [-5.50329519e-01 8.34903011e-01 -8.62449892e-03 -6.00828634e+01] [-1.61378412e-02 -3.08724499e-04 9.99869729e-01 1.23456797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.31, Y:-60.10, Z:1.23 [[ 8.35644085e-01 5.49087895e-01 1.41931879e-02 2.41310540e+02] [-5.49014485e-01 8.35764561e-01 -8.98297391e-03 -6.00997489e+01] [-1.67946057e-02 -2.85696731e-04 9.99858920e-01 1.23418201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.34, Y:-60.12, Z:1.23 [[ 8.36020350e-01 5.48538836e-01 1.32333004e-02 2.41337692e+02] [-5.48474816e-01 8.36125041e-01 -8.38404109e-03 -6.01167919e+01] [-1.56636660e-02 -2.48903043e-04 9.99877286e-01 1.23439672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.37, Y:-60.13, Z:1.23 [[ 8.37431069e-01 5.46334525e-01 1.50927422e-02 2.41366313e+02] [-5.46250691e-01 8.37567033e-01 -9.57328565e-03 -6.01338928e+01] [-1.78713998e-02 -2.27454002e-04 9.99840268e-01 1.23355277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.39, Y:-60.15, Z:1.23 [[ 8.39178266e-01 5.43677804e-01 1.39385129e-02 2.41394901e+02] [-5.43605928e-01 8.39294001e-01 -8.84163312e-03 -6.01483860e+01] [-1.65055100e-02 -1.57351901e-04 9.99863762e-01 1.23419674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.42, Y:-60.17, Z:1.23 [[ 8.39686630e-01 5.42884576e-01 1.42372712e-02 2.41423006e+02] [-5.42809397e-01 8.39807310e-01 -9.03552712e-03 -6.01659828e+01] [-1.68618127e-02 -1.41113288e-04 9.99857820e-01 1.23306649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.45, Y:-60.18, Z:1.23 [[ 8.40591323e-01 5.41488480e-01 1.40161937e-02 2.41449599e+02] [-5.41415388e-01 8.40708162e-01 -8.89742779e-03 -6.01841856e+01] [-1.66013831e-02 -1.09482327e-04 9.99862182e-01 1.23386721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.48, Y:-60.20, Z:1.23 [[ 8.41350225e-01 5.40314360e-01 1.37909591e-02 2.41475009e+02] [-5.40243398e-01 8.41463241e-01 -8.75701432e-03 -6.02036351e+01] [-1.63361257e-02 -8.27586384e-05 9.99866553e-01 1.23413450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.50, Y:-60.22, Z:1.23 [[ 8.41396966e-01 5.40239525e-01 1.38708677e-02 2.41502500e+02] [-5.40167520e-01 8.41511290e-01 -8.82039455e-03 -6.02224976e+01] [-1.64376176e-02 -7.11390063e-05 9.99864891e-01 1.23478220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.53, Y:-60.24, Z:1.24 [[ 8.42093151e-01 5.39138793e-01 1.44390607e-02 2.41528906e+02] [-5.39060573e-01 8.42216931e-01 -9.18363608e-03 -6.02420280e+01] [-1.71120758e-02 -5.00512740e-05 9.99853576e-01 1.23504014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.56, Y:-60.26, Z:1.24 [[ 8.41768643e-01 5.39654688e-01 1.40843979e-02 2.41556183e+02] [-5.39580131e-01 8.41886462e-01 -8.97034191e-03 -6.02603131e+01] [-1.66983510e-02 -4.87087324e-05 9.99860572e-01 1.23552453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.58, Y:-60.28, Z:1.24 [[ 8.41327784e-01 5.40335114e-01 1.43361146e-02 2.41584190e+02] [-5.40257788e-01 8.41449916e-01 -9.14119369e-03 -6.02783276e+01] [-1.70024303e-02 -5.44573107e-05 9.99855447e-01 1.23554860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.61, Y:-60.30, Z:1.24 [[ 8.41051682e-01 5.40749512e-01 1.49007790e-02 2.41610043e+02] [-5.40665862e-01 8.41183667e-01 -9.51124165e-03 -6.02983155e+01] [-1.76774912e-02 -5.68967376e-05 9.99843739e-01 1.23657079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.64, Y:-60.32, Z:1.24 [[ 8.40911884e-01 5.40960602e-01 1.51271556e-02 2.41636884e+02] [-5.40874220e-01 8.41047932e-01 -9.66716646e-03 -6.03179353e+01] [-1.79522192e-02 -5.26533429e-05 9.99838845e-01 1.23658462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.66, Y:-60.34, Z:1.23 [[ 8.41527895e-01 5.40045715e-01 1.34695256e-02 2.41663081e+02] [-5.39976971e-01 8.41635685e-01 -8.61657613e-03 -6.03373854e+01] [-1.59897784e-02 -2.21444680e-05 9.99872155e-01 1.23466015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.69, Y:-60.36, Z:1.23 [[ 8.41678230e-01 5.39827410e-01 1.28111519e-02 2.41691398e+02] [-5.39765045e-01 8.41775723e-01 -8.20539916e-03 -6.03551755e+01] [-1.52136161e-02 -8.70616081e-06 9.99884266e-01 1.23439616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.72, Y:-60.37, Z:1.23 [[ 8.41898166e-01 5.39477352e-01 1.31020658e-02 2.41718656e+02] [-5.39411929e-01 8.42000111e-01 -8.40143621e-03 -6.03733477e+01] [-1.55643254e-02 5.74314329e-06 9.99878869e-01 1.23346516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.74, Y:-60.40, Z:1.24 [[ 8.42634539e-01 5.38259075e-01 1.56269418e-02 2.41742292e+02] [-5.38165628e-01 8.42779429e-01 -1.00295234e-02 -6.03957750e+01] [-1.85685471e-02 4.13398898e-05 9.99827589e-01 1.23528663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.77, Y:-60.42, Z:1.24 [[ 8.42813148e-01 5.37967348e-01 1.60352645e-02 2.41769076e+02] [-5.37868670e-01 8.42965675e-01 -1.03036473e-02 -6.04152499e+01] [-1.90602034e-02 5.91829959e-05 9.99818336e-01 1.23611142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.79, Y:-60.43, Z:1.24 [[ 8.41695187e-01 5.39746535e-01 1.49295201e-02 2.41794664e+02] [-5.39661110e-01 8.41827582e-01 -9.60257643e-03 -6.04341179e+01] [-1.77510391e-02 2.55609911e-05 9.99842438e-01 1.23590976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.82, Y:-60.45, Z:1.23 [[ 8.40943709e-01 5.40894794e-01 1.57003120e-02 2.41821367e+02] [-5.40800313e-01 8.41090258e-01 -1.01093779e-02 -6.04527497e+01] [-1.86734893e-02 1.06840855e-05 9.99825635e-01 1.23453464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.85, Y:-60.47, Z:1.23 [[ 8.38673679e-01 5.44455740e-01 1.39430331e-02 2.41847223e+02] [-5.44381677e-01 8.38789571e-01 -8.98031712e-03 -6.04729506e+01] [-1.65846559e-02 -5.87761283e-05 9.99862463e-01 1.23455144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.87, Y:-60.49, Z:1.24 [[ 8.37562584e-01 5.46153561e-01 1.43250087e-02 2.41874143e+02] [-5.46075414e-01 8.37685072e-01 -9.23914652e-03 -6.04912865e+01] [-1.70458387e-02 -8.41716312e-05 9.99854706e-01 1.23533815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.90, Y:-60.51, Z:1.24 [[ 8.35497391e-01 5.49314517e-01 1.40595671e-02 2.41899844e+02] [-5.49239509e-01 8.35615667e-01 -9.07847756e-03 -6.05122753e+01] [-1.67353341e-02 -1.37025442e-04 9.99859945e-01 1.23802868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.93, Y:-60.53, Z:1.24 [[ 8.34641487e-01 5.50587677e-01 1.50598155e-02 2.41925039e+02] [-5.50501657e-01 8.34777325e-01 -9.73359527e-03 -6.05327987e+01] [-1.79307901e-02 -1.66390969e-04 9.99839217e-01 1.23743701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.95, Y:-60.55, Z:1.24 [[ 8.33848234e-01 5.51810271e-01 1.42319131e-02 2.41950790e+02] [-5.51733437e-01 8.33969661e-01 -9.20974384e-03 -6.05531071e+01] [-1.69510150e-02 -1.72693711e-04 9.99856306e-01 1.23825177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.98, Y:-60.57, Z:1.24 [[ 8.32695972e-01 5.53555781e-01 1.39073746e-02 2.41977758e+02] [-5.53482480e-01 8.32812079e-01 -9.01030974e-03 -6.05730418e+01] [-1.65699386e-02 -1.94639573e-04 9.99862690e-01 1.23746784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.01, Y:-60.59, Z:1.24 [[ 8.31736688e-01 5.54994267e-01 1.39801679e-02 2.42005143e+02] [-5.54920225e-01 8.31854144e-01 -9.06793607e-03 -6.05909908e+01] [-1.66621132e-02 -2.15742824e-04 9.99861154e-01 1.23703624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.03, Y:-60.61, Z:1.24 [[ 8.30275616e-01 5.57132093e-01 1.56917903e-02 2.42029645e+02] [-5.57039010e-01 8.30423838e-01 -1.01877219e-02 -6.06122117e+01] [-1.87067435e-02 -2.82322231e-04 9.99824974e-01 1.23604324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.06, Y:-60.63, Z:1.24 [[ 8.29360611e-01 5.58493723e-01 1.56760667e-02 2.42055564e+02] [-5.58400843e-01 8.29508692e-01 -1.01896675e-02 -6.06325445e+01] [-1.86942990e-02 -3.02619994e-04 9.99825201e-01 1.23678095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.08, Y:-60.65, Z:1.24 [[ 8.28558741e-01 5.59675579e-01 1.59266757e-02 2.42082500e+02] [-5.59579698e-01 8.28711736e-01 -1.03643902e-02 -6.06518254e+01] [-1.89993192e-02 -3.24738313e-04 9.99819444e-01 1.23707525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.11, Y:-60.67, Z:1.24 [[ 8.27205294e-01 5.61649334e-01 1.67757805e-02 2.42109722e+02] [-5.61543152e-01 8.27375296e-01 -1.09273948e-02 -6.06697999e+01] [-2.00172304e-02 -3.81125764e-04 9.99799563e-01 1.23669518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.14, Y:-60.69, Z:1.24 [[ 8.25776276e-01 5.63783394e-01 1.55507959e-02 2.42137380e+02] [-5.63692310e-01 8.25922594e-01 -1.01414282e-02 -6.06883549e+01] [-1.85613225e-02 -3.91313202e-04 9.99827647e-01 1.23688456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.16, Y:-60.71, Z:1.24 [[ 8.23552688e-01 5.67021021e-01 1.57521924e-02 2.42162981e+02] [-5.66927968e-01 8.23703192e-01 -1.02825739e-02 -6.07085379e+01] [-1.88055667e-02 -4.62116992e-04 9.99823053e-01 1.23760965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.19, Y:-60.73, Z:1.24 [[ 8.22013577e-01 5.69272156e-01 1.49295686e-02 2.42190079e+02] [-5.69188767e-01 8.22149003e-01 -9.75523459e-03 -6.07255750e+01] [-1.78277133e-02 -4.78807440e-04 9.99840959e-01 1.23863606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.22, Y:-60.74, Z:1.24 [[ 8.20648470e-01 5.71265393e-01 1.38542338e-02 2.42217311e+02] [-5.71193731e-01 8.20765267e-01 -9.06083607e-03 -6.07417909e+01] [-1.65472160e-02 -4.77690239e-04 9.99862971e-01 1.23858803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.25, Y:-60.76, Z:1.24 [[ 8.18475445e-01 5.74343879e-01 1.50683232e-02 2.42245077e+02] [-5.74259461e-01 8.18613934e-01 -9.86399469e-03 -6.07581433e+01] [-1.80004643e-02 -5.79689696e-04 9.99837810e-01 1.23850066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.27, Y:-60.78, Z:1.24 [[ 8.17376947e-01 5.75889200e-01 1.57020908e-02 2.42272058e+02] [-5.75797631e-01 8.17527510e-01 -1.02887408e-02 -6.07756002e+01] [-1.87620659e-02 -6.31447084e-04 9.99823778e-01 1.23987682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.30, Y:-60.79, Z:1.24 [[ 8.15363950e-01 5.78766236e-01 1.45352358e-02 2.42300380e+02] [-5.78688063e-01 8.15493248e-01 -9.53354182e-03 -6.07917450e+01] [-1.73710788e-02 -6.38061154e-04 9.99848908e-01 1.24102628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.33, Y:-60.81, Z:1.24 [[ 8.14370771e-01 5.80181165e-01 1.37863159e-02 2.42328656e+02] [-5.80110900e-01 8.14487215e-01 -9.05099268e-03 -6.08067868e+01] [-1.64799935e-02 -6.26728262e-04 9.99863999e-01 1.24084384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.36, Y:-60.82, Z:1.24 [[ 8.12253143e-01 5.83157139e-01 1.31370839e-02 2.42357918e+02] [-5.83093702e-01 8.12359111e-01 -8.62611791e-03 -6.08210111e+01] [-1.57024120e-02 -6.53559514e-04 9.99876496e-01 1.23922488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.39, Y:-60.84, Z:1.24 [[ 8.10828147e-01 5.85134456e-01 1.32432519e-02 2.42385311e+02] [-5.85070094e-01 8.10935998e-01 -8.70584639e-03 -6.08376275e+01] [-1.58335204e-02 -6.89285314e-04 9.99874404e-01 1.23963737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.41, Y:-60.86, Z:1.24 [[ 8.10538135e-01 5.85536222e-01 1.32387793e-02 2.42412677e+02] [-5.85471803e-01 8.10645951e-01 -8.71264741e-03 -6.08552715e+01] [-1.58335335e-02 -6.88998995e-04 9.99874404e-01 1.23980139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.44, Y:-60.87, Z:1.24 [[ 8.09128068e-01 5.87484733e-01 1.31703784e-02 2.42440659e+02] [-5.87421112e-01 8.09234932e-01 -8.67542149e-03 -6.08707302e+01] [-1.57546080e-02 -7.17031312e-04 9.99875631e-01 1.23923418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.47, Y:-60.88, Z:1.24 [[ 8.07518439e-01 5.89724110e-01 1.18086538e-02 2.42471658e+02] [-5.89673098e-01 8.07604493e-01 -7.78592294e-03 -6.08828371e+01] [-1.41282683e-02 -6.75969109e-04 9.99899963e-01 1.24057933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.50, Y:-60.90, Z:1.24 [[ 8.07038166e-01 5.90378275e-01 1.19537000e-02 2.42500980e+02] [-5.90325949e-01 8.07126395e-01 -7.89028648e-03 -6.08984597e+01] [-1.43064005e-02 -6.88816990e-04 9.99897421e-01 1.24049389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.53, Y:-60.91, Z:1.24 [[ 8.07224292e-01 5.90107313e-01 1.27397651e-02 2.42530866e+02] [-5.90047733e-01 8.07324492e-01 -8.41643764e-03 -6.09111344e+01] [-1.52517258e-02 -7.23116582e-04 9.99883424e-01 1.24059499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.802320588 meters Centerline goodness [0,1] 0.9999507874015748 Centerline is valid? [True, True] Translation: X:242.56, Y:-60.93, Z:1.24 [[ 8.06939350e-01 5.90488595e-01 1.31188506e-02 2.42561048e+02] [-5.90425316e-01 8.07045640e-01 -8.67643184e-03 -6.09262236e+01] [-1.57108452e-02 -7.44347219e-04 9.99876300e-01 1.24067552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.59, Y:-60.94, Z:1.24 [[ 8.08856609e-01 5.87859361e-01 1.31285519e-02 2.42591511e+02] [-5.87795653e-01 8.08962849e-01 -8.68219594e-03 -6.09367696e+01] [-1.57244209e-02 -6.94254192e-04 9.99876123e-01 1.24176503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.62, Y:-60.95, Z:1.24 [[ 8.10011508e-01 5.86260934e-01 1.33968040e-02 2.42619755e+02] [-5.86194209e-01 8.10122010e-01 -8.87009973e-03 -6.09518840e+01] [-1.60532388e-02 -6.68246084e-04 9.99870915e-01 1.24149836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.65, Y:-60.97, Z:1.24 [[ 8.11807768e-01 5.83809619e-01 1.15963889e-02 2.42647786e+02] [-5.83759376e-01 8.11890412e-01 -7.67790696e-03 -6.09674763e+01] [-1.38974329e-02 -5.36516200e-04 9.99903282e-01 1.24241299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.68, Y:-60.98, Z:1.24 [[ 8.14718274e-01 5.79744817e-01 1.14052845e-02 2.42676495e+02] [-5.79695805e-01 8.14797973e-01 -7.55226021e-03 -6.09809638e+01] [-1.36713864e-02 -4.58631161e-04 9.99906437e-01 1.24284908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.70, Y:-61.00, Z:1.24 [[ 8.15795699e-01 5.78188358e-01 1.32514227e-02 2.42704605e+02] [-5.78121816e-01 8.15903168e-01 -8.78563622e-03 -6.09960609e+01] [-1.58916303e-02 -4.93652305e-04 9.99873598e-01 1.24250900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.73, Y:-61.01, Z:1.24 [[ 8.18551030e-01 5.74276599e-01 1.34387365e-02 2.42734859e+02] [-5.74207611e-01 8.18661230e-01 -8.91120403e-03 -6.10095164e+01] [-1.61192685e-02 -4.22349559e-04 9.99869987e-01 1.24443532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.76, Y:-61.03, Z:1.24 [[ 8.19698541e-01 5.72629525e-01 1.37742048e-02 2.42762518e+02] [-5.72556637e-01 8.19814171e-01 -9.14452702e-03 -6.10257957e+01] [-1.65287145e-02 -3.90756947e-04 9.99863315e-01 1.24432705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.79, Y:-61.04, Z:1.24 [[ 8.22082655e-01 5.69213624e-01 1.32649393e-02 2.42789108e+02] [-5.69145521e-01 8.22189611e-01 -8.81016971e-03 -6.10448326e+01] [-1.59211639e-02 -3.06993077e-04 9.99873203e-01 1.24277833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.82, Y:-61.06, Z:1.24 [[ 8.22747292e-01 5.68263703e-01 1.27772649e-02 2.42815485e+02] [-5.68200252e-01 8.22846457e-01 -8.49602941e-03 -6.10627587e+01] [-1.53417123e-02 -2.69959944e-04 9.99882273e-01 1.24219982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.84, Y:-61.08, Z:1.24 [[ 8.23640479e-01 5.66976273e-01 1.24204065e-02 2.42843165e+02] [-5.66916047e-01 8.23734091e-01 -8.26704363e-03 -6.10796114e+01] [-1.49183298e-02 -2.32255944e-04 9.99888689e-01 1.24263770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.87, Y:-61.10, Z:1.24 [[ 8.26168281e-01 5.63288473e-01 1.23315783e-02 2.42871183e+02] [-5.63228687e-01 8.26260292e-01 -8.20833806e-03 -6.10950276e+01] [-1.48127557e-02 -1.64030096e-04 9.99890272e-01 1.24218802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.90, Y:-61.11, Z:1.24 [[ 8.27525118e-01 5.61336455e-01 1.01765897e-02 2.42898477e+02] [-5.61295558e-01 8.27587683e-01 -6.77666032e-03 -6.11130880e+01] [-1.22260068e-02 -1.04217966e-04 9.99925254e-01 1.24246195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.92, Y:-61.13, Z:1.24 [[ 8.28982486e-01 5.59148284e-01 1.18842321e-02 2.42923259e+02] [-5.59092257e-01 8.29067663e-01 -7.91571327e-03 -6.11335446e+01] [-1.42788901e-02 -8.23945052e-05 9.99898048e-01 1.24383127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.95, Y:-61.15, Z:1.24 [[ 8.29390913e-01 5.58534542e-01 1.22425450e-02 2.42950781e+02] [-5.58474960e-01 8.29481260e-01 -8.15831531e-03 -6.11522827e+01] [-1.47116626e-02 -7.07222730e-05 9.99891775e-01 1.24409890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.98, Y:-61.17, Z:1.24 [[ 8.29687034e-01 5.58108020e-01 1.16131008e-02 2.42977815e+02] [-5.58054340e-01 8.29768302e-01 -7.74074424e-03 -6.11696858e+01] [-1.39563543e-02 -5.83461643e-05 9.99902604e-01 1.24479445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.01, Y:-61.19, Z:1.24 [[ 8.29165424e-01 5.58888011e-01 1.13530051e-02 2.43005447e+02] [-5.58836731e-01 8.29243141e-01 -7.57108146e-03 -6.11870185e+01] [-1.36457883e-02 -6.67973152e-05 9.99906890e-01 1.24306338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.03, Y:-61.21, Z:1.24 [[ 8.27812662e-01 5.60887240e-01 1.14761178e-02 2.43031346e+02] [-5.60835009e-01 8.27892200e-01 -7.65494923e-03 -6.12053426e+01] [-1.37945518e-02 -9.93447543e-05 9.99904846e-01 1.24311849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.06, Y:-61.22, Z:1.25 [[ 8.26305956e-01 5.63114371e-01 1.09851384e-02 2.43058505e+02] [-5.63066663e-01 8.26378962e-01 -7.33101251e-03 -6.12246738e+01] [-1.32060858e-02 -1.27705947e-04 9.99912788e-01 1.24582881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.09, Y:-61.24, Z:1.25 [[ 8.25388482e-01 5.64453053e-01 1.12518810e-02 2.43086098e+02] [-5.64403101e-01 8.25465159e-01 -7.51076676e-03 -6.12420358e+01] [-1.35275109e-02 -1.51296130e-04 9.99908488e-01 1.24553814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.11, Y:-61.26, Z:1.25 [[ 8.24561931e-01 5.65668022e-01 1.08309859e-02 2.43114863e+02] [-5.65621796e-01 8.24633047e-01 -7.23336919e-03 -6.12579013e+01] [-1.30232745e-02 -1.61880800e-04 9.99915180e-01 1.24510530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43232058799998 meters Centerline goodness [0,1] 0.9999507728660038 Centerline is valid? [True, True] Translation: X:243.14, Y:-61.27, Z:1.25 [[ 8.24455923e-01 5.65831891e-01 1.03296706e-02 2.43141803e+02] [-5.65789837e-01 8.24520617e-01 -6.90020452e-03 -6.12749245e+01] [-1.24213822e-02 -1.55508187e-04 9.99922840e-01 1.24568786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.17, Y:-61.29, Z:1.25 [[ 8.23816232e-01 5.66757636e-01 1.06112452e-02 2.43169112e+02] [-5.66713310e-01 8.23884550e-01 -7.09030038e-03 -6.12917447e+01] [-1.27609229e-02 -1.72429369e-04 9.99918561e-01 1.24585402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.20, Y:-61.31, Z:1.25 [[ 8.23313662e-01 5.67483625e-01 1.08143198e-02 2.43196312e+02] [-5.67437621e-01 8.23384662e-01 -7.22807974e-03 -6.13086469e+01] [-1.30061620e-02 -1.85475113e-04 9.99915399e-01 1.24630279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.22, Y:-61.33, Z:1.25 [[ 8.22931368e-01 5.68035834e-01 1.09204323e-02 2.43223368e+02] [-5.67988944e-01 8.23003799e-01 -7.30108201e-03 -6.13267742e+01] [-1.31348334e-02 -1.94395383e-04 9.99913715e-01 1.24711459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.25, Y:-61.34, Z:1.25 [[ 8.22574697e-01 5.68525578e-01 1.22284637e-02 2.43250310e+02] [-5.68466803e-01 8.22665556e-01 -8.17784124e-03 -6.13445728e+01] [-1.47092478e-02 -2.24590383e-04 9.99891788e-01 1.24631192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.28, Y:-61.36, Z:1.25 [[ 8.22455896e-01 5.68710436e-01 1.16077579e-02 2.43277870e+02] [-5.68657463e-01 8.22537777e-01 -7.76500255e-03 -6.13619323e+01] [-1.39638574e-02 -2.14466051e-04 9.99902478e-01 1.24676940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.30, Y:-61.38, Z:1.25 [[ 8.22514233e-01 5.68606261e-01 1.25402125e-02 2.43304762e+02] [-5.68544388e-01 8.22609791e-01 -8.39110868e-03 -6.13787875e+01] [-1.50869385e-02 -2.27861111e-04 9.99886160e-01 1.24635009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.33, Y:-61.40, Z:1.25 [[ 8.22941946e-01 5.68017220e-01 1.10901655e-02 2.43332557e+02] [-5.67968746e-01 8.23016647e-01 -7.42307192e-03 -6.13952667e+01] [-1.33438235e-02 -1.90110140e-04 9.99910949e-01 1.24781522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.36, Y:-61.41, Z:1.25 [[ 8.23560481e-01 5.67116088e-01 1.12905560e-02 2.43360531e+02] [-5.67065697e-01 8.23637852e-01 -7.56197352e-03 -6.14122154e+01] [-1.35878462e-02 -1.74744479e-04 9.99907666e-01 1.24896951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.39, Y:-61.43, Z:1.25 [[ 8.24240719e-01 5.66137283e-01 1.07617021e-02 2.43387147e+02] [-5.66091400e-01 8.24310957e-01 -7.20920074e-03 -6.14301227e+01] [-1.29523863e-02 -1.49990211e-04 9.99916103e-01 1.24920496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.732320588 meters Centerline goodness [0,1] 0.9999013758074856 Centerline is valid? [True, True] Translation: X:243.41, Y:-61.45, Z:1.25 [[ 8.24364869e-01 5.65970990e-01 9.97000803e-03 2.43413294e+02] [-5.65931574e-01 8.24425145e-01 -6.68083157e-03 -6.14481862e+01] [-1.20006822e-02 -1.34899495e-04 9.99927980e-01 1.24914903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.762320588 meters Centerline goodness [0,1] 0.9999507486209613 Centerline is valid? [True, True] Translation: X:243.44, Y:-61.47, Z:1.25 [[ 8.24998764e-01 5.65048105e-01 9.88319904e-03 2.43439531e+02] [-5.65009284e-01 8.25057952e-01 -6.62454635e-03 -6.14663956e+01] [-1.18973993e-02 -1.18856661e-04 9.99929216e-01 1.24909007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.47, Y:-61.48, Z:1.25 [[ 8.25132591e-01 5.64865924e-01 9.09366650e-03 2.43466768e+02] [-5.64833027e-01 8.25182693e-01 -6.09715034e-03 -6.14843362e+01] [-1.09480087e-02 -1.05445709e-04 9.99940063e-01 1.25025197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.49, Y:-61.50, Z:1.25 [[ 8.24934258e-01 5.65158175e-01 8.92788969e-03 2.43493773e+02] [-5.65126451e-01 8.24982561e-01 -5.98900176e-03 -6.15030048e+01] [-1.07500866e-02 -1.04853899e-04 9.99942211e-01 1.25092956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.52, Y:-61.52, Z:1.25 [[ 8.24677212e-01 5.65546067e-01 8.07108350e-03 2.43520118e+02] [-5.65520146e-01 8.24716701e-01 -5.41548223e-03 -6.15216291e+01] [-9.71906203e-03 -9.83355317e-05 9.99952764e-01 1.25150221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.882320588 meters Centerline goodness [0,1] 0.9999016522423289 Centerline is valid? [True, True] Translation: X:243.55, Y:-61.54, Z:1.25 [[ 8.23983015e-01 5.66558672e-01 7.95378722e-03 2.43547066e+02] [-5.66533520e-01 8.24021395e-01 -5.33952194e-03 -6.15415964e+01] [-9.57924330e-03 -1.06411689e-04 9.99954112e-01 1.25131206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.912320588 meters Centerline goodness [0,1] 0.9999505586868387 Centerline is valid? [True, True] Translation: X:243.57, Y:-61.56, Z:1.25 [[ 8.23542499e-01 5.67218350e-01 6.41055897e-03 2.43573148e+02] [-5.67202023e-01 8.23567444e-01 -4.30457639e-03 -6.15612506e+01] [-7.72116239e-03 -9.10804248e-05 9.99970187e-01 1.25127811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.942320588 meters Centerline goodness [0,1] 0.9998028876952644 Centerline is valid? [True, True] Translation: X:243.60, Y:-61.58, Z:1.25 [[ 8.23504405e-01 5.67267751e-01 6.91328019e-03 2.43600317e+02] [-5.67248746e-01 8.23533417e-01 -4.64450341e-03 -6.15801079e+01] [-8.32799426e-03 -9.67805066e-05 9.99965317e-01 1.25052082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.972320588 meters Centerline goodness [0,1] 0.9999507486209613 Centerline is valid? [True, True] Translation: X:243.63, Y:-61.60, Z:1.25 [[ 8.24066869e-01 5.66438756e-01 7.80580667e-03 2.43626561e+02] [-5.66414469e-01 8.24103832e-01 -5.24623541e-03 -6.16005587e+01] [-9.40446624e-03 -9.80730531e-05 9.99955772e-01 1.25206940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.65, Y:-61.62, Z:1.25 [[ 8.24273451e-01 5.66125458e-01 8.67430987e-03 2.43653912e+02] [-5.66095424e-01 8.24319086e-01 -5.83233198e-03 -6.16197870e+01] [-1.04522308e-02 -1.03050714e-04 9.99945369e-01 1.25342458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.68, Y:-61.64, Z:1.25 [[ 8.23970113e-01 5.66560585e-01 9.07504685e-03 2.43679565e+02] [-5.66527647e-01 8.24020080e-01 -6.11011510e-03 -6.16399568e+01] [-1.09397712e-02 -1.06712707e-04 9.99940153e-01 1.25325604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.71, Y:-61.66, Z:1.25 [[ 8.23987775e-01 5.66545116e-01 8.41300642e-03 2.43705538e+02] [-5.66516812e-01 8.24030716e-01 -5.66397972e-03 -6.16590162e+01] [-1.01414758e-02 -9.90595222e-05 9.99948569e-01 1.25315472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.73, Y:-61.68, Z:1.25 [[ 8.23507772e-01 5.67231846e-01 9.10945253e-03 2.43730748e+02] [-5.67198685e-01 8.23558146e-01 -6.13453820e-03 -6.16792104e+01] [-1.09818693e-02 -1.15029604e-04 9.99939691e-01 1.25180462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.76, Y:-61.70, Z:1.25 [[ 8.23160507e-01 5.67713451e-01 1.04027463e-02 2.43756734e+02] [-5.67670220e-01 8.23226226e-01 -7.00735973e-03 -6.16980035e+01] [-1.25419860e-02 -1.37147500e-04 9.99921337e-01 1.25164016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15232058799998 meters Centerline goodness [0,1] 0.999950768018905 Centerline is valid? [True, True] Translation: X:243.78, Y:-61.72, Z:1.25 [[ 8.23290809e-01 5.67551200e-01 8.82491182e-03 2.43783078e+02] [-5.67519993e-01 8.23338098e-01 -5.95260079e-03 -6.17162966e+01] [-1.06442918e-02 -1.07592368e-04 9.99943342e-01 1.25206797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.81, Y:-61.74, Z:1.25 [[ 8.22745033e-01 5.68359502e-01 7.62153975e-03 2.43808681e+02] [-5.68336199e-01 8.22780327e-01 -5.14755958e-03 -6.17382223e+01] [-9.19651737e-03 -9.64678625e-05 9.99957706e-01 1.25416350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.84, Y:-61.76, Z:1.25 [[ 8.22566353e-01 5.68624034e-01 7.16261680e-03 2.43835245e+02] [-5.68603413e-01 8.22597532e-01 -4.84343503e-03 -6.17587696e+01] [-8.64604447e-03 -8.86416678e-05 9.99962618e-01 1.25472314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24232058799998 meters Centerline goodness [0,1] 0.9998028293981367 Centerline is valid? [True, True] Translation: X:243.86, Y:-61.78, Z:1.26 [[ 8.21606153e-01 5.69993596e-01 8.40409345e-03 2.43860808e+02] [-5.69965232e-01 8.21649126e-01 -5.68755113e-03 -6.17787268e+01] [-1.01470838e-02 -1.17114063e-04 9.99948510e-01 1.25541854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27232058799999 meters Centerline goodness [0,1] 0.9999507558969813 Centerline is valid? [True, True] Translation: X:243.89, Y:-61.80, Z:1.26 [[ 8.21087941e-01 5.70734551e-01 8.75587201e-03 2.43888302e+02] [-5.70703728e-01 8.21134616e-01 -5.93278662e-03 -6.17978659e+01] [-1.05757959e-02 -1.25669248e-04 9.99944067e-01 1.25593442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.302320588 meters Centerline goodness [0,1] 0.999950731635217 Centerline is valid? [True, True] Translation: X:243.92, Y:-61.82, Z:1.25 [[ 8.21545179e-01 5.70055374e-01 1.00194770e-02 2.43915208e+02] [-5.70014874e-01 8.21606265e-01 -6.79627929e-03 -6.18166013e+01] [-1.21063206e-02 -1.27800425e-04 9.99926708e-01 1.25416376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.332320588 meters Centerline goodness [0,1] 0.9998030914640149 Centerline is valid? [True, True] Translation: X:243.94, Y:-61.83, Z:1.25 [[ 8.21607840e-01 5.69986692e-01 8.70220164e-03 2.43941774e+02] [-5.69956076e-01 8.21653917e-01 -5.90858419e-03 -6.18349443e+01] [-1.05180124e-02 -1.05333608e-04 9.99944679e-01 1.25462378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.362320588 meters Centerline goodness [0,1] 0.9996557489918363 Centerline is valid? [True, True] Translation: X:243.97, Y:-61.85, Z:1.26 [[ 8.22529589e-01 5.68667683e-01 7.88305036e-03 2.43967915e+02] [-5.68642445e-01 8.22567360e-01 -5.35808077e-03 -6.18531005e+01] [-9.53130729e-03 -7.54570577e-05 9.99954573e-01 1.25595889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.392320588 meters Centerline goodness [0,1] 0.9999507437690868 Centerline is valid? [True, True] Translation: X:243.99, Y:-61.87, Z:1.26 [[ 8.24871163e-01 5.65284187e-01 6.43055704e-03 2.43993760e+02] [-5.65267252e-01 8.24896228e-01 -4.37572465e-03 -6.18730017e+01] [-7.77807020e-03 -2.55742193e-05 9.99969750e-01 1.25757394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.02, Y:-61.89, Z:1.26 [[ 8.26219598e-01 5.63299537e-01 7.40323079e-03 2.44020536e+02] [-5.63276958e-01 8.26252765e-01 -5.04350440e-03 -6.18922422e+01] [-8.95794361e-03 -3.02714599e-06 9.99959877e-01 1.25738832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.05, Y:-61.91, Z:1.26 [[ 8.28185287e-01 5.60385313e-01 8.79952339e-03 2.44045714e+02] [-5.60353197e-01 8.28232032e-01 -5.99956649e-03 -6.19123519e+01] [-1.06501161e-02 3.79116266e-05 9.99943285e-01 1.25711472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.07, Y:-61.93, Z:1.26 [[ 8.28789963e-01 5.59492587e-01 8.67424208e-03 2.44072136e+02] [-5.59461256e-01 8.28835353e-01 -5.92120170e-03 -6.19322351e+01] [-1.05023870e-02 5.45301721e-05 9.99944847e-01 1.25686441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.10, Y:-61.96, Z:1.26 [[ 8.28905156e-01 5.59342658e-01 7.21346454e-03 2.44095779e+02] [-5.59320942e-01 8.28936541e-01 -4.92905379e-03 -6.19552718e+01] [-8.73653439e-03 5.10763187e-05 9.99961834e-01 1.25662978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.12, Y:-61.97, Z:1.26 [[ 8.28611336e-01 5.59777867e-01 7.21068825e-03 2.44122817e+02] [-5.59756132e-01 8.28642708e-01 -4.93311573e-03 -6.19733655e+01] [-8.73653323e-03 5.14086487e-05 9.99961834e-01 1.25679364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.15, Y:-61.99, Z:1.26 [[ 8.27413801e-01 5.61531611e-01 8.28562891e-03 2.44148047e+02] [-5.61502940e-01 8.27455285e-01 -5.67445504e-03 -6.19942700e+01] [-1.00423733e-02 4.27174235e-05 9.99949573e-01 1.25673835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.17, Y:-62.01, Z:1.26 [[ 8.26380003e-01 5.63063913e-01 7.42438998e-03 2.44174093e+02] [-5.63040911e-01 8.26413353e-01 -5.08954795e-03 -6.20135037e+01] [-9.00135580e-03 2.56653561e-05 9.99959487e-01 1.25790452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.20, Y:-62.03, Z:1.26 [[ 8.23215955e-01 5.67687951e-01 6.77353016e-03 2.44201193e+02] [-5.67668913e-01 8.23243821e-01 -4.64930618e-03 -6.20325389e+01] [-8.21562195e-03 -1.77394706e-05 9.99966251e-01 1.25932486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.23, Y:-62.05, Z:1.26 [[ 8.21450738e-01 5.70227413e-01 7.70606136e-03 2.44227479e+02] [-5.70202841e-01 8.21486881e-01 -5.29379589e-03 -6.20513691e+01] [-9.34909585e-03 -4.54255488e-05 9.99956295e-01 1.25867490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.25, Y:-62.07, Z:1.26 [[ 8.20704212e-01 5.71288825e-01 8.58337070e-03 2.44254350e+02] [-5.71258327e-01 8.20749094e-01 -5.90330407e-03 -6.20708844e+01] [-1.04172854e-02 -5.84554645e-05 9.99945737e-01 1.25869550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.28, Y:-62.09, Z:1.26 [[ 8.20513544e-01 5.71543933e-01 9.74971903e-03 2.44281940e+02] [-5.71504515e-01 8.20571465e-01 -6.71269347e-03 -6.20894999e+01] [-1.18369404e-02 -6.41525400e-05 9.99929939e-01 1.25990268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.31, Y:-62.11, Z:1.26 [[ 8.21786045e-01 5.69723621e-01 9.09345605e-03 2.44308770e+02] [-5.69689153e-01 8.21836355e-01 -6.26694582e-03 -6.21071649e+01] [-1.10437598e-02 -3.03546593e-05 9.99939015e-01 1.26072315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.34, Y:-62.13, Z:1.26 [[ 8.22660865e-01 5.68461656e-01 8.96922897e-03 2.44336031e+02] [-5.68427965e-01 8.22709758e-01 -6.18891019e-03 -6.21265618e+01] [-1.08972303e-02 -6.98635331e-06 9.99940623e-01 1.25939588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.36, Y:-62.15, Z:1.26 [[ 8.24394063e-01 5.65956561e-01 8.22194287e-03 2.44361367e+02] [-5.65928059e-01 8.24435061e-01 -5.67992977e-03 -6.21474698e+01] [-9.99305149e-03 2.94722044e-05 9.99950068e-01 1.25822884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.39, Y:-62.17, Z:1.26 [[ 8.24988060e-01 5.65089478e-01 8.28145282e-03 2.44388551e+02] [-5.65060454e-01 8.25029624e-01 -5.72748228e-03 -6.21660015e+01] [-1.00689839e-02 4.55830105e-05 9.99949305e-01 1.25774536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.42, Y:-62.18, Z:1.26 [[ 8.24916669e-01 5.65175189e-01 9.46018224e-03 2.44415455e+02] [-5.65137257e-01 8.24970910e-01 -6.54816840e-03 -6.21843761e+01] [-1.15052375e-02 5.53918276e-05 9.99933811e-01 1.25803908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90232058799998 meters Centerline goodness [0,1] 0.9999508067689886 Centerline is valid? [True, True] Translation: X:244.44, Y:-62.20, Z:1.26 [[ 8.25637344e-01 5.64125128e-01 9.26372179e-03 2.44441455e+02] [-5.64088603e-01 8.25689309e-01 -6.41982199e-03 -6.22042882e+01] [-1.12705389e-02 7.48848934e-05 9.99936483e-01 1.25921143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.47, Y:-62.23, Z:1.26 [[ 8.25635593e-01 5.64135572e-01 8.77067690e-03 2.44466247e+02] [-5.64102757e-01 8.25682173e-01 -6.08513523e-03 -6.22263624e+01] [-1.06746328e-02 7.65412154e-05 9.99943022e-01 1.25821734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.49, Y:-62.25, Z:1.26 [[ 8.25918618e-01 5.63724082e-01 8.57884773e-03 2.44492513e+02] [-5.63692595e-01 8.25963166e-01 -5.95872488e-03 -6.22463998e+01] [-1.04448889e-02 8.55888819e-05 9.99945447e-01 1.25819422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.52, Y:-62.27, Z:1.26 [[ 8.25862547e-01 5.63801472e-01 8.88558285e-03 2.44518741e+02] [-5.63767623e-01 8.25910341e-01 -6.17863788e-03 -6.22667139e+01] [-1.08222199e-02 9.33016923e-05 9.99941434e-01 1.25769528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.54, Y:-62.29, Z:1.26 [[ 8.25729020e-01 5.63986226e-01 9.54580684e-03 2.44543631e+02] [-5.63947090e-01 8.25784188e-01 -6.64484946e-03 -6.22890082e+01] [-1.16303799e-02 1.03515049e-04 9.99932359e-01 1.25846616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.57, Y:-62.31, Z:1.26 [[ 8.25204430e-01 5.64763553e-01 8.93187984e-03 2.44570028e+02] [-5.64729257e-01 8.25252762e-01 -6.22465875e-03 -6.23096507e+01] [-1.08865189e-02 9.25221121e-05 9.99940736e-01 1.25945573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.60, Y:-62.33, Z:1.26 [[ 8.23135348e-01 5.67781511e-01 8.50617860e-03 2.44595306e+02] [-5.67750508e-01 8.23179296e-01 -5.93359636e-03 -6.23303831e+01] [-1.03710964e-02 5.47656797e-05 9.99946217e-01 1.25987189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.62, Y:-62.35, Z:1.26 [[ 8.22147730e-01 5.69215565e-01 8.17005573e-03 2.44622204e+02] [-5.69186966e-01 8.22188323e-01 -5.70606227e-03 -6.23494867e+01] [-9.96530388e-03 4.09369159e-05 9.99950344e-01 1.26059765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.65, Y:-62.37, Z:1.26 [[ 8.20052109e-01 5.72196103e-01 1.03033009e-02 2.44648020e+02] [-5.72150779e-01 8.20116833e-01 -7.20180161e-03 -6.23693232e+01] [-1.25707533e-02 1.08109406e-05 9.99920985e-01 1.25898785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.68, Y:-62.39, Z:1.26 [[ 8.19008653e-01 5.73691800e-01 1.01264239e-02 2.44675039e+02] [-5.73648029e-01 8.19071254e-01 -7.08666695e-03 -6.23890973e+01] [-1.23598254e-02 -4.96152146e-06 9.99923614e-01 1.26043776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.70, Y:-62.41, Z:1.26 [[ 8.17966031e-01 5.75162839e-01 1.09216061e-02 2.44701982e+02] [-5.75111941e-01 8.18038941e-01 -7.65158642e-03 -6.24082707e+01] [-1.33352072e-02 -2.24082909e-05 9.99911082e-01 1.26139905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.73, Y:-62.43, Z:1.26 [[ 8.15869355e-01 5.78137896e-01 1.06662218e-02 2.44730000e+02] [-5.78089494e-01 8.15939072e-01 -7.48114131e-03 -6.24262750e+01] [-1.30281184e-02 -6.23968118e-05 9.99915129e-01 1.26106499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.76, Y:-62.44, Z:1.26 [[ 8.14924233e-01 5.79496185e-01 9.09209100e-03 2.44757460e+02] [-5.79461095e-01 8.14974948e-01 -6.37756614e-03 -6.24433022e+01] [-1.11056016e-02 -7.12798158e-05 9.99938328e-01 1.26112687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.78, Y:-62.46, Z:1.26 [[ 8.14587058e-01 5.79964347e-01 9.44887098e-03 2.44784991e+02] [-5.79926366e-01 8.14641854e-01 -6.63772584e-03 -6.24621845e+01] [-1.15470901e-02 -7.26438482e-05 9.99933327e-01 1.26013214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.81, Y:-62.48, Z:1.26 [[ 8.13989453e-01 5.80805870e-01 9.25803843e-03 2.44811786e+02] [-5.80769378e-01 8.14042097e-01 -6.51108638e-03 -6.24809939e+01] [-1.13181102e-02 -7.68295837e-05 9.99935945e-01 1.26048439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.84, Y:-62.50, Z:1.26 [[ 8.13782826e-01 5.81081959e-01 1.00632704e-02 2.44838423e+02] [-5.81038767e-01 8.13845041e-01 -7.08526404e-03 -6.25000523e+01] [-1.23070618e-02 -8.12840384e-05 9.99924262e-01 1.26029038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.87, Y:-62.52, Z:1.26 [[ 8.12919505e-01 5.82291153e-01 9.94439608e-03 2.44865737e+02] [-5.82248969e-01 8.12980323e-01 -7.00952151e-03 -6.25186209e+01] [-1.21661807e-02 -9.19376060e-05 9.99925985e-01 1.26113272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.89, Y:-62.54, Z:1.26 [[ 8.10560811e-01 5.85580046e-01 9.33712919e-03 2.44893940e+02] [-5.85542986e-01 8.10614578e-01 -6.58921127e-03 -6.25353846e+01] [-1.14273237e-02 -1.26334078e-04 9.99934698e-01 1.26062580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.92, Y:-62.55, Z:1.26 [[ 8.09105914e-01 5.87595704e-01 8.88307492e-03 2.44921515e+02] [-5.87562203e-01 8.09154663e-01 -6.27607350e-03 -6.25528537e+01] [-1.08755753e-02 -1.41350890e-04 9.99940849e-01 1.25956681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.95, Y:-62.57, Z:1.26 [[ 8.07910096e-01 5.89247318e-01 8.29904569e-03 2.44949821e+02] [-5.89218096e-01 8.07952707e-01 -5.87020781e-03 -6.25705123e+01] [-1.01642406e-02 -1.47347743e-04 9.99948332e-01 1.26022701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.98, Y:-62.59, Z:1.26 [[ 8.06610951e-01 5.90988661e-01 1.05439818e-02 2.44977440e+02] [-5.90941563e-01 8.06679836e-01 -7.46401908e-03 -6.25871983e+01] [-1.29167681e-02 -2.10317550e-04 9.99916553e-01 1.26259376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.00, Y:-62.61, Z:1.26 [[ 8.05929238e-01 5.91916519e-01 1.06253569e-02 2.45004236e+02] [-5.91868666e-01 8.05999247e-01 -7.52975029e-03 -6.26056195e+01] [-1.30210132e-02 -2.20369892e-04 9.99915199e-01 1.26405292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.03, Y:-62.62, Z:1.26 [[ 8.05895822e-01 5.91968847e-01 1.02375778e-02 2.45033061e+02] [-5.91924321e-01 8.05960819e-01 -7.26337594e-03 -6.26225922e+01] [-1.25507789e-02 -2.06346950e-04 9.99921215e-01 1.26294138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.06, Y:-62.64, Z:1.26 [[ 8.05827082e-01 5.92099961e-01 7.76857217e-03 2.45061164e+02] [-5.92074273e-01 8.05864513e-01 -5.51746304e-03 -6.26392081e+01] [-9.52730627e-03 -1.53450578e-04 9.99954602e-01 1.26139106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.09, Y:-62.66, Z:1.26 [[ 8.05632374e-01 5.92357265e-01 8.32760526e-03 2.45089558e+02] [-5.92327690e-01 8.05675397e-01 -5.92136851e-03 -6.26563076e+01] [-1.02169123e-02 -1.62225017e-04 9.99947793e-01 1.26016771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.12, Y:-62.67, Z:1.26 [[ 8.05539178e-01 5.92453892e-01 1.02478760e-02 2.45116285e+02] [-5.92409038e-01 8.05604337e-01 -7.29275926e-03 -6.26741470e+01] [-1.25763569e-02 -1.96331034e-04 9.99920895e-01 1.26058517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.14, Y:-62.69, Z:1.26 [[ 8.05179485e-01 5.92954297e-01 9.54979012e-03 2.45143254e+02] [-5.92915285e-01 8.05236095e-01 -6.80417866e-03 -6.26930655e+01] [-1.17244027e-02 -1.83631456e-04 9.99931250e-01 1.26350059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.17, Y:-62.71, Z:1.26 [[ 8.05172409e-01 5.92965012e-01 9.48084666e-03 2.45171404e+02] [-5.92926472e-01 8.05228206e-01 -6.76275920e-03 -6.27097132e+01] [-1.16443247e-02 -1.76257846e-04 9.99932187e-01 1.26394415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.20, Y:-62.73, Z:1.26 [[ 8.05630660e-01 5.92352015e-01 8.85042187e-03 2.45198839e+02] [-5.92318328e-01 8.05679259e-01 -6.31908762e-03 -6.27274495e+01] [-1.08737256e-02 -1.51416352e-04 9.99940868e-01 1.26394000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.23, Y:-62.75, Z:1.26 [[ 8.05584049e-01 5.92421472e-01 8.43448678e-03 2.45225678e+02] [-5.92390804e-01 8.05628190e-01 -6.02950549e-03 -6.27472567e+01] [-1.03670688e-02 -1.39238958e-04 9.99946251e-01 1.26128194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.25, Y:-62.77, Z:1.26 [[ 8.05030859e-01 5.93192716e-01 6.90774394e-03 2.45251661e+02] [-5.93172132e-01 8.05060487e-01 -4.94311981e-03 -6.27657135e+01] [-8.49337436e-03 -1.18117213e-04 9.99963924e-01 1.26216992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.28, Y:-62.78, Z:1.26 [[ 8.04540459e-01 5.93836348e-01 8.54646936e-03 2.45277830e+02] [-5.93804818e-01 8.04585837e-01 -6.12116694e-03 -6.27839399e+01] [-1.05113396e-02 -1.50208230e-04 9.99944743e-01 1.26227568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.30, Y:-62.80, Z:1.26 [[ 8.03719886e-01 5.94936056e-01 9.24305549e-03 2.45304244e+02] [-5.94899179e-01 8.03773015e-01 -6.62627441e-03 -6.28019451e+01] [-1.13715281e-02 -1.73017611e-04 9.99935327e-01 1.26447072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.33, Y:-62.82, Z:1.26 [[ 8.03119307e-01 5.95756673e-01 8.56532719e-03 2.45330985e+02] [-5.95724973e-01 8.03164964e-01 -6.14796695e-03 -6.28216690e+01] [-1.05420630e-02 -1.65028349e-04 9.99944417e-01 1.26361707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.36, Y:-62.84, Z:1.26 [[ 8.02418367e-01 5.96709459e-01 7.91117427e-03 2.45358064e+02] [-5.96682398e-01 8.02457349e-01 -5.68504101e-03 -6.28405715e+01] [-9.74069767e-03 -1.58677112e-04 9.99952546e-01 1.26413899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.952320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.39, Y:-62.86, Z:1.26 [[ 8.02125420e-01 5.97094336e-01 8.55358619e-03 2.45385307e+02] [-5.97062653e-01 8.02171007e-01 -6.15334659e-03 -6.28586743e+01] [-1.05355672e-02 -1.71271153e-04 9.99944485e-01 1.26498990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.41, Y:-62.88, Z:1.26 [[ 8.02378037e-01 5.96729534e-01 1.01660716e-02 2.45413008e+02] [-5.96684654e-01 8.02442413e-01 -7.32100528e-03 -6.28765364e+01] [-1.25263471e-02 -1.91725066e-04 9.99921524e-01 1.26490992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.44, Y:-62.90, Z:1.26 [[ 8.02654394e-01 5.96374955e-01 9.10147923e-03 2.45439154e+02] [-5.96338889e-01 8.02705978e-01 -6.56070187e-03 -6.28953701e+01] [-1.12184501e-02 -1.61589831e-04 9.99937058e-01 1.26486067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.47, Y:-62.91, Z:1.26 [[ 8.02694432e-01 5.96341662e-01 7.63358252e-03 2.45465799e+02] [-5.96316235e-01 8.02730718e-01 -5.50842007e-03 -6.29138756e+01] [-9.41261155e-03 -1.30451062e-04 9.99955692e-01 1.26362705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.49, Y:-62.93, Z:1.26 [[ 8.02768704e-01 5.96242123e-01 7.59860263e-03 2.45494218e+02] [-5.96216862e-01 8.02804656e-01 -5.48974939e-03 -6.29311371e+01] [-9.37341340e-03 -1.23416018e-04 9.99956061e-01 1.26312262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.52, Y:-62.95, Z:1.26 [[ 8.03533393e-01 5.95199152e-01 8.48859023e-03 2.45523355e+02] [-5.95167501e-01 8.03578220e-01 -6.13925163e-03 -6.29476124e+01] [-1.04753236e-02 -1.19039343e-04 9.99945125e-01 1.26330272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.55, Y:-62.97, Z:1.26 [[ 8.03759822e-01 5.94870126e-01 9.98409260e-03 2.45549584e+02] [-5.94826221e-01 8.03821819e-01 -7.22840612e-03 -6.29675444e+01] [-1.23253943e-02 -1.28897659e-04 9.99924031e-01 1.26287959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.57, Y:-62.99, Z:1.26 [[ 8.05359632e-01 5.92706740e-01 9.72542850e-03 2.45574816e+02] [-5.92664845e-01 8.05418346e-01 -7.04766198e-03 -6.29883490e+01] [-1.20102353e-02 -8.80171187e-05 9.99927871e-01 1.26404580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.60, Y:-63.01, Z:1.26 [[ 8.06330171e-01 5.91380161e-01 1.00578489e-02 2.45602129e+02] [-5.91335145e-01 8.06392895e-01 -7.29696107e-03 -6.30073430e+01] [-1.24258559e-02 -6.37996811e-05 9.99922794e-01 1.26391469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.63, Y:-63.03, Z:1.26 [[ 8.07096842e-01 5.90322888e-01 1.06571976e-02 2.45628788e+02] [-5.90272143e-01 8.07167198e-01 -7.74024157e-03 -6.30265636e+01] [-1.31713821e-02 -4.35223425e-05 9.99913253e-01 1.26333440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.65, Y:-63.05, Z:1.26 [[ 8.09020410e-01 5.87678254e-01 1.09656939e-02 2.45653142e+02] [-5.87624164e-01 8.09094723e-01 -7.97315190e-03 -6.30486172e+01] [-1.35579330e-02 6.73591396e-06 9.99908087e-01 1.26360164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.68, Y:-63.07, Z:1.26 [[ 8.09179113e-01 5.87461380e-01 1.08760841e-02 2.45678493e+02] [-5.87408125e-01 8.09252202e-01 -7.91000750e-03 -6.30698133e+01] [-1.34483189e-02 1.19126984e-05 9.99909567e-01 1.26466844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.70, Y:-63.09, Z:1.27 [[ 8.08119537e-01 5.88950873e-01 8.92659402e-03 2.45703327e+02] [-5.88915000e-01 8.08168837e-01 -6.50026689e-03 -6.30909324e+01] [-1.10425330e-02 -4.01244336e-06 9.99939029e-01 1.26629357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.73, Y:-63.11, Z:1.27 [[ 8.06843922e-01 5.90703484e-01 8.50178198e-03 2.45730163e+02] [-5.90670963e-01 8.06888712e-01 -6.19834409e-03 -6.31106329e+01] [-1.05213754e-02 -2.06594994e-05 9.99944649e-01 1.26770670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.76, Y:-63.13, Z:1.27 [[ 8.03865808e-01 5.94718003e-01 1.05004300e-02 2.45755277e+02] [-5.94668653e-01 8.03934381e-01 -7.66182581e-03 -6.31302447e+01] [-1.29982825e-02 -8.51967968e-05 9.99915515e-01 1.26745976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.78, Y:-63.15, Z:1.27 [[ 8.02710484e-01 5.96277100e-01 1.04641706e-02 2.45781146e+02] [-5.96228106e-01 8.02778680e-01 -7.64433835e-03 -6.31499979e+01] [-1.29585570e-02 -1.02842091e-04 9.99916029e-01 1.26840249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.81, Y:-63.17, Z:1.27 [[ 8.01170754e-01 5.98348477e-01 1.02237118e-02 2.45807299e+02] [-5.98301771e-01 8.01235973e-01 -7.47702799e-03 -6.31706340e+01] [-1.26654740e-02 -1.26488739e-04 9.99919782e-01 1.26806080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.83, Y:-63.19, Z:1.27 [[ 8.00850849e-01 5.98776649e-01 1.02196984e-02 2.45833730e+02] [-5.98729908e-01 8.00916044e-01 -7.48251384e-03 -6.31895881e+01] [-1.26654750e-02 -1.26461538e-04 9.99919782e-01 1.26822466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.86, Y:-63.21, Z:1.27 [[ 7.99809077e-01 6.00197843e-01 8.24554478e-03 2.45858471e+02] [-6.00167429e-01 7.99851571e-01 -6.04323687e-03 -6.32104855e+01] [-1.02223497e-02 -1.15271708e-04 9.99947744e-01 1.26690378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.89, Y:-63.23, Z:1.27 [[ 7.99114828e-01 6.01108971e-01 9.13766603e-03 2.45885410e+02] [-6.01071610e-01 7.99167058e-01 -6.70327185e-03 -6.32274902e+01] [-1.13319185e-02 -1.35707706e-04 9.99935783e-01 1.26700841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.91, Y:-63.25, Z:1.27 [[ 7.98150263e-01 6.02360261e-01 1.08753640e-02 2.45912034e+02] [-6.02307357e-01 7.98224332e-01 -7.98522091e-03 -6.32450973e+01] [-1.34909599e-02 -1.76905590e-04 9.99908977e-01 1.26722873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.94, Y:-63.26, Z:1.27 [[ 7.97598135e-01 6.03086805e-01 1.11140120e-02 2.45939091e+02] [-6.03031493e-01 7.97675542e-01 -8.16989067e-03 -6.32644950e+01] [-1.37925288e-02 -1.85809702e-04 9.99904861e-01 1.26725063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.96, Y:-63.29, Z:1.27 [[ 7.96250185e-01 6.04864635e-01 1.11542048e-02 2.45963013e+02] [-6.04808993e-01 7.96328279e-01 -8.20690645e-03 -6.32865905e+01] [-1.38464762e-02 -2.11412571e-04 9.99904111e-01 1.26875046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.99, Y:-63.31, Z:1.27 [[ 7.95409236e-01 6.05976030e-01 1.08257999e-02 2.45989829e+02] [-6.05923594e-01 7.95482875e-01 -7.97458872e-03 -6.33065016e+01] [-1.34441480e-02 -2.16546042e-04 9.99909600e-01 1.27041331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.02, Y:-63.32, Z:1.27 [[ 7.95087014e-01 6.06364495e-01 1.25992190e-02 2.46017196e+02] [-6.06293393e-01 7.95186793e-01 -9.28903388e-03 -6.33243122e+01] [-1.56512729e-02 -2.53233058e-04 9.99877479e-01 1.26974409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.04, Y:-63.34, Z:1.27 [[ 7.95053106e-01 6.06424269e-01 1.18390751e-02 2.46043493e+02] [-6.06361369e-01 7.95141215e-01 -8.73719770e-03 -6.33433204e+01] [-1.47121853e-02 -2.32221611e-04 9.99891743e-01 1.26972625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.07, Y:-63.36, Z:1.27 [[ 7.94891473e-01 6.06644716e-01 1.13901415e-02 2.46069310e+02] [-6.06586377e-01 7.94973044e-01 -8.41583770e-03 -6.33640414e+01] [-1.41602789e-02 -2.19427028e-04 9.99899714e-01 1.27009639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.10, Y:-63.38, Z:1.27 [[ 7.93528808e-01 6.08445480e-01 1.03018625e-02 2.46095638e+02] [-6.08397797e-01 7.93595646e-01 -7.62046559e-03 -6.33845453e+01] [-1.28121511e-02 -2.20571476e-04 9.99917897e-01 1.27083945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.12, Y:-63.40, Z:1.27 [[ 7.92822987e-01 6.09368709e-01 1.00741644e-02 2.46123071e+02] [-6.09323080e-01 7.92886957e-01 -7.46040726e-03 -6.34032422e+01] [-1.25338123e-02 -2.23638501e-04 9.99921424e-01 1.27036247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.15, Y:-63.42, Z:1.27 [[ 7.91517349e-01 6.11085754e-01 8.63060624e-03 2.46150453e+02] [-6.11052287e-01 7.91564374e-01 -6.39882726e-03 -6.34224162e+01] [-1.07419126e-02 -2.08968890e-04 9.99942282e-01 1.26923458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.852320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.18, Y:-63.44, Z:1.27 [[ 7.90655518e-01 6.12194242e-01 9.05882046e-03 2.46175373e+02] [-6.12157379e-01 7.90707378e-01 -6.72207565e-03 -6.34422558e+01] [-1.12780922e-02 -2.30577574e-04 9.99936374e-01 1.26915406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.882320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.20, Y:-63.46, Z:1.27 [[ 7.90136153e-01 6.12857945e-01 9.48673547e-03 2.46201483e+02] [-6.12817472e-01 7.90193064e-01 -7.04753373e-03 -6.34622381e+01] [-1.18154896e-02 -2.45126052e-04 9.99930165e-01 1.27147776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.23, Y:-63.48, Z:1.27 [[ 7.90527364e-01 6.12340414e-01 1.02812500e-02 2.46228161e+02] [-6.12292728e-01 7.90594178e-01 -7.64593554e-03 -6.34810873e+01] [-1.28102117e-02 -2.50813322e-04 9.99917914e-01 1.27246113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.25, Y:-63.50, Z:1.27 [[ 7.91816794e-01 6.10666980e-01 1.05831628e-02 2.46254560e+02] [-6.10616211e-01 7.91887485e-01 -7.87747245e-03 -6.35000712e+01] [-1.31911864e-02 -2.24735760e-04 9.99912967e-01 1.27195832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.28, Y:-63.52, Z:1.27 [[ 7.94328654e-01 6.07377043e-01 1.16240177e-02 2.46279974e+02] [-6.07315323e-01 7.94413680e-01 -8.66042512e-03 -6.35204972e+01] [-1.44944221e-02 -1.80220255e-04 9.99894934e-01 1.27078119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.31, Y:-63.54, Z:1.27 [[ 7.95683857e-01 6.05593038e-01 1.20113429e-02 2.46308118e+02] [-6.05526804e-01 7.95774498e-01 -8.95762749e-03 -6.35362494e+01] [-1.49829972e-02 -1.45750468e-04 9.99887738e-01 1.27223927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.34, Y:-63.55, Z:1.27 [[ 7.96225355e-01 6.04894828e-01 1.12885173e-02 2.46336399e+02] [-6.04836139e-01 7.96305364e-01 -8.42683441e-03 -6.35526920e+01] [-1.40864554e-02 -1.18044003e-04 9.99900774e-01 1.27314338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.36, Y:-63.57, Z:1.27 [[ 7.95658738e-01 6.05658808e-01 1.02264958e-02 2.46362618e+02] [-6.05610608e-01 7.95724447e-01 -7.64173783e-03 -6.35705796e+01] [-1.27657586e-02 -1.13058893e-04 9.99918508e-01 1.27376417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.092320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.39, Y:-63.59, Z:1.27 [[ 7.96394154e-01 6.04688066e-01 1.04256261e-02 2.46387198e+02] [-6.04637768e-01 7.96462387e-01 -7.79972288e-03 -6.35921043e+01] [-1.30200184e-02 -9.20735891e-05 9.99915232e-01 1.27320157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.41, Y:-63.61, Z:1.27 [[ 7.96604451e-01 6.04375820e-01 1.22969940e-02 2.46412154e+02] [-6.04305685e-01 7.96699353e-01 -9.20765919e-03 -6.36119361e+01] [-1.53618937e-02 -9.62810744e-05 9.99881995e-01 1.27247785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.44, Y:-63.63, Z:1.27 [[ 7.97846588e-01 6.02721016e-01 1.29691255e-02 2.46439262e+02] [-6.02642606e-01 7.97951987e-01 -9.72197123e-03 -6.36314653e+01] [-1.62083758e-02 -5.91059968e-05 9.99868634e-01 1.27390956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.47, Y:-63.65, Z:1.27 [[ 7.98518221e-01 6.01844095e-01 1.23424634e-02 2.46465775e+02] [-6.01772958e-01 7.98613601e-01 -9.25327738e-03 -6.36505598e+01] [-1.54258895e-02 -3.84500939e-05 9.99881013e-01 1.27408887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.49, Y:-63.67, Z:1.27 [[ 7.98466636e-01 6.01909159e-01 1.25058155e-02 2.46492281e+02] [-6.01835936e-01 7.98564564e-01 -9.38842228e-03 -6.36695013e+01] [-1.56376784e-02 -3.01072131e-05 9.99877724e-01 1.27409591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.52, Y:-63.69, Z:1.27 [[ 7.98529245e-01 6.01820827e-01 1.27568905e-02 2.46518772e+02] [-6.01744453e-01 7.98631137e-01 -9.58752453e-03 -6.36887666e+01] [-1.59580219e-02 -2.04693848e-05 9.99872662e-01 1.27231487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.54, Y:-63.71, Z:1.27 [[ 7.98491766e-01 6.01904827e-01 1.10217471e-02 2.46543946e+02] [-6.01847715e-01 7.98567830e-01 -8.29150761e-03 -6.37081719e+01] [-1.37923111e-02 -1.27127521e-05 9.99904881e-01 1.27234492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.57, Y:-63.73, Z:1.27 [[ 7.98720197e-01 6.01608050e-01 1.06677461e-02 2.46568615e+02] [-6.01554396e-01 7.98791433e-01 -8.03456213e-03 -6.37306048e+01] [-1.33549614e-02 1.37507953e-07 9.99910819e-01 1.27474473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.332320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.59, Y:-63.75, Z:1.27 [[ 7.98491733e-01 6.01891029e-01 1.17533936e-02 2.46593207e+02] [-6.01825814e-01 7.98578230e-01 -8.86003798e-03 -6.37515564e+01] [-1.47187816e-02 1.17143094e-06 9.99891673e-01 1.27493406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.62, Y:-63.77, Z:1.27 [[ 7.99500988e-01 6.00543989e-01 1.20451985e-02 2.46617428e+02] [-6.00475187e-01 7.99591718e-01 -9.09034036e-03 -6.37737605e+01] [-1.50903902e-02 3.48933090e-05 9.99886133e-01 1.27459783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.392320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.64, Y:-63.79, Z:1.27 [[ 7.99953534e-01 5.99940035e-01 1.20953794e-02 2.46643563e+02] [-5.99870436e-01 8.00044968e-01 -9.13829080e-03 -6.37946566e+01] [-1.51592739e-02 5.45475115e-05 9.99885090e-01 1.27409091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.67, Y:-63.81, Z:1.27 [[ 7.99629790e-01 6.00322165e-01 1.43351644e-02 2.46667992e+02] [-6.00224313e-01 7.99758272e-01 -1.08388557e-02 -6.38149628e+01] [-1.79714716e-02 6.27577114e-05 9.99838498e-01 1.27202574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.452320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.69, Y:-63.84, Z:1.27 [[ 7.99515231e-01 6.00505117e-01 1.30000309e-02 2.46690531e+02] [-6.00424507e-01 7.99620911e-01 -9.83923209e-03 -6.38379055e+01] [-1.63036058e-02 6.10787539e-05 9.99867086e-01 1.27386088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.72, Y:-63.86, Z:1.27 [[ 7.99037587e-01 6.01154325e-01 1.23455408e-02 2.46715020e+02] [-6.01081536e-01 7.99132952e-01 -9.35479296e-03 -6.38599848e+01] [-1.54894027e-02 5.41545633e-05 9.99880031e-01 1.27416586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.512320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.74, Y:-63.88, Z:1.28 [[ 7.98694848e-01 6.01637518e-01 1.09012240e-02 2.46737182e+02] [-6.01580797e-01 7.98769238e-01 -8.26129452e-03 -6.38847980e+01] [-1.36778671e-02 4.02863703e-05 9.99906453e-01 1.27551504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.76, Y:-63.91, Z:1.28 [[ 7.98444856e-01 6.01968263e-01 1.09554312e-02 2.46761808e+02] [-6.01910851e-01 7.98520011e-01 -8.31381173e-03 -6.39069823e+01] [-1.37527818e-02 4.39273161e-05 9.99905425e-01 1.27530128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.79, Y:-63.93, Z:1.27 [[ 7.98311733e-01 6.02121342e-01 1.21764544e-02 2.46785599e+02] [-6.02050312e-01 7.98404588e-01 -9.24852708e-03 -6.39294784e+01] [-1.52904726e-02 5.23695245e-05 9.99883093e-01 1.27453275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.81, Y:-63.95, Z:1.27 [[ 7.98447515e-01 6.01922444e-01 1.30742714e-02 2.46807227e+02] [-6.01840373e-01 7.98554548e-01 -9.93974167e-03 -6.39543938e+01] [-1.64234725e-02 6.77376362e-05 9.99865123e-01 1.27233535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.83, Y:-63.98, Z:1.27 [[ 7.97615183e-01 6.03047680e-01 1.19797885e-02 2.46828591e+02] [-6.02978766e-01 7.97705142e-01 -9.11669768e-03 -6.39801298e+01] [-1.50541423e-02 4.80583998e-05 9.99886679e-01 1.27277729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.85, Y:-64.00, Z:1.27 [[ 7.96704053e-01 6.04258737e-01 1.15771967e-02 2.46852233e+02] [-6.04194356e-01 7.96788164e-01 -8.82055918e-03 -6.40030556e+01] [-1.45544732e-02 3.24983510e-05 9.99894078e-01 1.27334054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.88, Y:-64.03, Z:1.27 [[ 7.95251848e-01 6.06184699e-01 1.07055677e-02 2.46876044e+02] [-6.06129717e-01 7.95323903e-01 -8.16426844e-03 -6.40251016e+01] [-1.34634485e-02 3.68682736e-06 9.99909364e-01 1.27440645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.90, Y:-64.05, Z:1.28 [[ 7.92259503e-01 6.10061192e-01 1.22564953e-02 2.46898128e+02] [-6.09989453e-01 7.92354301e-01 -9.35569681e-03 -6.40484310e+01] [-1.54190343e-02 -6.41931304e-05 9.99881118e-01 1.27562665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.92, Y:-64.07, Z:1.27 [[ 7.90408324e-01 6.12433377e-01 1.34178980e-02 2.46921596e+02] [-6.12347576e-01 7.90522199e-01 -1.02518112e-02 -6.40701039e+01] [-1.68856976e-02 -1.13300410e-04 9.99857420e-01 1.27484876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.94, Y:-64.09, Z:1.27 [[ 7.88656206e-01 6.14640296e-01 1.54497628e-02 2.46942801e+02] [-6.14526753e-01 7.88807502e-01 -1.18150343e-02 -6.40947852e+01] [-1.94488850e-02 -1.76292425e-04 9.99810837e-01 1.27480350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.97, Y:-64.12, Z:1.27 [[ 7.88094922e-01 6.15365543e-01 1.52197916e-02 2.46967186e+02] [-6.15255240e-01 7.88241851e-01 -1.16522161e-02 -6.41167617e+01] [-1.91672490e-02 -1.81004237e-04 9.99816275e-01 1.27426695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.99, Y:-64.14, Z:1.27 [[ 7.86782369e-01 6.17074180e-01 1.38909852e-02 2.46991580e+02] [-6.16982392e-01 7.86904961e-01 -1.06447307e-02 -6.41382807e+01] [-1.74994736e-02 -1.95406837e-04 9.99846853e-01 1.27488538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.02, Y:-64.16, Z:1.27 [[ 7.84791322e-01 6.19640442e-01 1.21779840e-02 2.47016007e+02] [-6.19570039e-01 7.84885773e-01 -9.34287840e-03 -6.41609025e+01] [-1.53475517e-02 -2.12904113e-04 9.99882197e-01 1.27449500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.04, Y:-64.18, Z:1.27 [[ 7.82154691e-01 6.22929433e-01 1.38910141e-02 2.47040411e+02] [-6.22838187e-01 7.82277972e-01 -1.06661327e-02 -6.41819354e+01] [-1.75108823e-02 -3.09288311e-04 9.99846625e-01 1.27401434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.06, Y:-64.20, Z:1.27 [[ 7.80388285e-01 6.25147070e-01 1.36112447e-02 2.47064782e+02] [-6.25059730e-01 7.80506899e-01 -1.04553833e-02 -6.42021869e+01] [-1.71598226e-02 -3.48582245e-04 9.99852699e-01 1.27394052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96232058799998 meters Centerline goodness [0,1] 0.9999507752891952 Centerline is valid? [True, True] Translation: X:247.09, Y:-64.22, Z:1.27 [[ 7.78705984e-01 6.27260505e-01 1.26983902e-02 2.47089416e+02] [-6.27184603e-01 7.78809431e-01 -9.76441777e-03 -6.42232449e+01] [-1.60144596e-02 -3.60624254e-04 9.99871695e-01 1.27424595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.11, Y:-64.25, Z:1.27 [[ 7.76736213e-01 6.29677829e-01 1.36633392e-02 2.47113527e+02] [-6.29590164e-01 7.76856256e-01 -1.05158288e-02 -6.42450042e+01] [-1.72360348e-02 -4.34278912e-04 9.99851354e-01 1.27409042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.14, Y:-64.26, Z:1.27 [[ 7.75900330e-01 6.30694987e-01 1.42306421e-02 2.47139358e+02] [-6.30599884e-01 7.76030679e-01 -1.09622902e-02 -6.42638884e+01] [-1.79572764e-02 -4.68196699e-04 9.99838645e-01 1.27480991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.17, Y:-64.28, Z:1.27 [[ 7.75843789e-01 6.30757339e-01 1.45462629e-02 2.47168026e+02] [-6.30657761e-01 7.75979998e-01 -1.12174126e-02 -6.42798944e+01] [-1.83630744e-02 -4.70753667e-04 9.99831274e-01 1.27475459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.20, Y:-64.30, Z:1.27 [[ 7.75051720e-01 6.31736811e-01 1.42629573e-02 2.47195334e+02] [-6.31641033e-01 7.75182801e-01 -1.10104869e-02 -6.42992575e+01] [-1.80121291e-02 -4.75372272e-04 9.99837655e-01 1.27336647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.22, Y:-64.32, Z:1.27 [[ 7.74928475e-01 6.31885395e-01 1.43772806e-02 2.47221970e+02] [-6.31787893e-01 7.75061690e-01 -1.11101419e-02 -6.43182478e+01] [-1.81636158e-02 -4.73826512e-04 9.99834916e-01 1.27420340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.25, Y:-64.33, Z:1.28 [[ 7.75639804e-01 6.30997543e-01 1.49998299e-02 2.47249956e+02] [-6.30891059e-01 7.75784690e-01 -1.16011762e-02 -6.43343868e+01] [-1.89569520e-02 -4.64924487e-04 9.99820193e-01 1.27553235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.28, Y:-64.35, Z:1.27 [[ 7.76181087e-01 6.30334627e-01 1.48720708e-02 2.47277585e+02] [-6.30229629e-01 7.76323430e-01 -1.15128816e-02 -6.43511034e+01] [-1.88025049e-02 -4.36738725e-04 9.99823122e-01 1.27435183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.31, Y:-64.37, Z:1.27 [[ 7.77665357e-01 6.28534009e-01 1.34756539e-02 2.47307053e+02] [-6.28447367e-01 7.77782025e-01 -1.04416621e-02 -6.43657739e+01] [-1.70440611e-02 -3.48620299e-04 9.99854679e-01 1.27320821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.33, Y:-64.38, Z:1.27 [[ 7.78384147e-01 6.27626484e-01 1.42519109e-02 2.47334061e+02] [-6.27529205e-01 7.78514536e-01 -1.10550719e-02 -6.43844125e+01] [-1.80337757e-02 -3.38397637e-04 9.99837321e-01 1.27282693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.36, Y:-64.40, Z:1.27 [[ 7.80910044e-01 6.24447121e-01 1.56619301e-02 2.47363379e+02] [-6.24328969e-01 7.81067033e-01 -1.21502984e-02 -6.43999191e+01] [-1.98202361e-02 -2.89906623e-04 9.99803518e-01 1.27438975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.39, Y:-64.42, Z:1.27 [[ 7.81910460e-01 6.23194935e-01 1.56238857e-02 2.47390704e+02] [-6.23076845e-01 7.82066501e-01 -1.21339573e-02 -6.44169284e+01] [-1.97807384e-02 -2.47213303e-04 9.99804311e-01 1.27498053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.42, Y:-64.43, Z:1.27 [[ 7.85343570e-01 6.18850970e-01 1.60920557e-02 2.47417274e+02] [-6.18724542e-01 7.85508408e-01 -1.25092731e-02 -6.44346835e+01] [-2.03818208e-02 -1.32472610e-04 9.99792260e-01 1.27476198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.44, Y:-64.45, Z:1.27 [[ 7.85017298e-01 6.19264973e-01 1.60852410e-02 2.47443121e+02] [-6.19138452e-01 7.85182066e-01 -1.25180359e-02 -6.44543828e+01] [-2.03818239e-02 -1.32116520e-04 9.99792260e-01 1.27492585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.382320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.47, Y:-64.47, Z:1.27 [[ 7.86815515e-01 6.16980677e-01 1.60059109e-02 2.47468591e+02] [-6.16854696e-01 7.86978297e-01 -1.24677459e-02 -6.44738901e+01] [-2.02886628e-02 -6.35054108e-05 9.99794162e-01 1.27366805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.50, Y:-64.49, Z:1.27 [[ 7.88046916e-01 6.15409778e-01 1.59016883e-02 2.47495241e+02] [-6.15284825e-01 7.88207337e-01 -1.24007708e-02 -6.44932964e+01] [-2.01653830e-02 -1.16783146e-05 9.99796658e-01 1.27350991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.52, Y:-64.51, Z:1.27 [[ 7.89523263e-01 6.13522923e-01 1.55769266e-02 2.47521803e+02] [-6.13402388e-01 7.89676909e-01 -1.21609953e-02 -6.45129323e+01] [-1.97617886e-02 4.64646668e-05 9.99804716e-01 1.27284446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.55, Y:-64.53, Z:1.27 [[ 7.92963535e-01 6.09111942e-01 1.38373894e-02 2.47546485e+02] [-6.09015973e-01 7.93084245e-01 -1.08131841e-02 -6.45337645e+01] [-1.75606550e-02 1.47269539e-04 9.99845789e-01 1.27312399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.57, Y:-64.56, Z:1.27 [[ 7.94555405e-01 6.07022202e-01 1.43441596e-02 2.47569738e+02] [-6.06918542e-01 7.94684845e-01 -1.12196421e-02 -6.45566815e+01] [-1.82096581e-02 2.08890858e-04 9.99834169e-01 1.27370852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.59, Y:-64.58, Z:1.27 [[ 7.94810036e-01 6.06698421e-01 1.39295419e-02 2.47594578e+02] [-6.06600399e-01 7.94932058e-01 -1.09077352e-02 -6.45791389e+01] [-1.76907451e-02 2.19911694e-04 9.99843482e-01 1.27360362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.62, Y:-64.60, Z:1.27 [[ 7.94406137e-01 6.07220232e-01 1.42294946e-02 2.47618966e+02] [-6.07117809e-01 7.94533536e-01 -1.11546281e-02 -6.46021070e+01] [-1.80791265e-02 2.22325425e-04 9.99836535e-01 1.27274979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.64, Y:-64.62, Z:1.27 [[ 7.94192011e-01 6.07521766e-01 1.32798451e-02 2.47642271e+02] [-6.07432438e-01 7.94303003e-01 -1.04198075e-02 -6.46243712e+01] [-1.68784807e-02 2.08719242e-04 9.99857527e-01 1.27337747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.66, Y:-64.65, Z:1.27 [[ 7.92396463e-01 6.09866494e-01 1.30653880e-02 2.47664810e+02] [-6.09780185e-01 7.92504153e-01 -1.02613002e-02 -6.46478673e+01] [-1.66123975e-02 1.64003255e-04 9.99861991e-01 1.27415778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.69, Y:-64.67, Z:1.27 [[ 7.91356805e-01 6.11219635e-01 1.28438455e-02 2.47689692e+02] [-6.11136218e-01 7.91461014e-01 -1.00987968e-02 -6.46696926e+01] [-1.63379859e-02 1.42412352e-04 9.99866516e-01 1.27351490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.71, Y:-64.69, Z:1.27 [[ 7.87895763e-01 6.15679178e-01 1.26260638e-02 2.47710645e+02] [-6.15598988e-01 7.87996921e-01 -9.93672896e-03 -6.46948744e+01] [-1.60671365e-02 5.65145720e-05 9.99870914e-01 1.27269522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.73, Y:-64.72, Z:1.27 [[ 7.85950234e-01 6.18152150e-01 1.30441229e-02 2.47734714e+02] [-6.18066707e-01 7.86058470e-01 -1.02774740e-02 -6.47183780e+01] [-1.66064859e-02 1.54450118e-05 9.99862103e-01 1.27268772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.76, Y:-64.74, Z:1.27 [[ 7.84091872e-01 6.20499497e-01 1.34280120e-02 2.47759619e+02] [-6.20409094e-01 7.84206844e-01 -1.05915832e-02 -6.47402640e+01] [-1.71024109e-02 -2.60864730e-05 9.99853743e-01 1.27232163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.78, Y:-64.76, Z:1.27 [[ 7.79717253e-01 6.25970762e-01 1.41989944e-02 2.47783031e+02] [-6.25870402e-01 7.79846513e-01 -1.12096094e-02 -6.47625381e+01] [-1.80899240e-02 -1.46404430e-04 9.99836353e-01 1.27146872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.802320588 meters Centerline goodness [0,1] 0.9999507898233355 Centerline is valid? [True, True] Translation: X:247.81, Y:-64.78, Z:1.27 [[ 7.77127109e-01 6.29152801e-01 1.54987173e-02 2.47806882e+02] [-6.29033637e-01 7.77281609e-01 -1.22467803e-02 -6.47837263e+01] [-1.97519641e-02 -2.31909539e-04 9.99804884e-01 1.27070001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.83, Y:-64.81, Z:1.27 [[ 7.72538032e-01 6.34792270e-01 1.49587526e-02 2.47829140e+02] [-6.34682126e-01 7.72682761e-01 -1.18300785e-02 -6.48067314e+01] [-1.90680127e-02 -3.54867370e-04 9.99818126e-01 1.26998622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.862320588 meters Centerline goodness [0,1] 0.9998514851485149 Centerline is valid? [True, True] Translation: X:247.85, Y:-64.83, Z:1.27 [[ 7.69855396e-01 6.38058788e-01 1.42706718e-02 2.47853555e+02] [-6.37958912e-01 7.69987543e-01 -1.12964898e-02 -6.48273706e+01] [-1.81960641e-02 -4.07438626e-04 9.99834355e-01 1.27013774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.892320588 meters Centerline goodness [0,1] 0.9999506757423301 Centerline is valid? [True, True] Translation: X:247.88, Y:-64.85, Z:1.27 [[ 7.67527460e-01 6.40845077e-01 1.48048687e-02 2.47878286e+02] [-6.40737900e-01 7.67670081e-01 -1.17298757e-02 -6.48473626e+01] [-1.88822879e-02 -4.83038796e-04 9.99821597e-01 1.27022429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.922320588 meters Centerline goodness [0,1] 0.9998024788899313 Centerline is valid? [True, True] Translation: X:247.90, Y:-64.87, Z:1.27 [[ 7.64326755e-01 6.44637575e-01 1.57165220e-02 2.47904350e+02] [-6.44517567e-01 7.64488080e-01 -1.24531816e-02 -6.48668277e+01] [-2.00428825e-02 -6.11274651e-04 9.99798934e-01 1.26966237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.952320588 meters Centerline goodness [0,1] 0.999310276874569 Centerline is valid? [True, True] Translation: X:247.93, Y:-64.89, Z:1.27 [[ 7.62972859e-01 6.46223612e-01 1.63541881e-02 2.47930229e+02] [-6.46093751e-01 7.63147820e-01 -1.29718606e-02 -6.48863648e+01] [-2.08633856e-02 -6.69161145e-04 9.99782112e-01 1.27023277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.982320588 meters Centerline goodness [0,1] 0.9996044108193641 Centerline is valid? [True, True] Translation: X:247.96, Y:-64.91, Z:1.27 [[ 7.61754500e-01 6.47673052e-01 1.58018738e-02 2.47955899e+02] [-6.47551902e-01 7.61918080e-01 -1.25448806e-02 -6.49055226e+01] [-2.01647145e-02 -6.76414245e-04 9.99796443e-01 1.26918844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.012320588 meters Centerline goodness [0,1] 0.9997535853333991 Centerline is valid? [True, True] Translation: X:247.98, Y:-64.93, Z:1.27 [[ 7.60779183e-01 6.48814167e-01 1.59753169e-02 2.47981414e+02] [-6.48690368e-01 7.60946567e-01 -1.26936605e-02 -6.49256163e+01] [-2.03921893e-02 -7.05961519e-04 9.99791808e-01 1.26811432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.042320588 meters Centerline goodness [0,1] 0.9997043169722057 Centerline is valid? [True, True] Translation: X:248.01, Y:-64.94, Z:1.27 [[ 7.60101796e-01 6.49608773e-01 1.59280105e-02 2.48007830e+02] [-6.49485613e-01 7.60268328e-01 -1.26691520e-02 -6.49447696e+01] [-2.03395542e-02 -7.15168501e-04 9.99792874e-01 1.26782321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.072320588 meters Centerline goodness [0,1] 0.9994582615119428 Centerline is valid? [True, True] Translation: X:248.04, Y:-64.96, Z:1.27 [[ 7.56832822e-01 6.53389018e-01 1.69372192e-02 2.48035840e+02] [-6.53250478e-01 7.57021829e-01 -1.34819393e-02 -6.49602177e+01] [-2.16307957e-02 -8.60672390e-04 9.99765657e-01 1.26766207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.102320588 meters Centerline goodness [0,1] 0.9989154013015185 Centerline is valid? [True, True] Translation: X:248.06, Y:-64.98, Z:1.27 [[ 7.54001088e-01 6.56643363e-01 1.73739076e-02 2.48064668e+02] [-6.56498348e-01 7.54200598e-01 -1.38338644e-02 -6.49751545e+01] [-2.21873267e-02 -9.75192767e-04 9.99753355e-01 1.26795080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.132320588 meters Centerline goodness [0,1] 0.9990639933001626 Centerline is valid? [True, True] Translation: X:248.09, Y:-64.99, Z:1.27 [[ 7.52770814e-01 6.58064706e-01 1.69394313e-02 2.48091047e+02] [-6.57926930e-01 7.52960742e-01 -1.35009586e-02 -6.49931843e+01] [-2.16392311e-02 -9.81780407e-04 9.99765362e-01 1.26805482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.162320588 meters Centerline goodness [0,1] 0.9995069033530573 Centerline is valid? [True, True] Translation: X:248.12, Y:-65.01, Z:1.27 [[ 7.51766579e-01 6.59249171e-01 1.54123815e-02 2.48117732e+02] [-6.59135112e-01 7.51923995e-01 -1.22967759e-02 -6.50126472e+01] [-1.96955788e-02 -9.14536682e-04 9.99805605e-01 1.26819582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.192320588 meters Centerline goodness [0,1] 0.9998026640355204 Centerline is valid? [True, True] Translation: X:248.15, Y:-65.03, Z:1.27 [[ 7.51909998e-01 6.59105150e-01 1.45518359e-02 2.48145416e+02] [-6.59003265e-01 7.52050314e-01 -1.16199312e-02 -6.50287926e+01] [-1.86024692e-02 -8.52564919e-04 9.99826596e-01 1.26641177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.222320588 meters Centerline goodness [0,1] 0.9997536217601262 Centerline is valid? [True, True] Translation: X:248.17, Y:-65.05, Z:1.27 [[ 7.52028508e-01 6.58946870e-01 1.55609899e-02 2.48172913e+02] [-6.58830080e-01 7.52188949e-01 -1.24382713e-02 -6.50476607e+01] [-1.99009645e-02 -8.98113600e-04 9.99801553e-01 1.26585236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.252320588 meters Centerline goodness [0,1] 0.9994582881906826 Centerline is valid? [True, True] Translation: X:248.20, Y:-65.06, Z:1.27 [[ 7.54342308e-01 6.56271484e-01 1.65958284e-02 2.48201210e+02] [-6.56137763e-01 7.54524337e-01 -1.32763104e-02 -6.50642347e+01] [-2.12348204e-02 -8.74267136e-04 9.99774134e-01 1.26709856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.282320588 meters Centerline goodness [0,1] 0.999753718845434 Centerline is valid? [True, True] Translation: X:248.23, Y:-65.08, Z:1.27 [[ 7.55577690e-01 6.54881890e-01 1.52336573e-02 2.48227371e+02] [-6.54768728e-01 7.55730861e-01 -1.21974553e-02 -6.50824387e+01] [-1.95004376e-02 -7.58397298e-04 9.99809561e-01 1.26715828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.312320588 meters Centerline goodness [0,1] 0.9997535002957997 Centerline is valid? [True, True] Translation: X:248.25, Y:-65.10, Z:1.27 [[ 7.57109433e-01 6.53118935e-01 1.48648331e-02 2.48254635e+02] [-6.53010808e-01 7.57255026e-01 -1.19041816e-02 -6.50994989e+01] [-1.90313160e-02 -6.94128439e-04 9.99818647e-01 1.26588918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.342320588 meters Centerline goodness [0,1] 0.9998521803399852 Centerline is valid? [True, True] Translation: X:248.28, Y:-65.12, Z:1.27 [[ 7.57782544e-01 6.52352436e-01 1.42096514e-02 2.48280404e+02] [-6.52253279e-01 7.57915493e-01 -1.13914556e-02 -6.51185790e+01] [-1.82009587e-02 -6.36045514e-04 9.99834147e-01 1.26615691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.372320588 meters Centerline goodness [0,1] 0.9999012004149582 Centerline is valid? [True, True] Translation: X:248.31, Y:-65.14, Z:1.27 [[ 7.58467157e-01 6.51533340e-01 1.52275420e-02 2.48306143e+02] [-6.51419095e-01 7.58619721e-01 -1.22180763e-02 -6.51374729e+01] [-1.95123977e-02 -6.52502096e-04 9.99809402e-01 1.26516014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40232058799998 meters Centerline goodness [0,1] 0.9999015360378102 Centerline is valid? [True, True] Translation: X:248.33, Y:-65.16, Z:1.26 [[ 7.61872604e-01 6.47563762e-01 1.45365027e-02 2.48331965e+02] [-6.47458924e-01 7.62011088e-01 -1.16637932e-02 -6.51558225e+01] [-1.86300261e-02 -5.25463881e-04 9.99826308e-01 1.26498462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.36, Y:-65.17, Z:1.27 [[ 7.63643356e-01 6.45485196e-01 1.40601161e-02 2.48358145e+02] [-6.45386542e-01 7.63772649e-01 -1.12939177e-02 -6.51745893e+01] [-1.80287888e-02 -4.49684491e-04 9.99837367e-01 1.26522420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46232058799998 meters Centerline goodness [0,1] 0.9999012296903551 Centerline is valid? [True, True] Translation: X:248.39, Y:-65.19, Z:1.27 [[ 7.66401221e-01 6.42185086e-01 1.50825394e-02 2.48385238e+02] [-6.42070710e-01 7.66549517e-01 -1.21260406e-02 -6.51920672e+01] [-1.93486758e-02 -3.90644456e-04 9.99812721e-01 1.26563259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49232058799998 meters Centerline goodness [0,1] 0.9999506903353057 Centerline is valid? [True, True] Translation: X:248.41, Y:-65.21, Z:1.27 [[ 7.67793547e-01 6.40547487e-01 1.38558832e-02 2.48411165e+02] [-6.40450656e-01 7.67918495e-01 -1.11419232e-02 -6.52119124e+01] [-1.77771198e-02 -3.19312730e-04 9.99841924e-01 1.26568792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52232058799999 meters Centerline goodness [0,1] 0.9998026250863515 Centerline is valid? [True, True] Translation: X:248.44, Y:-65.23, Z:1.27 [[ 7.72455237e-01 6.34967061e-01 1.13902973e-02 2.48436448e+02] [-6.34900993e-01 7.72539195e-01 -9.16088475e-03 -6.52300041e+01] [-1.46163111e-02 -1.55337639e-04 9.99893164e-01 1.26729975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.552320588 meters Centerline goodness [0,1] 0.9999013368852054 Centerline is valid? [True, True] Translation: X:248.46, Y:-65.25, Z:1.27 [[ 7.74579226e-01 6.32387871e-01 1.06114376e-02 2.48461628e+02] [-6.32330213e-01 7.74651903e-01 -8.53992225e-03 -6.52507269e+01] [-1.36207136e-02 -9.50862227e-05 9.99907229e-01 1.26878908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.582320588 meters Centerline goodness [0,1] 0.9999507146377525 Centerline is valid? [True, True] Translation: X:248.49, Y:-65.27, Z:1.27 [[ 7.75639979e-01 6.31079139e-01 1.10337779e-02 2.48486469e+02] [-6.31016505e-01 7.75718452e-01 -8.89127477e-03 -6.52723794e+01] [-1.41702032e-02 -6.60678223e-05 9.99899595e-01 1.26799989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.51, Y:-65.29, Z:1.27 [[ 7.77345051e-01 6.28939201e-01 1.30442581e-02 2.48509416e+02] [-6.28851208e-01 7.77454488e-01 -1.05203540e-02 -6.52945311e+01] [-1.67579801e-02 -2.49523554e-05 9.99859575e-01 1.26705598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.54, Y:-65.31, Z:1.27 [[ 7.78189372e-01 6.27888153e-01 1.33329642e-02 2.48535272e+02] [-6.27795858e-01 7.78303583e-01 -1.07653739e-02 -6.53149806e+01] [-1.71365446e-02 7.11986414e-06 9.99853159e-01 1.26693897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.672320588 meters Centerline goodness [0,1] 0.9999506514015002 Centerline is valid? [True, True] Translation: X:248.56, Y:-65.34, Z:1.27 [[ 7.79122060e-01 6.26739086e-01 1.29203215e-02 2.48561038e+02] [-6.26652067e-01 7.79229181e-01 -1.04436440e-02 -6.53362143e+01] [-1.66133314e-02 4.03272448e-05 9.99861988e-01 1.26745900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.702320588 meters Centerline goodness [0,1] 0.9999507097791798 Centerline is valid? [True, True] Translation: X:248.58, Y:-65.36, Z:1.27 [[ 7.79280313e-01 6.26558396e-01 1.21148612e-02 2.48584778e+02] [-6.26481726e-01 7.79374476e-01 -9.80166558e-03 -6.53585872e+01] [-1.55833295e-02 4.85058616e-05 9.99878571e-01 1.26813711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.732320588 meters Centerline goodness [0,1] 0.9999010733541079 Centerline is valid? [True, True] Translation: X:248.61, Y:-65.38, Z:1.27 [[ 7.79170634e-01 6.26674894e-01 1.31034176e-02 2.48605920e+02] [-6.26585051e-01 7.79280805e-01 -1.06113530e-02 -6.53843102e+01] [-1.68611103e-02 5.76491164e-05 9.99857840e-01 1.26942463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.762320588 meters Centerline goodness [0,1] 0.9999507146377525 Centerline is valid? [True, True] Translation: X:248.63, Y:-65.41, Z:1.27 [[ 7.78489192e-01 6.27516461e-01 1.33292671e-02 2.48629934e+02] [-6.27423409e-01 7.78603293e-01 -1.08063537e-02 -6.54068452e+01] [-1.71593761e-02 4.95353807e-05 9.99852766e-01 1.27013859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.792320588 meters Centerline goodness [0,1] 0.9999507461951436 Centerline is valid? [True, True] Translation: X:248.66, Y:-65.43, Z:1.27 [[ 7.78178055e-01 6.27888327e-01 1.39700969e-02 2.48655290e+02] [-6.27785954e-01 7.78303441e-01 -1.13380085e-02 -6.54280682e+01] [-1.79919777e-02 5.27588172e-05 9.99838130e-01 1.27053728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.822320588 meters Centerline goodness [0,1] 0.9999507558969813 Centerline is valid? [True, True] Translation: X:248.68, Y:-65.45, Z:1.27 [[ 7.76722642e-01 6.29716109e-01 1.26316580e-02 2.48678401e+02] [-6.29632496e-01 7.76825348e-01 -1.02614894e-02 -6.54499995e+01] [-1.62744173e-02 1.70288081e-05 9.99867563e-01 1.27110892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.852320588 meters Centerline goodness [0,1] 0.9999506538366641 Centerline is valid? [True, True] Translation: X:248.70, Y:-65.47, Z:1.27 [[ 7.75894794e-01 6.30744582e-01 1.21876957e-02 2.48703150e+02] [-6.30666692e-01 7.75990510e-01 -9.91221931e-03 -6.54725704e+01] [-1.57096149e-02 4.46561179e-06 9.99876596e-01 1.27021707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.882320588 meters Centerline goodness [0,1] 0.9999014049790486 Centerline is valid? [True, True] Translation: X:248.73, Y:-65.49, Z:1.27 [[ 7.75374203e-01 6.31398087e-01 1.14587005e-02 2.48726752e+02] [-6.31329178e-01 7.75458868e-01 -9.32803797e-03 -6.54946591e+01] [-1.47754562e-02 -1.49193547e-06 9.99890837e-01 1.27123578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.912320588 meters Centerline goodness [0,1] 0.9997044334975369 Centerline is valid? [True, True] Translation: X:248.75, Y:-65.52, Z:1.27 [[ 7.73476615e-01 6.33712938e-01 1.19095532e-02 2.48749205e+02] [-6.33638606e-01 7.73568297e-01 -9.70598581e-03 -6.55187886e+01] [-1.53636615e-02 -3.89996233e-05 9.99881971e-01 1.27184929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.942320588 meters Centerline goodness [0,1] 0.9994585015260411 Centerline is valid? [True, True] Translation: X:248.77, Y:-65.54, Z:1.27 [[ 7.71618747e-01 6.35971498e-01 1.20317326e-02 2.48773045e+02] [-6.35895743e-01 7.71712542e-01 -9.81611191e-03 -6.55413256e+01] [-1.55278063e-02 -7.66315586e-05 9.99879433e-01 1.27225084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.972320588 meters Centerline goodness [0,1] 0.9992594786729858 Centerline is valid? [True, True] Translation: X:248.80, Y:-65.56, Z:1.27 [[ 7.70666065e-01 6.37125356e-01 1.20456307e-02 2.48798260e+02] [-6.37049402e-01 7.70760191e-01 -9.83802760e-03 -6.55630985e+01] [-1.55523495e-02 -9.18278425e-05 9.99879051e-01 1.27368678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.002320588 meters Centerline goodness [0,1] 0.9990151179396267 Centerline is valid? [True, True] Translation: X:248.82, Y:-65.58, Z:1.27 [[ 7.69558113e-01 6.38425107e-01 1.39173959e-02 2.48823254e+02] [-6.38323749e-01 7.69683939e-01 -1.13765080e-02 -6.55838219e+01] [-1.79750444e-02 -1.28920344e-04 9.99838428e-01 1.27440766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.032320588 meters Centerline goodness [0,1] 0.9983260302299247 Centerline is valid? [True, True] Translation: X:248.85, Y:-65.60, Z:1.28 [[ 7.67564955e-01 6.40863751e-01 1.17342237e-02 2.48848298e+02] [-6.40791842e-01 7.67654630e-01 -9.60127068e-03 -6.56035274e+01] [-1.51609375e-02 -1.49595934e-04 9.99885055e-01 1.27695459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.062320588 meters Centerline goodness [0,1] 0.9987204724409449 Centerline is valid? [True, True] Translation: X:248.87, Y:-65.62, Z:1.28 [[ 7.66582107e-01 6.42029429e-01 1.22509553e-02 2.48872943e+02] [-6.41951050e-01 7.66679974e-01 -1.00332725e-02 -6.56240491e+01] [-1.58342183e-02 -1.73186419e-04 9.99874616e-01 1.27571783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.092320588 meters Centerline goodness [0,1] 0.9985680426624531 Centerline is valid? [True, True] Translation: X:248.90, Y:-65.65, Z:1.28 [[ 7.66230707e-01 6.42460841e-01 1.16005289e-02 2.48896935e+02] [-6.42390453e-01 7.66318498e-01 -9.51130201e-03 -6.56462746e+01] [-1.50003389e-02 -1.64217336e-04 9.99887475e-01 1.27635038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.122320588 meters Centerline goodness [0,1] 0.9986689672171555 Centerline is valid? [True, True] Translation: X:248.92, Y:-65.67, Z:1.28 [[ 7.66653574e-01 6.41966326e-01 1.10242321e-02 2.48921564e+02] [-6.41902592e-01 7.66732819e-01 -9.04691023e-03 -6.56662908e+01] [-1.42604523e-02 -1.40637119e-04 9.99898305e-01 1.27685408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15232058799998 meters Centerline goodness [0,1] 0.9987690792712949 Centerline is valid? [True, True] Translation: X:248.95, Y:-65.69, Z:1.28 [[ 7.67953089e-01 6.40420820e-01 1.04511716e-02 2.48946821e+02] [-6.40363286e-01 7.68024195e-01 -8.58478078e-03 -6.56861787e+01] [-1.35246250e-02 -9.98376845e-05 9.99908533e-01 1.27870095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18232058799998 meters Centerline goodness [0,1] 0.9993593850096092 Centerline is valid? [True, True] Translation: X:248.97, Y:-65.71, Z:1.28 [[ 7.70606221e-01 6.37216619e-01 1.10014927e-02 2.48972055e+02] [-6.37152394e-01 7.70684747e-01 -9.04696072e-03 -6.57066530e+01] [-1.42435563e-02 -3.79832069e-05 9.99898555e-01 1.27976427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21232058799998 meters Centerline goodness [0,1] 0.9994090416625628 Centerline is valid? [True, True] Translation: X:249.00, Y:-65.73, Z:1.28 [[ 7.71888203e-01 6.35651941e-01 1.16281094e-02 2.48997999e+02] [-6.35579860e-01 7.71975783e-01 -9.57243567e-03 -6.57276088e+01] [-1.50613562e-02 -1.74195835e-06 9.99886571e-01 1.27943007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24232058799998 meters Centerline goodness [0,1] 0.9997046371960224 Centerline is valid? [True, True] Translation: X:249.02, Y:-65.75, Z:1.28 [[ 7.72954616e-01 6.34360360e-01 1.13178824e-02 2.49024501e+02] [-6.34291784e-01 7.73037471e-01 -9.32738767e-03 -6.57475051e+01] [-1.46660722e-02 3.08075252e-05 9.99892447e-01 1.27932991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27232058799999 meters Centerline goodness [0,1] 0.9997046371960224 Centerline is valid? [True, True] Translation: X:249.05, Y:-65.77, Z:1.28 [[ 7.72614770e-01 6.34774319e-01 1.13128915e-02 2.49049758e+02] [-6.34705699e-01 7.72697588e-01 -9.33344151e-03 -6.57679154e+01] [-1.46660729e-02 3.07980728e-05 9.99892447e-01 1.27949377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.302320588 meters Centerline goodness [0,1] 0.9999014341333596 Centerline is valid? [True, True] Translation: X:249.08, Y:-65.79, Z:1.28 [[ 7.72731218e-01 6.34637976e-01 1.10046858e-02 2.49076087e+02] [-6.34572888e-01 7.72809574e-01 -9.08917432e-03 -6.57876498e+01] [-1.42728618e-02 4.02134709e-05 9.99898137e-01 1.27924360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.332320588 meters Centerline goodness [0,1] 0.9999507340624693 Centerline is valid? [True, True] Translation: X:249.10, Y:-65.81, Z:1.28 [[ 7.72633186e-01 6.34744003e-01 1.17477632e-02 2.49102220e+02] [-6.34669682e-01 7.72722491e-01 -9.71322284e-03 -6.58080685e+01] [-1.52431708e-02 4.88091499e-05 9.99883815e-01 1.27967648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.362320588 meters Centerline goodness [0,1] 0.9999014535599902 Centerline is valid? [True, True] Translation: X:249.13, Y:-65.83, Z:1.28 [[ 7.74028217e-01 6.33048499e-01 1.13981086e-02 2.49128441e+02] [-6.32978201e-01 7.74112130e-01 -9.43437807e-03 -6.58285468e+01] [-1.47958330e-02 8.77205869e-05 9.99890532e-01 1.28245838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.392320588 meters Centerline goodness [0,1] 0.999950768018905 Centerline is valid? [True, True] Translation: X:249.15, Y:-65.85, Z:1.28 [[ 7.74955816e-01 6.31918169e-01 1.10865084e-02 2.49154200e+02] [-6.31851402e-01 7.75035106e-01 -9.18648346e-03 -6.58496286e+01] [-1.43975390e-02 1.14092897e-04 9.99896344e-01 1.28373483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.422320588 meters Centerline goodness [0,1] 0.9999014778325123 Centerline is valid? [True, True] Translation: X:249.18, Y:-65.87, Z:1.28 [[ 7.78920331e-01 6.27014749e-01 1.16457203e-02 2.49180075e+02] [-6.26940396e-01 7.79007353e-01 -9.65837445e-03 -6.58689200e+01] [-1.51280450e-02 2.21931724e-04 9.99885540e-01 1.28337268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.452320588 meters Centerline goodness [0,1] 0.9999012296903551 Centerline is valid? [True, True] Translation: X:249.21, Y:-65.89, Z:1.28 [[ 7.80991571e-01 6.24432405e-01 1.16764019e-02 2.49205129e+02] [-6.24357237e-01 7.81078801e-01 -9.69263436e-03 -6.58884041e+01] [-1.51725849e-02 2.79619733e-04 9.99884851e-01 1.28241349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.482320588 meters Centerline goodness [0,1] 0.999901409839298 Centerline is valid? [True, True] Translation: X:249.23, Y:-65.91, Z:1.28 [[ 7.83085744e-01 6.21815542e-01 1.10521246e-02 2.49230216e+02] [-6.21747814e-01 7.83163667e-01 -9.18294346e-03 -6.59081443e+01] [-1.43657194e-02 3.19397804e-04 9.99896757e-01 1.28203461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.512320588 meters Centerline goodness [0,1] 0.9999507267799951 Centerline is valid? [True, True] Translation: X:249.25, Y:-65.93, Z:1.28 [[ 7.88130208e-01 6.15375912e-01 1.27774330e-02 2.49254758e+02] [-6.15284552e-01 7.88233615e-01 -1.06154526e-02 -6.59279217e+01] [-1.66040960e-02 5.04601734e-04 9.99862015e-01 1.28175833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.542320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.28, Y:-65.95, Z:1.28 [[ 7.89947011e-01 6.13041862e-01 1.27826392e-02 2.49279953e+02] [-6.12949926e-01 7.90050225e-01 -1.06315449e-02 -6.59485199e+01] [-1.66165091e-02 5.63239380e-04 9.99861778e-01 1.28240357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.572320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.30, Y:-65.97, Z:1.28 [[ 7.93428307e-01 6.08570918e-01 1.06282154e-02 2.49303148e+02] [-6.08506951e-01 7.93499300e-01 -8.84032163e-03 -6.59714213e+01] [-1.38134442e-02 5.46818451e-04 9.99904440e-01 1.28362840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.602320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.33, Y:-65.99, Z:1.28 [[ 7.94292295e-01 6.07440376e-01 1.07675373e-02 2.49326222e+02] [-6.07374490e-01 7.94365062e-01 -8.96531618e-03 -6.59933071e+01] [-1.39992505e-02 5.81154064e-04 9.99901837e-01 1.28344288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.632320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.35, Y:-66.02, Z:1.28 [[ 7.96760353e-01 6.04194479e-01 1.10440718e-02 2.49347127e+02] [-6.04124749e-01 7.96836617e-01 -9.20285302e-03 -6.60175777e+01] [-1.43606338e-02 6.60471312e-04 9.99896663e-01 1.28283800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.662320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.37, Y:-66.04, Z:1.28 [[ 7.97981093e-01 6.02572595e-01 1.15083772e-02 2.49369553e+02] [-6.02496666e-01 7.98063749e-01 -9.59270272e-03 -6.60401383e+01] [-1.49647184e-02 7.21036515e-04 9.99887762e-01 1.28104684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.39, Y:-66.06, Z:1.28 [[ 7.98241701e-01 6.02239911e-01 1.08293928e-02 2.49391611e+02] [-6.02172528e-01 7.98314858e-01 -9.03518944e-03 -6.60630985e+01] [-1.40866168e-02 6.91102178e-04 9.99900540e-01 1.28095242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.722320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.41, Y:-66.09, Z:1.28 [[ 7.98603049e-01 6.01777543e-01 9.84674826e-03 2.49412404e+02] [-6.01721703e-01 7.98663494e-01 -8.22283805e-03 -6.60879927e+01] [-1.28125576e-02 6.41781404e-04 9.99917710e-01 1.28204810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.43, Y:-66.11, Z:1.28 [[ 7.98095036e-01 6.02452587e-01 9.75671417e-03 2.49434387e+02] [-6.02397804e-01 7.98154426e-01 -8.14845736e-03 -6.61115714e+01] [-1.26964238e-02 6.25820175e-04 9.99919201e-01 1.28470159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.782320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.45, Y:-66.14, Z:1.28 [[ 7.95558294e-01 6.05796617e-01 9.87218904e-03 2.49454804e+02] [-6.05740738e-01 7.95619331e-01 -8.24856286e-03 -6.61356618e+01] [-1.28514559e-02 5.82225526e-04 9.99917247e-01 1.28398338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.48, Y:-66.16, Z:1.28 [[ 7.93831172e-01 6.08075748e-01 8.71527801e-03 2.49477195e+02] [-6.08032244e-01 7.93878862e-01 -7.28996291e-03 -6.61588233e+01] [-1.13517246e-02 4.87829758e-04 9.99935448e-01 1.28318504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.842320588 meters Centerline goodness [0,1] 0.9999015990159902 Centerline is valid? [True, True] Translation: X:249.50, Y:-66.18, Z:1.28 [[ 7.91940176e-01 6.10542835e-01 8.25856768e-03 2.49500557e+02] [-6.10503837e-01 7.91983117e-01 -6.91426646e-03 -6.61811803e+01] [-1.07621020e-02 4.33798136e-04 9.99941993e-01 1.28216221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.872320588 meters Centerline goodness [0,1] 0.9999507558969813 Centerline is valid? [True, True] Translation: X:249.52, Y:-66.20, Z:1.28 [[ 7.89838745e-01 6.13267422e-01 7.60433465e-03 2.49524422e+02] [-6.13234425e-01 7.89875263e-01 -6.37241694e-03 -6.62028031e+01] [-9.91447154e-03 3.69942008e-04 9.99950782e-01 1.28180222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90232058799998 meters Centerline goodness [0,1] 0.9999505904441919 Centerline is valid? [True, True] Translation: X:249.55, Y:-66.23, Z:1.28 [[ 7.89570595e-01 6.13617664e-01 7.18599070e-03 2.49546425e+02] [-6.13588210e-01 7.89603219e-01 -6.02209452e-03 -6.62267437e+01] [-9.36934496e-03 3.45629584e-04 9.99956047e-01 1.28339720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.57, Y:-66.25, Z:1.28 [[ 7.89236346e-01 6.14046524e-01 7.27019025e-03 2.49570347e+02] [-6.14016312e-01 7.89269753e-01 -6.10130692e-03 -6.62498071e+01] [-9.48462757e-03 3.51357780e-04 9.99954958e-01 1.28377409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.59, Y:-66.27, Z:1.28 [[ 7.89056372e-01 6.14272514e-01 7.70191196e-03 2.49594679e+02] [-6.14238559e-01 7.89093872e-01 -6.46946591e-03 -6.62713003e+01] [-1.00515466e-02 3.73961994e-04 9.99949412e-01 1.28338306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.62, Y:-66.29, Z:1.28 [[ 7.87446424e-01 6.16328822e-01 8.17999363e-03 2.49618163e+02] [-6.16290570e-01 7.87488821e-01 -6.87678649e-03 -6.62932435e+01] [-1.06800153e-02 3.73848000e-04 9.99942897e-01 1.28199253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02232058799999 meters Centerline goodness [0,1] 0.9999507801348624 Centerline is valid? [True, True] Translation: X:249.64, Y:-66.31, Z:1.28 [[ 7.86882989e-01 6.17050418e-01 7.99641882e-03 2.49641528e+02] [-6.17013837e-01 7.86923536e-01 -6.72858815e-03 -6.63148534e+01] [-1.04444483e-02 3.60710505e-04 9.99945390e-01 1.28166256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.66, Y:-66.34, Z:1.28 [[ 7.85421122e-01 6.18892710e-01 9.24525151e-03 2.49663486e+02] [-6.18843934e-01 7.85475437e-01 -7.77961993e-03 -6.63394073e+01] [-1.20766680e-02 3.88909995e-04 9.99926999e-01 1.28219921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.082320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.69, Y:-66.36, Z:1.28 [[ 7.84019131e-01 6.20673238e-01 8.87324163e-03 2.49686572e+02] [-6.20628322e-01 7.84069261e-01 -7.47527462e-03 -6.63615564e+01] [-1.15969389e-02 3.53773245e-04 9.99932691e-01 1.28200983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.71, Y:-66.38, Z:1.28 [[ 7.82835618e-01 6.22171245e-01 8.44618205e-03 2.49710222e+02] [-6.22130561e-01 7.82881114e-01 -7.12220599e-03 -6.63832209e+01] [-1.10435882e-02 3.20888549e-04 9.99938966e-01 1.28248058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.142320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.73, Y:-66.41, Z:1.28 [[ 7.80376123e-01 6.25240871e-01 9.32521969e-03 2.49733449e+02] [-6.25191411e-01 7.80431775e-01 -7.87043837e-03 -6.64050196e+01] [-1.21986175e-02 3.11854918e-04 9.99925545e-01 1.28294354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.76, Y:-66.43, Z:1.28 [[ 7.79133845e-01 6.26760834e-01 1.10139922e-02 2.49758167e+02] [-6.26691849e-01 7.79211612e-01 -9.30540778e-03 -6.64267321e+01] [-1.44144958e-02 3.47779000e-04 9.99896045e-01 1.28338573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.202320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.78, Y:-66.45, Z:1.28 [[ 7.76915600e-01 6.29495183e-01 1.17458462e-02 2.49780928e+02] [-6.29416904e-01 7.77004318e-01 -9.93229448e-03 -6.64495798e+01] [-1.53789047e-02 3.23520382e-04 9.99881685e-01 1.28286615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.80, Y:-66.47, Z:1.28 [[ 7.75854475e-01 6.30812139e-01 1.12195177e-02 2.49804776e+02] [-6.30740725e-01 7.75935539e-01 -9.49620825e-03 -6.64714791e+01] [-1.46959460e-02 2.91068916e-04 9.99891966e-01 1.28335849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.262320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.83, Y:-66.49, Z:1.28 [[ 7.75320268e-01 6.31477942e-01 1.06813432e-02 2.49828902e+02] [-6.31413159e-01 7.75393793e-01 -9.04921703e-03 -6.64924364e+01] [-1.39966282e-02 2.71700693e-04 9.99902005e-01 1.28376828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.292320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.85, Y:-66.51, Z:1.28 [[ 7.73636162e-01 6.33557970e-01 9.55962636e-03 2.49852719e+02] [-6.33506138e-01 7.73695193e-01 -8.10690580e-03 -6.65136733e+01] [-1.25324318e-02 2.15713520e-04 9.99921443e-01 1.28401220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.322320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.88, Y:-66.54, Z:1.29 [[ 7.72861781e-01 6.34507832e-01 9.19121907e-03 2.49876829e+02] [-6.34459895e-01 7.72916407e-01 -7.80188905e-03 -6.65351221e+01] [-1.20544037e-02 1.98321973e-04 9.99927323e-01 1.28546931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.352320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.90, Y:-66.56, Z:1.29 [[ 7.71904758e-01 6.35668966e-01 9.38134164e-03 2.49902033e+02] [-6.35619001e-01 7.71961740e-01 -7.97226096e-03 -6.65570528e+01] [-1.23097557e-02 1.90867171e-04 9.99924214e-01 1.28676446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.382320588 meters Centerline goodness [0,1] 0.9999506757423301 Centerline is valid? [True, True] Translation: X:249.93, Y:-66.58, Z:1.29 [[ 7.70324539e-01 6.37559395e-01 1.08684325e-02 2.49928354e+02] [-6.37492386e-01 7.70401182e-01 -9.24539956e-03 -6.65772793e+01] [-1.42675446e-02 1.93415166e-04 9.99898195e-01 1.28670837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.412320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.95, Y:-66.60, Z:1.29 [[ 7.68538700e-01 6.39693475e-01 1.18542881e-02 2.49953405e+02] [-6.39613848e-01 7.68630098e-01 -1.00944832e-02 -6.65981805e+01] [-1.55689377e-02 1.75834173e-04 9.99878781e-01 1.28610604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.98, Y:-66.62, Z:1.29 [[ 7.67394496e-01 6.41075448e-01 1.13118089e-02 2.49977469e+02] [-6.41002963e-01 7.67477849e-01 -9.64121166e-03 -6.66187969e+01] [-1.48623069e-02 1.47709705e-04 9.99889539e-01 1.28534330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.472320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.00, Y:-66.64, Z:1.29 [[ 7.66740386e-01 6.41864383e-01 1.09222023e-02 2.50003110e+02] [-6.41796734e-01 7.66818164e-01 -9.31970241e-03 -6.66401733e+01] [-1.43573282e-02 1.35958446e-04 9.99896919e-01 1.28568992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.03, Y:-66.66, Z:1.29 [[ 7.66355011e-01 6.42321444e-01 1.10977265e-02 2.50028917e+02] [-6.42251504e-01 7.66435349e-01 -9.47953589e-03 -6.66604380e+01] [-1.45945991e-02 1.37158286e-04 9.99893484e-01 1.28596008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.532320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.05, Y:-66.68, Z:1.29 [[ 7.65528168e-01 6.43314918e-01 1.06084801e-02 2.50054215e+02] [-6.43250990e-01 7.65601660e-01 -9.06982499e-03 -6.66803148e+01] [-1.39566237e-02 1.19291163e-04 9.99902594e-01 1.28689878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.08, Y:-66.70, Z:1.29 [[ 7.65657750e-01 6.43155072e-01 1.09436552e-02 2.50080586e+02] [-6.43086875e-01 7.65735944e-01 -9.36672556e-03 -6.66999260e+01] [-1.44042072e-02 1.33985009e-04 9.99896245e-01 1.28746679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.592320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.11, Y:-66.72, Z:1.29 [[ 7.66950589e-01 6.41572131e-01 1.31146834e-02 2.50106656e+02] [-6.41473796e-01 7.67062683e-01 -1.12343067e-02 -6.67186988e+01] [-1.72674023e-02 2.03432394e-04 9.99850887e-01 1.28729628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.13, Y:-66.74, Z:1.29 [[ 7.67670289e-01 6.40685787e-01 1.42846108e-02 2.50132435e+02] [-6.40568759e-01 7.67803138e-01 -1.22477143e-02 -6.67375114e+01] [-1.88147054e-02 2.51930987e-04 9.99822956e-01 1.28652611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.16, Y:-66.76, Z:1.29 [[ 7.69026814e-01 6.39057373e-01 1.42629932e-02 2.50158391e+02] [-6.38940205e-01 7.69159011e-01 -1.22405195e-02 -6.67570264e+01] [-1.87929040e-02 3.00087938e-04 9.99823353e-01 1.28701688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.18, Y:-66.78, Z:1.29 [[ 7.71939307e-01 6.35544483e-01 1.38894524e-02 2.50183625e+02] [-6.35432598e-01 7.72064157e-01 -1.19311037e-02 -6.67765902e+01] [-1.83062955e-02 3.84277089e-04 9.99832352e-01 1.28706288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.21, Y:-66.80, Z:1.29 [[ 7.73066704e-01 6.34209154e-01 1.21086592e-02 2.50208875e+02] [-6.34123768e-01 7.73161439e-01 -1.04132610e-02 -6.67979566e+01] [-1.59661338e-02 3.71756762e-04 9.99872464e-01 1.28772504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.23, Y:-66.82, Z:1.29 [[ 7.74311951e-01 6.32701877e-01 1.13726911e-02 2.50233752e+02] [-6.32626262e-01 7.74395368e-01 -9.78910247e-03 -6.68188056e+01] [-1.50005428e-02 3.85156002e-04 9.99887411e-01 1.28775381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.26, Y:-66.84, Z:1.29 [[ 7.76162879e-01 6.30407275e-01 1.25639594e-02 2.50257751e+02] [-6.30314528e-01 7.76264411e-01 -1.08240311e-02 -6.68404429e+01] [-1.65765024e-02 4.81965006e-04 9.99862484e-01 1.28754536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.802320588 meters Centerline goodness [0,1] 0.9999508430418326 Centerline is valid? [True, True] Translation: X:250.28, Y:-66.86, Z:1.29 [[ 7.76494682e-01 6.29987924e-01 1.30852980e-02 2.50281466e+02] [-6.29887085e-01 7.76604755e-01 -1.12833344e-02 -6.68617390e+01] [-1.72704690e-02 5.19188938e-04 9.99850720e-01 1.28660937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.832320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.30, Y:-66.89, Z:1.29 [[ 7.75972070e-01 6.30629929e-01 1.31620267e-02 2.50304137e+02] [-6.30527786e-01 7.76083517e-01 -1.13616215e-02 -6.68854502e+01] [-1.73798105e-02 5.17277457e-04 9.99848826e-01 1.28642160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.33, Y:-66.91, Z:1.29 [[ 7.74867332e-01 6.31970123e-01 1.39420666e-02 2.50328680e+02] [-6.31855501e-01 7.74992573e-01 -1.20473180e-02 -6.69080967e+01] [-1.84185431e-02 5.25701743e-04 9.99830226e-01 1.28671173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.892320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.35, Y:-66.93, Z:1.29 [[ 7.73584433e-01 6.33555884e-01 1.31934367e-02 2.50352697e+02] [-6.33453295e-01 7.73696789e-01 -1.14105669e-02 -6.69294214e+01] [-1.74369514e-02 4.69610971e-04 9.99847855e-01 1.28681345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.38, Y:-66.95, Z:1.29 [[ 7.71669127e-01 6.35921772e-01 1.14130399e-02 2.50376106e+02] [-6.35845236e-01 7.71753438e-01 -9.87250856e-03 -6.69517703e+01] [-1.50861959e-02 3.61383014e-04 9.99886132e-01 1.28671295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.952320588 meters Centerline goodness [0,1] 0.999950821284548 Centerline is valid? [True, True] Translation: X:250.40, Y:-66.97, Z:1.29 [[ 7.70979214e-01 6.36783499e-01 9.89075533e-03 2.50400660e+02] [-6.36725958e-01 7.71042594e-01 -8.56583007e-03 -6.69727231e+01] [-1.30807729e-02 3.06376271e-04 9.99914396e-01 1.28662725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.42, Y:-67.00, Z:1.29 [[ 7.70107909e-01 6.37864058e-01 7.95309390e-03 2.50424240e+02] [-6.37826839e-01 7.70148938e-01 -6.89462383e-03 -6.69951653e+01] [-1.05228996e-02 2.36907596e-04 9.99944605e-01 1.28662214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.012320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.45, Y:-67.02, Z:1.29 [[ 7.69030175e-01 6.39145555e-01 9.24928768e-03 2.50448408e+02] [-6.39095204e-01 7.69085750e-01 -8.02674590e-03 -6.70168697e+01] [-1.22437543e-02 2.61634405e-04 9.99925008e-01 1.28588333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.042320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.47, Y:-67.04, Z:1.29 [[ 7.68753059e-01 6.39483448e-01 8.92489021e-03 2.50473402e+02] [-6.39436491e-01 7.68804823e-01 -7.75362547e-03 -6.70378787e+01] [-1.18198138e-02 2.53722825e-04 9.99930111e-01 1.28589702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.072320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.50, Y:-67.06, Z:1.29 [[ 7.68143091e-01 6.40201700e-01 9.89824024e-03 2.50499085e+02] [-6.40143887e-01 7.68206813e-01 -8.60796859e-03 -6.70589595e+01] [-1.31147317e-02 2.75853618e-04 9.99913960e-01 1.28598234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.102320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.52, Y:-67.08, Z:1.29 [[ 7.67018563e-01 6.41535259e-01 1.07254489e-02 2.50523745e+02] [-6.41467372e-01 7.67093496e-01 -9.33694714e-03 -6.70810427e+01] [-1.42174029e-02 2.81586237e-04 9.99898888e-01 1.28792910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.132320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.55, Y:-67.10, Z:1.29 [[ 7.65449386e-01 6.43439835e-01 8.50979292e-03 2.50547427e+02] [-6.43397136e-01 7.65496661e-01 -7.41530597e-03 -6.71032635e+01] [-1.12855213e-02 2.00865013e-04 9.99936296e-01 1.29033616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.162320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.57, Y:-67.12, Z:1.29 [[ 7.65108550e-01 6.43845138e-01 8.50563588e-03 2.50572079e+02] [-6.43802411e-01 7.65155800e-01 -7.42007508e-03 -6.71243502e+01] [-1.12855159e-02 2.01213994e-04 9.99936296e-01 1.29049998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.60, Y:-67.15, Z:1.29 [[ 7.64061867e-01 6.45091969e-01 8.11264947e-03 2.50596704e+02] [-6.45053102e-01 7.64104914e-01 -7.08357560e-03 -6.71450147e+01] [-1.07684731e-02 1.79200292e-04 9.99942002e-01 1.29091670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.222320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.62, Y:-67.17, Z:1.29 [[ 7.62754185e-01 6.46639119e-01 7.99398378e-03 2.50621530e+02] [-6.46601394e-01 7.62796057e-01 -6.98657842e-03 -6.71660139e+01] [-1.06155742e-02 1.60120868e-04 9.99943640e-01 1.28940842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.64, Y:-67.19, Z:1.29 [[ 7.61086958e-01 6.48601888e-01 7.88881193e-03 2.50644916e+02] [-6.48565186e-01 7.61127829e-01 -6.90122023e-03 -6.71881283e+01] [-1.04805388e-02 1.36019935e-04 9.99945068e-01 1.28800407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.282320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.67, Y:-67.21, Z:1.29 [[ 7.59650306e-01 6.50280147e-01 8.19414463e-03 2.50668932e+02] [-6.50240559e-01 7.59694488e-01 -7.17633325e-03 -6.72102853e+01] [-1.08916736e-02 1.23338566e-04 9.99940676e-01 1.28767474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.69, Y:-67.23, Z:1.29 [[ 7.59204927e-01 6.50795914e-01 8.51809093e-03 2.50693984e+02] [-6.50753078e-01 7.59252700e-01 -7.46781935e-03 -6.72318058e+01] [-1.13274098e-02 1.26431348e-04 9.99935835e-01 1.28806729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.342320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.72, Y:-67.25, Z:1.29 [[ 7.59513422e-01 6.50421228e-01 9.57015364e-03 2.50719832e+02] [-6.50367039e-01 7.59573698e-01 -8.39715938e-03 -6.72510660e+01] [-1.27309277e-02 1.53642770e-04 9.99918947e-01 1.29007045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.74, Y:-67.27, Z:1.29 [[ 7.59383527e-01 6.50576770e-01 9.30186069e-03 2.50744847e+02] [-6.50525472e-01 7.59440480e-01 -8.17113726e-03 -6.72722458e+01] [-1.23801616e-02 1.53929714e-04 9.99923351e-01 1.29177329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.77, Y:-67.29, Z:1.29 [[ 7.61136529e-01 6.48533269e-01 8.70535255e-03 2.50769327e+02] [-6.48488126e-01 7.61186289e-01 -7.65405632e-03 -6.72923666e+01] [-1.15903052e-02 1.80464101e-04 9.99932814e-01 1.29268965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.79, Y:-67.31, Z:1.29 [[ 7.62484566e-01 6.46967183e-01 7.12388732e-03 2.50794939e+02] [-6.46936811e-01 7.62517825e-01 -6.27132728e-03 -6.73129556e+01] [-9.48943401e-03 1.73085321e-04 9.99954959e-01 1.29208272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.82, Y:-67.33, Z:1.29 [[ 7.64292864e-01 6.44831673e-01 6.96653455e-03 2.50819844e+02] [-6.44802488e-01 7.64324587e-01 -6.13816323e-03 -6.73333795e+01] [-9.28277570e-03 1.99315540e-04 9.99956894e-01 1.29012063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49232058799998 meters Centerline goodness [0,1] 0.999950585561101 Centerline is valid? [True, True] Translation: X:250.84, Y:-67.36, Z:1.29 [[ 7.67903240e-01 6.40523749e-01 7.34436910e-03 2.50840731e+02] [-6.40491104e-01 7.67938315e-01 -6.47225456e-03 -6.73577404e+01] [-9.78565519e-03 2.66062176e-04 9.99952084e-01 1.28811540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.86, Y:-67.38, Z:1.29 [[ 7.69319538e-01 6.38825590e-01 7.02243398e-03 2.50862388e+02] [-6.38795605e-01 7.69351537e-01 -6.19576481e-03 -6.73820151e+01] [-9.36073348e-03 2.80622962e-04 9.99956148e-01 1.28957513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.88, Y:-67.41, Z:1.29 [[ 7.71454819e-01 6.36247827e-01 6.79438978e-03 2.50883934e+02] [-6.36219608e-01 7.71484678e-01 -6.00013950e-03 -6.74065049e+01] [-9.05934333e-03 3.06112532e-04 9.99958916e-01 1.29365593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.582320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.91, Y:-67.43, Z:1.29 [[ 7.71316936e-01 6.36418001e-01 6.50481158e-03 2.50908005e+02] [-6.36392086e-01 7.71344307e-01 -5.75092202e-03 -6.74289114e+01] [-8.67743968e-03 2.96172941e-04 9.99962306e-01 1.29446836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.93, Y:-67.45, Z:1.29 [[ 7.71155944e-01 6.36620855e-01 5.69185091e-03 2.50931603e+02] [-6.36600976e-01 7.71176905e-01 -5.03778899e-03 -6.74512602e+01] [-7.59658550e-03 2.61483075e-04 9.99971111e-01 1.29469345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.642320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.96, Y:-67.47, Z:1.29 [[ 7.70931505e-01 6.36890715e-01 5.90176121e-03 2.50955347e+02] [-6.36869309e-01 7.70954047e-01 -5.22887867e-03 -6.74744614e+01] [-7.88021097e-03 2.72456728e-04 9.99968914e-01 1.29452623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.672320588 meters Centerline goodness [0,1] 0.9999508696079394 Centerline is valid? [True, True] Translation: X:250.98, Y:-67.50, Z:1.29 [[ 7.70159966e-01 6.37814407e-01 6.81241155e-03 2.50975651e+02] [-6.37785868e-01 7.70190033e-01 -6.04146998e-03 -6.75011625e+01] [-9.10018807e-03 3.08038496e-04 9.99958545e-01 1.29349480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.702320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.99, Y:-67.53, Z:1.29 [[ 7.68622412e-01 6.39661425e-01 7.26974327e-03 2.50992521e+02] [-6.39628958e-01 7.68656728e-01 -6.45218942e-03 -6.75303564e+01] [-9.71515376e-03 3.09359091e-04 9.99952759e-01 1.29246118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.02, Y:-67.55, Z:1.29 [[ 7.68590567e-01 6.39697610e-01 7.45031786e-03 2.51015195e+02] [-6.39663439e-01 7.68626609e-01 -6.61976425e-03 -6.75547660e+01] [-9.96115993e-03 3.22192421e-04 9.99950335e-01 1.29162410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.762320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.04, Y:-67.58, Z:1.29 [[ 7.68391132e-01 6.39929843e-01 8.05386317e-03 2.51038160e+02] [-6.39889847e-01 7.68433259e-01 -7.16318605e-03 -6.75783159e+01] [-1.07727928e-02 3.50543365e-04 9.99941910e-01 1.29214535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.792320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.06, Y:-67.60, Z:1.29 [[ 7.68684903e-01 6.39580495e-01 7.76595436e-03 2.51058741e+02] [-6.39543227e-01 7.68724053e-01 -6.91311346e-03 -6.76038959e+01] [-1.03913684e-02 3.47342444e-04 9.99945948e-01 1.29301647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.822320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.08, Y:-67.63, Z:1.29 [[ 7.68609975e-01 6.39676118e-01 7.29182826e-03 2.51081229e+02] [-6.39643193e-01 7.68644492e-01 -6.49851953e-03 -6.76287928e+01] [-9.76177137e-03 3.30658614e-04 9.99952298e-01 1.29439747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.852320588 meters Centerline goodness [0,1] 0.9999506903353057 Centerline is valid? [True, True] Translation: X:251.10, Y:-67.65, Z:1.29 [[ 7.67602810e-01 6.40888577e-01 6.91071347e-03 2.51102404e+02] [-6.40859004e-01 7.67633858e-01 -6.16419539e-03 -6.76539152e+01] [-9.25546006e-03 3.02860749e-04 9.99957121e-01 1.29397636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.882320588 meters Centerline goodness [0,1] 0.999950874435056 Centerline is valid? [True, True] Translation: X:251.12, Y:-67.68, Z:1.29 [[ 7.65696105e-01 6.43167910e-01 6.67191613e-03 2.51120437e+02] [-6.43140381e-01 7.65725125e-01 -5.95679684e-03 -6.76817495e+01] [-8.94007439e-03 2.70117457e-04 9.99960000e-01 1.29346468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.912320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.14, Y:-67.71, Z:1.29 [[ 7.63899707e-01 6.45293814e-01 7.28912034e-03 2.51141114e+02] [-6.45260997e-01 7.63934434e-01 -6.51359923e-03 -6.77064623e+01] [-9.77159531e-03 2.72351483e-04 9.99952220e-01 1.29361731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.16, Y:-67.73, Z:1.29 [[ 7.60449236e-01 6.49326222e-01 9.61337010e-03 2.51159882e+02] [-6.49269368e-01 7.60509940e-01 -8.59760876e-03 -6.77333185e+01] [-1.28937163e-02 2.96378279e-04 9.99916829e-01 1.29432670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.972320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.18, Y:-67.76, Z:1.29 [[ 7.58592545e-01 6.51486274e-01 1.01481159e-02 2.51182140e+02] [-6.51422999e-01 7.58660369e-01 -9.08410213e-03 -6.77566484e+01] [-1.36171412e-02 2.80416075e-04 9.99907243e-01 1.29379198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.002320588 meters Centerline goodness [0,1] 0.9999507849795758 Centerline is valid? [True, True] Translation: X:251.20, Y:-67.78, Z:1.29 [[ 7.56603678e-01 6.53810777e-01 9.07427384e-03 2.51204152e+02] [-6.53760247e-01 7.56658060e-01 -8.13142167e-03 -6.77808415e+01] [-1.21825336e-02 2.19864037e-04 9.99925766e-01 1.29497903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.032320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.22, Y:-67.81, Z:1.29 [[ 7.53813716e-01 6.57038431e-01 8.08594900e-03 2.51222982e+02] [-6.56998451e-01 7.53857067e-01 -7.24966654e-03 -6.78087446e+01] [-1.08589593e-02 1.52442100e-04 9.99941028e-01 1.29462952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.24, Y:-67.83, Z:1.30 [[ 7.52660941e-01 6.58369898e-01 7.11235252e-03 2.51244921e+02] [-6.58338950e-01 7.52694535e-01 -6.38469393e-03 -6.78327797e+01] [-9.55691916e-03 1.23171051e-04 9.99954324e-01 1.29572742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.092320588 meters Centerline goodness [0,1] 0.9999012443215485 Centerline is valid? [True, True] Translation: X:251.27, Y:-67.86, Z:1.30 [[ 7.50460841e-01 6.60875035e-01 7.26049152e-03 2.51266130e+02] [-6.60842835e-01 7.50495955e-01 -6.52447421e-03 -6.78581652e+01] [-9.76083164e-03 9.83186048e-05 9.99952357e-01 1.29640379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.122320588 meters Centerline goodness [0,1] 0.9999509081983309 Centerline is valid? [True, True] Translation: X:251.29, Y:-67.88, Z:1.30 [[ 7.48442397e-01 6.63148286e-01 8.26618496e-03 2.51288870e+02] [-6.63106602e-01 7.48488039e-01 -7.43572704e-03 -6.78823506e+01] [-1.11181302e-02 8.38515532e-05 9.99938188e-01 1.29602486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.31, Y:-67.91, Z:1.30 [[ 7.47015922e-01 6.64761701e-01 7.68720048e-03 2.51311664e+02] [-6.64725661e-01 7.47055471e-01 -6.92235567e-03 -6.79055602e+01] [-1.03444821e-02 6.12304866e-05 9.99946493e-01 1.29669693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18232058799998 meters Centerline goodness [0,1] 0.9997055359246172 Centerline is valid? [True, True] Translation: X:251.34, Y:-67.93, Z:1.30 [[ 7.45763204e-01 6.66166402e-01 7.71805871e-03 2.51335125e+02] [-6.66130071e-01 7.45803139e-01 -6.95747827e-03 -6.79289087e+01] [-1.03909907e-02 4.74002952e-05 9.99946011e-01 1.29595595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.36, Y:-67.95, Z:1.30 [[ 7.44274390e-01 6.67837158e-01 7.01165623e-03 2.51356896e+02] [-6.67807181e-01 7.44307416e-01 -6.32763828e-03 -6.79533460e+01] [-9.44465970e-03 2.70647405e-05 9.99955398e-01 1.29547151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24232058799998 meters Centerline goodness [0,1] 0.9998527029017529 Centerline is valid? [True, True] Translation: X:251.38, Y:-67.98, Z:1.30 [[ 7.44342105e-01 6.67762961e-01 6.88907248e-03 2.51378005e+02] [-6.67733959e-01 7.44373984e-01 -6.22353739e-03 -6.79793011e+01] [-9.28389408e-03 3.23732795e-05 9.99956903e-01 1.29609844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27232058799999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.40, Y:-68.00, Z:1.30 [[ 7.44389943e-01 6.67707730e-01 7.07102051e-03 2.51401059e+02] [-6.67677111e-01 7.44423526e-01 -6.39450316e-03 -6.80025659e+01] [-9.53349321e-03 3.88452958e-05 9.99954554e-01 1.29713069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.43, Y:-68.02, Z:1.30 [[ 7.44776615e-01 6.67277826e-01 6.93521876e-03 2.51425163e+02] [-6.67248292e-01 7.44808902e-01 -6.27821572e-03 -6.80249937e+01] [-9.35472680e-03 4.83553807e-05 9.99956242e-01 1.29755119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.332320588 meters Centerline goodness [0,1] 0.9998038061604866 Centerline is valid? [True, True] Translation: X:251.45, Y:-68.05, Z:1.30 [[ 7.45834928e-01 6.66096183e-01 6.79226552e-03 2.51449212e+02] [-6.66067746e-01 7.45865853e-01 -6.15529691e-03 -6.80473293e+01] [-9.16613869e-03 6.67264489e-05 9.99957988e-01 1.29761581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.362320588 meters Centerline goodness [0,1] 0.9999507510465403 Centerline is valid? [True, True] Translation: X:251.47, Y:-68.07, Z:1.30 [[ 7.45925295e-01 6.65987622e-01 7.47942132e-03 2.51472818e+02] [-6.65953066e-01 7.45962788e-01 -6.78476682e-03 -6.80696399e+01] [-1.00979407e-02 7.99856309e-05 9.99949011e-01 1.29780198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.392320588 meters Centerline goodness [0,1] 0.9999509611612397 Centerline is valid? [True, True] Translation: X:251.50, Y:-68.09, Z:1.30 [[ 7.45711105e-01 6.66210726e-01 8.84397439e-03 2.51496259e+02] [-6.66162333e-01 7.45763541e-01 -8.03032526e-03 -6.80921598e+01] [-1.19454025e-02 9.67801047e-05 9.99928646e-01 1.29769163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.422320588 meters Centerline goodness [0,1] 0.999950768018905 Centerline is valid? [True, True] Translation: X:251.52, Y:-68.12, Z:1.30 [[ 7.45299643e-01 6.66660671e-01 9.59124040e-03 2.51519656e+02] [-6.66603679e-01 7.45361348e-01 -8.71759381e-03 -6.81153057e+01] [-1.29606168e-02 1.03663417e-04 9.99916002e-01 1.29657022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.452320588 meters Centerline goodness [0,1] 0.9999017826449934 Centerline is valid? [True, True] Translation: X:251.54, Y:-68.14, Z:1.30 [[ 7.44314845e-01 6.67766891e-01 9.09897818e-03 2.51542881e+02] [-6.67715573e-01 7.44370454e-01 -8.27897368e-03 -6.81385115e+01] [-1.23014350e-02 8.66335834e-05 9.99924331e-01 1.29654722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.482320588 meters Centerline goodness [0,1] 0.9998528474027567 Centerline is valid? [True, True] Translation: X:251.56, Y:-68.16, Z:1.30 [[ 7.42413801e-01 6.69901295e-01 7.34868624e-03 2.51564550e+02] [-6.69867836e-01 7.42450169e-01 -6.69546871e-03 -6.81641076e+01] [-9.94133650e-03 4.81598198e-05 9.99950583e-01 1.29860146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.512320588 meters Centerline goodness [0,1] 0.9998529916205223 Centerline is valid? [True, True] Translation: X:251.59, Y:-68.19, Z:1.30 [[ 7.41281980e-01 6.71155943e-01 7.12226665e-03 2.51589258e+02] [-6.71124499e-01 7.41316193e-01 -6.49683038e-03 -6.81874758e+01] [-9.64023793e-03 3.60556507e-05 9.99953531e-01 1.29940391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.542320588 meters Centerline goodness [0,1] 0.9999506781750925 Centerline is valid? [True, True] Translation: X:251.61, Y:-68.21, Z:1.30 [[ 7.40174455e-01 6.72379115e-01 6.93555215e-03 2.51614915e+02] [-6.72349282e-01 7.40206947e-01 -6.33389121e-03 -6.82099626e+01] [-9.39252005e-03 2.50709566e-05 9.99955889e-01 1.29967404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.572320588 meters Centerline goodness [0,1] 0.9999509563511525 Centerline is valid? [True, True] Translation: X:251.64, Y:-68.23, Z:1.30 [[ 7.39088949e-01 6.73561524e-01 7.89934100e-03 2.51641101e+02] [-6.73522820e-01 7.39131161e-01 -7.22062015e-03 -6.82298647e+01] [-1.07021810e-02 1.62941284e-05 9.99942730e-01 1.29664661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.602320588 meters Centerline goodness [0,1] 0.9999017922906949 Centerline is valid? [True, True] Translation: X:251.67, Y:-68.25, Z:1.30 [[ 7.38198686e-01 6.74536397e-01 7.95916478e-03 2.51665136e+02] [-6.74497066e-01 7.38241592e-01 -7.28423778e-03 -6.82528945e+01] [-1.07892700e-02 8.78146581e-06 9.99941794e-01 1.29661148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.632320588 meters Centerline goodness [0,1] 0.999655952029883 Centerline is valid? [True, True] Translation: X:251.69, Y:-68.28, Z:1.30 [[ 7.37147608e-01 6.75690029e-01 7.50918026e-03 2.51686825e+02] [-6.75654995e-01 7.37185855e-01 -6.88067173e-03 -6.82786490e+01] [-1.01848627e-02 -1.54443919e-06 9.99948133e-01 1.29838253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.662320588 meters Centerline goodness [0,1] 0.9997548418730081 Centerline is valid? [True, True] Translation: X:251.71, Y:-68.30, Z:1.30 [[ 7.36434158e-01 6.76472298e-01 7.06840323e-03 2.51710685e+02] [-6.76441216e-01 7.36468079e-01 -6.48466880e-03 -6.83018372e+01] [-9.59235215e-03 -5.82766993e-06 9.99953992e-01 1.29997411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.74, Y:-68.33, Z:1.30 [[ 7.35559136e-01 6.77420460e-01 7.36737568e-03 2.51735520e+02] [-6.77386664e-01 7.35596031e-01 -6.76661717e-03 -6.83251165e+01] [-1.00032572e-02 -1.33149581e-05 9.99949966e-01 1.30097341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.722320588 meters Centerline goodness [0,1] 0.9999508478741705 Centerline is valid? [True, True] Translation: X:251.76, Y:-68.35, Z:1.30 [[ 7.34738001e-01 6.78313453e-01 7.13644124e-03 2.51760967e+02] [-6.78281710e-01 7.34772658e-01 -6.56222942e-03 -6.83476505e+01] [-9.69491040e-03 -1.89982421e-05 9.99953003e-01 1.30167492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.752320588 meters Centerline goodness [0,1] 0.9999015311899956 Centerline is valid? [True, True] Translation: X:251.79, Y:-68.37, Z:1.30 [[ 7.33605722e-01 6.79548404e-01 6.05071449e-03 2.51787170e+02] [-6.79525569e-01 7.33630674e-01 -5.57091001e-03 -6.83688025e+01] [-8.22469276e-03 -2.47637400e-05 9.99966176e-01 1.30118256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.782320588 meters Centerline goodness [0,1] 0.9999507849795758 Centerline is valid? [True, True] Translation: X:251.81, Y:-68.39, Z:1.30 [[ 7.32569745e-01 6.80660144e-01 6.58307220e-03 2.51811640e+02] [-6.80633098e-01 7.32599322e-01 -6.06787188e-03 -6.83923989e+01] [-8.95291278e-03 -3.55174688e-05 9.99959921e-01 1.30053525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.812320588 meters Centerline goodness [0,1] 0.9999016570782318 Centerline is valid? [True, True] Translation: X:251.83, Y:-68.42, Z:1.30 [[ 7.32345834e-01 6.80884963e-01 8.07755523e-03 2.51834831e+02] [-6.80844171e-01 7.32390378e-01 -7.45308131e-03 -6.84163928e+01] [-1.09906147e-02 -4.13233537e-05 9.99939601e-01 1.30077330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.842320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.86, Y:-68.44, Z:1.30 [[ 7.32944356e-01 6.80220773e-01 9.60574230e-03 2.51857986e+02] [-6.80162904e-01 7.33007298e-01 -8.87273866e-03 -6.84406529e+01] [-1.30765004e-02 -3.02458501e-05 9.99914498e-01 1.30040630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.88, Y:-68.46, Z:1.30 [[ 7.33185351e-01 6.79971670e-01 8.81864477e-03 2.51881689e+02] [-6.79922763e-01 7.33238384e-01 -8.15532614e-03 -6.84649846e+01] [-1.20115596e-02 -1.66316550e-05 9.99927858e-01 1.30091046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90232058799998 meters Centerline goodness [0,1] 0.9999019992159938 Centerline is valid? [True, True] Translation: X:251.91, Y:-68.49, Z:1.30 [[ 7.32960547e-01 6.80230254e-01 7.45907974e-03 2.51906894e+02] [-6.80195191e-01 7.32998501e-01 -6.90652491e-03 -6.84876375e+01] [-1.01655215e-02 -1.14198940e-05 9.99948330e-01 1.29997964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.93, Y:-68.51, Z:1.30 [[ 7.30951143e-01 6.82410413e-01 5.14342801e-03 2.51931194e+02] [-6.82393748e-01 7.30969239e-01 -4.76913180e-03 -6.85104633e+01] [-7.01419286e-03 -2.38407795e-05 9.99975400e-01 1.30006298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.96, Y:-68.53, Z:1.30 [[ 7.28931063e-01 6.84564674e-01 5.54187924e-03 2.51955412e+02] [-6.84545347e-01 7.28952128e-01 -5.14418165e-03 -6.85336734e+01] [-7.56128970e-03 -4.39138578e-05 9.99971412e-01 1.29976237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99232058799998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.98, Y:-68.56, Z:1.30 [[ 7.26945420e-01 6.86655775e-01 7.36225667e-03 2.51980001e+02] [-6.86621701e-01 7.26982696e-01 -6.84104530e-03 -6.85562496e+01] [-1.00496765e-02 -8.20186441e-05 9.99949497e-01 1.30041367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.00, Y:-68.58, Z:1.30 [[ 7.25103533e-01 6.88583910e-01 8.77870669e-03 2.52004700e+02] [-6.88535502e-01 7.25156662e-01 -8.16568877e-03 -6.85786021e+01] [-1.19886995e-02 -1.23481442e-04 9.99928125e-01 1.30126376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.03, Y:-68.60, Z:1.30 [[ 7.21319472e-01 6.92558937e-01 7.76774630e-03 2.52030040e+02] [-6.92521177e-01 7.21361277e-01 -7.23378144e-03 -6.86010009e+01] [-1.06131714e-02 -1.61461405e-04 9.99943666e-01 1.30202377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.05, Y:-68.62, Z:1.30 [[ 7.20936200e-01 6.92957949e-01 7.76376591e-03 2.52054568e+02] [-6.92920166e-01 7.20977985e-01 -7.23805440e-03 -6.86233662e+01] [-1.06131716e-02 -1.61494527e-04 9.99943666e-01 1.30219185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.112320588 meters Centerline goodness [0,1] 0.9999509298787967 Centerline is valid? [True, True] Translation: X:252.08, Y:-68.64, Z:1.30 [[ 7.19025430e-01 6.94948973e-01 6.95388755e-03 2.52081066e+02] [-6.94918682e-01 7.19059036e-01 -6.49058667e-03 -6.86445241e+01] [-9.51088222e-03 -1.65489503e-04 9.99954757e-01 1.30170743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.11, Y:-68.67, Z:1.30 [[ 7.18343062e-01 6.95654825e-01 6.89997806e-03 2.52107182e+02] [-6.95624967e-01 7.18376180e-01 -6.44746132e-03 -6.86658403e+01] [-9.44198746e-03 -1.68307905e-04 9.99955409e-01 1.30132978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.13, Y:-68.69, Z:1.30 [[ 7.18676309e-01 6.95314926e-01 6.44338465e-03 2.52134074e+02] [-6.95288833e-01 7.18705177e-01 -6.02556406e-03 -6.86868368e+01] [-8.82055853e-03 -1.49583250e-04 9.99961087e-01 1.30168674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.16, Y:-68.71, Z:1.30 [[ 7.18585005e-01 6.95411390e-01 6.21204651e-03 2.52159755e+02] [-6.95387075e-01 7.18611842e-01 -5.81690558e-03 -6.87084125e+01] [-8.50919258e-03 -1.39835730e-04 9.99963786e-01 1.30170244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.19, Y:-68.73, Z:1.30 [[ 7.18810996e-01 6.95164774e-01 7.52926771e-03 2.52188586e+02] [-6.95128969e-01 7.18850410e-01 -7.05728823e-03 -6.87265878e+01] [-1.03183954e-02 -1.60955716e-04 9.99946751e-01 1.30279244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.22, Y:-68.75, Z:1.30 [[ 7.19202466e-01 6.94766789e-01 6.84997451e-03 2.52216633e+02] [-6.94737064e-01 7.19235073e-01 -6.42818963e-03 -6.87461846e+01] [-9.39283459e-03 -1.35761348e-04 9.99955877e-01 1.30334389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.24, Y:-68.77, Z:1.30 [[ 7.19514428e-01 6.94443260e-01 6.89542698e-03 2.52241735e+02] [-6.94413055e-01 7.19547457e-01 -6.47813934e-03 -6.87689715e+01] [-9.46028715e-03 -1.27159792e-04 9.99955242e-01 1.30321205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.27, Y:-68.79, Z:1.30 [[ 7.19515799e-01 6.94452144e-01 5.76493240e-03 2.52267242e+02] [-6.94430975e-01 7.19538887e-01 -5.42327330e-03 -6.87915020e+01] [-7.91429681e-03 -1.01216802e-04 9.99968676e-01 1.30387023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.30, Y:-68.81, Z:1.30 [[ 7.21766136e-01 6.92101392e-01 7.02200232e-03 2.52295573e+02] [-6.92069802e-01 7.21800288e-01 -6.61306248e-03 -6.88110341e+01] [-9.64539304e-03 -8.66312020e-05 9.99953478e-01 1.30366103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.32, Y:-68.83, Z:1.30 [[ 7.22130674e-01 6.91714290e-01 7.65711402e-03 2.52321560e+02] [-6.91676623e-01 7.22171264e-01 -7.21907014e-03 -6.88319844e+01] [-1.05232817e-02 -8.31347814e-05 9.99944625e-01 1.30419449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41232058799994 meters Centerline goodness [0,1] 0.9999509202453988 Centerline is valid? [True, True] Translation: X:252.35, Y:-68.85, Z:1.31 [[ 7.23393734e-01 6.90387432e-01 8.16700612e-03 2.52347563e+02] [-6.90344402e-01 7.23439832e-01 -7.70825009e-03 -6.88531168e+01] [-1.12300165e-02 -6.19471367e-05 9.99936939e-01 1.30527672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.37, Y:-68.87, Z:1.30 [[ 7.25605715e-01 6.88065546e-01 7.88355436e-03 2.52372680e+02] [-6.88025218e-01 7.25648541e-01 -7.44950198e-03 -6.88749773e+01] [-1.08464354e-02 -1.86829939e-05 9.99941176e-01 1.30468720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47232058799995 meters Centerline goodness [0,1] 0.999950888910716 Centerline is valid? [True, True] Translation: X:252.40, Y:-68.90, Z:1.30 [[ 7.26964910e-01 6.86626700e-01 8.11138133e-03 2.52397375e+02] [-6.86583835e-01 7.27010162e-01 -7.67214814e-03 -6.88970899e+01] [-1.11649584e-02 8.23917815e-06 9.99937670e-01 1.30404077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.42, Y:-68.92, Z:1.30 [[ 7.28603135e-01 6.84892027e-01 7.77071709e-03 2.52419870e+02] [-6.84852506e-01 7.28644571e-01 -7.35767385e-03 -6.89209054e+01] [-1.07013030e-02 3.90291631e-05 9.99942739e-01 1.30448650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53232058799995 meters Centerline goodness [0,1] 0.9999508333743056 Centerline is valid? [True, True] Translation: X:252.44, Y:-68.94, Z:1.31 [[ 7.29286460e-01 6.84157622e-01 8.34311410e-03 2.52443133e+02] [-6.84111925e-01 7.29334179e-01 -7.90756282e-03 -6.89443100e+01] [-1.14949376e-02 5.92546524e-05 9.99933929e-01 1.30507755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.47, Y:-68.97, Z:1.31 [[ 7.30227839e-01 6.83162963e-01 7.46114618e-03 2.52467365e+02] [-6.83126285e-01 7.30265952e-01 -7.07937256e-03 -6.89670757e+01] [-1.02849861e-02 7.26498530e-05 9.99947105e-01 1.30654204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.49, Y:-68.99, Z:1.31 [[ 7.31842105e-01 6.81429508e-01 7.80768690e-03 2.52491775e+02] [-6.81389164e-01 7.31883744e-01 -7.41566242e-03 -6.89895593e+01] [-1.07675703e-02 1.07020734e-04 9.99942022e-01 1.30613756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.622320588 meters Centerline goodness [0,1] 0.999901772997397 Centerline is valid? [True, True] Translation: X:252.52, Y:-69.01, Z:1.30 [[ 7.32824956e-01 6.80360850e-01 8.75771480e-03 2.52515699e+02] [-6.80309914e-01 7.32877270e-01 -8.32628241e-03 -6.90124508e+01] [-1.20832067e-02 1.43747341e-04 9.99926985e-01 1.30447794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.54, Y:-69.04, Z:1.30 [[ 7.34449496e-01 6.78600252e-01 9.25396904e-03 2.52537841e+02] [-6.78543127e-01 7.34507768e-01 -8.80696548e-03 -6.90375058e+01] [-1.27735211e-02 1.89054269e-04 9.99918397e-01 1.30494571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.56, Y:-69.06, Z:1.31 [[ 7.34611874e-01 6.78423944e-01 9.29227455e-03 2.52561203e+02] [-6.78366211e-01 7.34670615e-01 -8.85274593e-03 -6.90611464e+01] [-1.28326759e-02 1.99767205e-04 9.99917638e-01 1.30558316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71232058799995 meters Centerline goodness [0,1] 0.9998530132288094 Centerline is valid? [True, True] Translation: X:252.58, Y:-69.08, Z:1.31 [[ 7.34575554e-01 6.78486491e-01 7.40513041e-03 2.52583914e+02] [-6.78449749e-01 7.34612860e-01 -7.06289646e-03 -6.90847546e+01] [-1.02319839e-02 1.64222220e-04 9.99947638e-01 1.30642474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.742320588 meters Centerline goodness [0,1] 0.9999019703950593 Centerline is valid? [True, True] Translation: X:252.61, Y:-69.11, Z:1.30 [[ 7.36655682e-01 6.76222487e-01 7.84571848e-03 2.52606520e+02] [-6.76181032e-01 7.36697430e-01 -7.49058990e-03 -6.91088546e+01] [-1.08452260e-02 2.12859589e-04 9.99941166e-01 1.30440621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77232058799996 meters Centerline goodness [0,1] 0.9999509298787967 Centerline is valid? [True, True] Translation: X:252.63, Y:-69.13, Z:1.30 [[ 7.37355682e-01 6.75461787e-01 7.61394267e-03 2.52628987e+02] [-6.75422619e-01 7.37394958e-01 -7.27749618e-03 -6.91326227e+01] [-1.05301535e-02 2.23474068e-04 9.99944531e-01 1.30457217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.802320588 meters Centerline goodness [0,1] 0.9999509226541029 Centerline is valid? [True, True] Translation: X:252.65, Y:-69.16, Z:1.30 [[ 7.39984506e-01 6.72569262e-01 8.57435504e-03 2.52648820e+02] [-6.72519309e-01 7.40034118e-01 -8.20258373e-03 -6.91587797e+01] [-1.18621210e-02 3.03365535e-04 9.99929597e-01 1.30311284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.67, Y:-69.18, Z:1.30 [[ 7.40466756e-01 6.72040961e-01 8.36244231e-03 2.52670799e+02] [-6.71993315e-01 7.40513910e-01 -8.00841277e-03 -6.91831123e+01] [-1.15744863e-02 3.10458093e-04 9.99932965e-01 1.30309246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.862320588 meters Centerline goodness [0,1] 0.9999510236066216 Centerline is valid? [True, True] Translation: X:252.69, Y:-69.21, Z:1.30 [[ 7.41189776e-01 6.71253284e-01 7.53285354e-03 2.52692861e+02] [-6.71214501e-01 7.41227995e-01 -7.22169939e-03 -6.92076444e+01] [-1.04311514e-02 2.96489223e-04 9.99945550e-01 1.30272793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89232058799996 meters Centerline goodness [0,1] 0.9998530132288094 Centerline is valid? [True, True] Translation: X:252.71, Y:-69.24, Z:1.30 [[ 7.42233610e-01 6.70089553e-01 8.32220634e-03 2.52712251e+02] [-6.70042044e-01 7.42280181e-01 -7.98702462e-03 -6.92353443e+01] [-1.15294306e-02 3.52009962e-04 9.99933472e-01 1.30289335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.922320588 meters Centerline goodness [0,1] 0.9997037768452234 Centerline is valid? [True, True] Translation: X:252.73, Y:-69.26, Z:1.30 [[ 7.42810536e-01 6.69423670e-01 1.02204449e-02 2.52733741e+02] [-6.69351786e-01 7.42880706e-01 -9.82052524e-03 -6.92619878e+01] [-1.41666634e-02 4.53716583e-04 9.99899545e-01 1.30286285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95232058799996 meters Centerline goodness [0,1] 0.9998528979111503 Centerline is valid? [True, True] Translation: X:252.75, Y:-69.29, Z:1.30 [[ 7.43066899e-01 6.69141349e-01 1.00717276e-02 2.52753001e+02] [-6.69071357e-01 7.43135010e-01 -9.68897711e-03 -6.92907737e+01] [-1.39679486e-02 4.60853735e-04 9.99902337e-01 1.30309163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.982320588 meters Centerline goodness [0,1] 0.9999021239111285 Centerline is valid? [True, True] Translation: X:252.78, Y:-69.32, Z:1.30 [[ 7.42641714e-01 6.69641246e-01 7.99287199e-03 2.52775410e+02] [-6.69597089e-01 7.42684636e-01 -7.69874349e-03 -6.93165384e+01] [-1.10915794e-02 3.65404245e-04 9.99938420e-01 1.30288793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01232058799997 meters Centerline goodness [0,1] 0.9999017778214321 Centerline is valid? [True, True] Translation: X:252.80, Y:-69.34, Z:1.30 [[ 7.42412930e-01 6.69908126e-01 6.79291657e-03 2.52796926e+02] [-6.69876167e-01 7.42443940e-01 -6.55110543e-03 -6.93425644e+01] [-9.43199850e-03 3.13212464e-04 9.99955469e-01 1.30128745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04232058799994 meters Centerline goodness [0,1] 0.9999017826449934 Centerline is valid? [True, True] Translation: X:252.81, Y:-69.37, Z:1.30 [[ 7.41371411e-01 6.71058256e-01 7.01765718e-03 2.52814382e+02] [-6.71024123e-01 7.41404558e-01 -6.77561171e-03 -6.93726677e+01] [-9.74975319e-03 3.14227565e-04 9.99952421e-01 1.30079906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07232058799997 meters Centerline goodness [0,1] 0.9998533007334963 Centerline is valid? [True, True] Translation: X:252.84, Y:-69.40, Z:1.30 [[ 7.39394652e-01 6.73218981e-01 8.47061281e-03 2.52835914e+02] [-6.73169270e-01 7.39443087e-01 -8.18874203e-03 -6.94002934e+01] [-1.17763527e-02 3.52555823e-04 9.99930594e-01 1.30141530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10232058799994 meters Centerline goodness [0,1] 0.9999510164095028 Centerline is valid? [True, True] Translation: X:252.86, Y:-69.43, Z:1.30 [[ 7.35965816e-01 6.76950927e-01 9.57914433e-03 2.52855163e+02] [-6.76887537e-01 7.36028076e-01 -9.27007068e-03 -6.94285449e+01] [-1.33259021e-02 3.38451728e-04 9.99911149e-01 1.30408913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.13232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.88, Y:-69.45, Z:1.30 [[ 7.33388848e-01 6.79752221e-01 8.81568319e-03 2.52876995e+02] [-6.79698610e-01 7.33441780e-01 -8.54139111e-03 -6.94543816e+01] [-1.22718199e-02 2.72153375e-04 9.99924661e-01 1.30459756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.90, Y:-69.48, Z:1.30 [[ 7.30563719e-01 6.82797245e-01 8.03587509e-03 2.52899469e+02] [-6.82752761e-01 7.30607883e-01 -7.79676193e-03 -6.94812125e+01] [-1.11946813e-02 2.09515483e-04 9.99937316e-01 1.30414986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.192320588 meters Centerline goodness [0,1] 0.9999510140099931 Centerline is valid? [True, True] Translation: X:252.92, Y:-69.51, Z:1.30 [[ 7.24186006e-01 6.89581719e-01 5.62860146e-03 2.52920094e+02] [-6.89560027e-01 7.24207875e-01 -5.47022104e-03 -6.95101951e+01] [-7.84844193e-03 8.01989524e-05 9.99969197e-01 1.30445152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.94, Y:-69.54, Z:1.31 [[ 7.21261234e-01 6.92643441e-01 5.22449726e-03 2.52944186e+02] [-6.92624776e-01 7.21280154e-01 -5.08518431e-03 -6.95359824e+01] [-7.29054575e-03 4.91300633e-05 9.99973422e-01 1.30511070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.97, Y:-69.56, Z:1.30 [[ 7.16291510e-01 6.97769321e-01 6.66692841e-03 2.52969140e+02] [-6.97739071e-01 7.16322535e-01 -6.49719936e-03 -6.95609388e+01] [-9.30921745e-03 2.11229966e-06 9.99956668e-01 1.30360399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.99, Y:-69.59, Z:1.30 [[ 7.14186007e-01 6.99924396e-01 6.64733336e-03 2.52994694e+02] [-6.99894333e-01 7.14216941e-01 -6.48710968e-03 -6.95852418e+01] [-9.28812443e-03 -1.94279895e-05 9.99956864e-01 1.30248743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.02, Y:-69.61, Z:1.30 [[ 7.12133917e-01 7.02023475e-01 5.32210771e-03 2.53020601e+02] [-7.02004193e-01 7.12153804e-01 -5.20318343e-03 -6.96109443e+01] [-7.44291615e-03 -3.07785290e-05 9.99972301e-01 1.30197699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.05, Y:-69.64, Z:1.30 [[ 7.10009671e-01 7.04175334e-01 4.83378883e-03 2.53045751e+02] [-7.04159426e-01 7.10026124e-01 -4.73352334e-03 -6.96367095e+01] [-6.76534673e-03 -4.29106201e-05 9.99977114e-01 1.30187563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.07, Y:-69.66, Z:1.30 [[ 7.08605242e-01 7.05575799e-01 6.43455176e-03 2.53069879e+02] [-7.05547595e-01 7.08634453e-01 -6.30907640e-03 -6.96629289e+01] [-9.01127668e-03 -6.92379100e-05 9.99959395e-01 1.30239889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.10, Y:-69.69, Z:1.30 [[ 7.07885100e-01 7.06297553e-01 6.51559933e-03 2.53095372e+02] [-7.06268577e-01 7.07915081e-01 -6.39808547e-03 -6.96884394e+01] [-9.13144313e-03 -7.26536938e-05 9.99958305e-01 1.30311340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.12, Y:-69.71, Z:1.30 [[ 7.08258620e-01 7.05909488e-01 7.84362898e-03 2.53121272e+02] [-7.05867361e-01 7.08302047e-01 -7.71231219e-03 -6.97128967e+01] [-1.09998528e-02 -7.42500956e-05 9.99939497e-01 1.30250632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46232058799995 meters Centerline goodness [0,1] 0.9999511313101695 Centerline is valid? [True, True] Translation: X:253.15, Y:-69.74, Z:1.30 [[ 7.09893734e-01 7.04283279e-01 5.99573473e-03 2.53147364e+02] [-7.04258514e-01 7.09919053e-01 -5.90625372e-03 -6.97377077e+01] [-8.41616206e-03 -2.97347271e-05 9.99964583e-01 1.30259494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.17, Y:-69.76, Z:1.30 [[ 7.10492080e-01 7.03690809e-01 4.49997120e-03 2.53172555e+02] [-7.03676796e-01 7.10506330e-01 -4.44091288e-03 -6.97632419e+01] [-6.32228760e-03 -1.12918859e-05 9.99980014e-01 1.30274832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.20, Y:-69.79, Z:1.30 [[ 7.13415841e-01 7.00727244e-01 4.37795588e-03 2.53195666e+02] [-7.00713883e-01 7.13429274e-01 -4.32726973e-03 -6.97914014e+01] [-6.15559768e-03 1.94483098e-05 9.99981054e-01 1.30145236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.22, Y:-69.82, Z:1.30 [[ 7.14612918e-01 6.99503813e-01 4.77415448e-03 2.53218827e+02] [-6.99487851e-01 7.14628864e-01 -4.72569062e-03 -6.98185967e+01] [-6.71738720e-03 3.75765020e-05 9.99977437e-01 1.30063531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.24, Y:-69.85, Z:1.30 [[ 7.15321767e-01 6.98776179e-01 5.15959699e-03 2.53242065e+02] [-6.98757458e-01 7.15340372e-01 -5.11536949e-03 -6.98464753e+01] [-7.26536638e-03 5.38282652e-05 9.99973605e-01 1.30069042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.26, Y:-69.88, Z:1.30 [[ 7.15661568e-01 6.98416739e-01 6.52520719e-03 2.53263173e+02] [-6.98386702e-01 7.15691311e-01 -6.47778797e-03 -6.98768097e+01] [-9.19422964e-03 7.87859637e-05 9.99957729e-01 1.30162510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.29, Y:-69.90, Z:1.30 [[ 7.14583921e-01 6.99516529e-01 6.81506716e-03 2.53286499e+02] [-6.99483715e-01 7.14616415e-01 -6.77588745e-03 -6.99044444e+01] [-9.61000413e-03 7.49117344e-05 9.99953820e-01 1.30137827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.672320588 meters Centerline goodness [0,1] 0.9999510715334181 Centerline is valid? [True, True] Translation: X:253.31, Y:-69.93, Z:1.30 [[ 7.11949393e-01 7.02207018e-01 5.77626491e-03 2.53308433e+02] [-7.02183442e-01 7.11972824e-01 -5.75428271e-03 -6.99345194e+01] [-8.15324135e-03 4.07605096e-05 9.99966761e-01 1.30190858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.33, Y:-69.96, Z:1.30 [[ 7.10324424e-01 7.03851198e-01 5.71865641e-03 2.53332410e+02] [-7.03828066e-01 7.10347443e-01 -5.70638258e-03 -6.99625361e+01] [-8.07867717e-03 2.84320420e-05 9.99967367e-01 1.30261537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.36, Y:-69.99, Z:1.30 [[ 7.08498742e-01 7.05692281e-01 5.28551682e-03 2.53356135e+02] [-7.05672499e-01 7.08518457e-01 -5.28393011e-03 -6.99912986e+01] [-7.47371492e-03 1.38139759e-05 9.99972071e-01 1.30364251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76232058799997 meters Centerline goodness [0,1] 0.9999511145874072 Centerline is valid? [True, True] Translation: X:253.38, Y:-70.02, Z:1.31 [[ 7.06265879e-01 7.07934472e-01 4.15822747e-03 2.53376069e+02] [-7.07922219e-01 7.06278120e-01 -4.16519114e-03 -7.00238464e+01] [-5.88554747e-03 -1.96923243e-06 9.99982680e-01 1.30626884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.99, Y:-69.45, Z:3.18 [[ 7.62265657e-01 -6.47164710e-01 1.13536824e-02 2.53990969e+02] [-6.47084408e-01 -7.62350085e-01 -1.02037578e-02 -6.94515133e+01] [ 1.52589927e-02 4.31183303e-04 -9.99883482e-01 3.17530501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.47, Y:-70.13, Z:1.30 [[ 7.57289934e-01 6.53070268e-01 3.34392760e-03 2.53468899e+02] [-6.53064022e-01 7.57297316e-01 -2.85635866e-03 -7.01285620e+01] [-4.39775031e-03 -2.07071480e-05 9.99990330e-01 1.30315557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.50, Y:-70.15, Z:1.30 [[ 7.55968999e-01 6.54597639e-01 3.57818974e-03 2.53496348e+02] [-6.54590480e-01 7.55977467e-01 -3.06167495e-03 -7.01511959e+01] [-4.70919601e-03 -2.77175922e-05 9.99988911e-01 1.30330649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.52, Y:-70.18, Z:1.31 [[ 7.53846970e-01 6.57043015e-01 3.03688107e-03 2.53523138e+02] [-6.57037857e-01 7.53853086e-01 -2.60363103e-03 -7.01758600e+01] [-4.00005974e-03 -3.26064674e-05 9.99991999e-01 1.30592999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.55, Y:-70.20, Z:1.31 [[ 7.50292093e-01 6.61093291e-01 4.17557461e-03 2.53547784e+02] [-6.61083583e-01 7.50303709e-01 -3.58339820e-03 -7.02024056e+01] [-5.50190962e-03 -7.18084832e-05 9.99984862e-01 1.30830626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.57, Y:-70.23, Z:1.31 [[ 7.48487091e-01 6.63141650e-01 3.19775106e-03 2.53573934e+02] [-6.63135954e-01 7.48493920e-01 -2.74944855e-03 -7.02265635e+01] [-4.21677108e-03 -6.26169542e-05 9.99991107e-01 1.30820298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.60, Y:-70.25, Z:1.31 [[ 7.47990453e-01 6.63701793e-01 3.19566414e-03 2.53601172e+02] [-6.63696091e-01 7.47997277e-01 -2.75187611e-03 -7.02494082e+01] [-4.21677318e-03 -6.25727428e-05 9.99991107e-01 1.30838311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.63, Y:-70.27, Z:1.31 [[ 7.46137172e-01 6.65786429e-01 2.78403622e-03 2.53627549e+02] [-6.65782100e-01 7.46142364e-01 -2.40166649e-03 -7.02741917e+01] [-3.67628432e-03 -6.15888441e-05 9.99993241e-01 1.30701318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.65, Y:-70.30, Z:1.31 [[ 7.44879870e-01 6.67194902e-01 2.22290637e-03 2.53654385e+02] [-6.67192137e-01 7.44883185e-01 -1.92149396e-03 -7.02986246e+01] [-2.93781655e-03 -5.18234822e-05 9.99995683e-01 1.30698005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.68, Y:-70.32, Z:1.31 [[ 7.43393492e-01 6.68844285e-01 3.66579637e-03 2.53682423e+02] [-6.68836780e-01 7.43402524e-01 -3.17006136e-03 -7.03212265e+01] [-4.84543969e-03 -9.52164543e-05 9.99988256e-01 1.30956756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.71, Y:-70.34, Z:1.31 [[ 7.42344904e-01 6.70004908e-01 4.17931993e-03 2.53710210e+02] [-6.69995144e-01 7.42356660e-01 -3.61887800e-03 -7.03435282e+01] [-5.52721200e-03 -1.13668419e-04 9.99984718e-01 1.30939593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.74, Y:-70.37, Z:1.31 [[ 7.40800061e-01 6.71714673e-01 3.82991220e-03 2.53737894e+02] [-6.71706470e-01 7.40809952e-01 -3.32162528e-03 -7.03665302e+01] [-5.06842152e-03 -1.11916590e-04 9.99987149e-01 1.30948459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.76, Y:-70.39, Z:1.31 [[ 7.37440984e-01 6.75405889e-01 2.77148379e-03 2.53763365e+02] [-6.75401601e-01 7.37446185e-01 -2.40860865e-03 -7.03918063e+01] [-3.67060861e-03 -9.56578567e-05 9.99993259e-01 1.30942477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.79, Y:-70.42, Z:1.31 [[ 7.35869572e-01 6.77120078e-01 2.09117980e-03 2.53790134e+02] [-6.77117634e-01 7.35872539e-01 -1.82076115e-03 -7.04152450e+01] [-2.77171572e-03 -7.61319939e-05 9.99996156e-01 1.30959077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.82, Y:-70.44, Z:1.31 [[ 7.33085851e-01 6.80126835e-01 3.55284944e-03 2.53818120e+02] [-6.80119810e-01 7.33094445e-01 -3.09475245e-03 -7.04376815e+01] [-4.70939838e-03 -1.47644051e-04 9.99988900e-01 1.30979563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.85, Y:-70.46, Z:1.31 [[ 7.31297327e-01 6.82047929e-01 3.85262494e-03 2.53846853e+02] [-6.82039674e-01 7.31307455e-01 -3.35992716e-03 -7.04595303e+01] [-5.10908470e-03 -1.70537304e-04 9.99986934e-01 1.31076409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.88, Y:-70.48, Z:1.31 [[ 7.29741653e-01 6.83715462e-01 3.20745433e-03 2.53875009e+02] [-6.83709735e-01 7.29748686e-01 -2.80230335e-03 -7.04823420e+01] [-4.25661371e-03 -1.48010268e-04 9.99990930e-01 1.31088091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.90, Y:-70.51, Z:1.31 [[ 7.29438072e-01 6.84042678e-01 2.39033654e-03 2.53901893e+02] [-6.84039486e-01 7.29441980e-01 -2.09261914e-03 -7.05064365e+01] [-3.17505262e-03 -1.08648512e-04 9.99994954e-01 1.31133632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.93, Y:-70.53, Z:1.31 [[ 7.28885721e-01 6.84635334e-01 2.54774666e-04 2.53929352e+02] [-6.84635296e-01 7.28885766e-01 -2.27785177e-04 -7.05301494e+01] [-3.41651408e-04 -8.39836630e-06 9.99999942e-01 1.31158810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.362320588 meters Centerline goodness [0,1] 0.9999511647213948 Centerline is valid? [True, True] Translation: X:253.96, Y:-70.55, Z:1.31 [[ 7.29202536e-01 6.84297926e-01 -1.01678941e-04 2.53958470e+02] [-6.84297921e-01 7.29202543e-01 8.40887245e-05 -7.05523570e+01] [ 1.31686283e-04 8.26097683e-06 9.99999991e-01 1.31089424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39232058799996 meters Centerline goodness [0,1] 0.9999511527940602 Centerline is valid? [True, True] Translation: X:253.99, Y:-70.58, Z:1.31 [[ 7.28815755e-01 6.84709107e-01 1.01709095e-03 2.53985881e+02] [-6.84708521e-01 7.28816463e-01 -8.97215307e-04 -7.05751311e+01] [-1.35560412e-03 -4.25061860e-05 9.99999080e-01 1.31004898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.01, Y:-70.60, Z:1.31 [[ 7.28864705e-01 6.84651911e-01 2.82897580e-03 2.54014136e+02] [-6.84647392e-01 7.28870185e-01 -2.49039569e-03 -7.05977082e+01] [-3.76701028e-03 -1.21689386e-04 9.99992897e-01 1.30926154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.04, Y:-70.62, Z:1.31 [[ 7.28098335e-01 6.85470808e-01 1.60836041e-03 2.54041935e+02] [-6.85469340e-01 7.28100108e-01 -1.41992270e-03 -7.06210460e+01] [-2.14436295e-03 -6.86384017e-05 9.99997698e-01 1.30982847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.07, Y:-70.64, Z:1.31 [[ 7.27780237e-01 6.85810271e-01 4.45247682e-04 2.54070379e+02] [-6.85810156e-01 7.27780373e-01 -3.97282681e-04 -7.06438245e+01] [-5.96503067e-04 -1.62208984e-05 9.99999822e-01 1.31003732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.10, Y:-70.67, Z:1.31 [[ 7.28797304e-01 6.84728703e-01 1.04510026e-03 2.54098261e+02] [-6.84728077e-01 7.28798053e-01 -9.27002109e-04 -7.06660660e+01] [-1.39641198e-03 -4.00128525e-05 9.99999024e-01 1.30966929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54232058799994 meters Centerline goodness [0,1] 0.9999511599511599 Centerline is valid? [True, True] Translation: X:254.12, Y:-70.69, Z:1.31 [[ 7.28568729e-01 6.84971126e-01 1.47103033e-03 2.54124395e+02] [-6.84969885e-01 7.28570212e-01 -1.30487593e-03 -7.06905309e+01] [-1.96555121e-03 -5.69196793e-05 9.99998067e-01 1.31036987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.15, Y:-70.72, Z:1.31 [[ 7.29246641e-01 6.84247599e-01 2.13542485e-03 2.54151003e+02] [-6.84244980e-01 7.29249763e-01 -1.89478816e-03 -7.07151221e+01] [-2.85376232e-03 -7.93858350e-05 9.99995925e-01 1.31071351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.18, Y:-70.74, Z:1.31 [[ 7.29788713e-01 6.83663870e-01 3.48530117e-03 2.54178633e+02] [-6.83656881e-01 7.29797025e-01 -3.09390173e-03 -7.07378818e+01] [-4.65875126e-03 -1.24855563e-04 9.99989140e-01 1.31148331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.63232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.21, Y:-70.76, Z:1.31 [[ 7.30182744e-01 6.83247031e-01 2.57957135e-03 2.54207809e+02] [-6.83243184e-01 7.30187296e-01 -2.29446319e-03 -7.07598574e+01] [-3.45125539e-03 -8.70971132e-05 9.99994041e-01 1.31095736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.24, Y:-70.78, Z:1.31 [[ 7.30821869e-01 6.82567207e-01 1.18464614e-03 2.54235087e+02] [-6.82566388e-01 7.30822828e-01 -1.05791464e-03 -7.07832545e+01] [-1.58786428e-03 -3.54524815e-05 9.99998739e-01 1.31015711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.26, Y:-70.81, Z:1.31 [[ 7.30133533e-01 6.83301316e-01 2.08207383e-03 2.54261219e+02] [-6.83298792e-01 7.30136499e-01 -1.85829989e-03 -7.08080404e+01] [-2.78997685e-03 -6.58714712e-05 9.99996106e-01 1.31025892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72232058799995 meters Centerline goodness [0,1] 0.9999511885585981 Centerline is valid? [True, True] Translation: X:254.29, Y:-70.83, Z:1.31 [[ 7.28942846e-01 6.84568636e-01 2.84796542e-03 2.54286841e+02] [-6.84563916e-01 7.28948403e-01 -2.54388794e-03 -7.08337304e+01] [-3.81748574e-03 -9.52654408e-05 9.99992709e-01 1.30981392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.31, Y:-70.86, Z:1.31 [[ 7.27753651e-01 6.85833789e-01 2.57620024e-03 2.54313668e+02] [-6.85829922e-01 7.27758206e-01 -2.30485389e-03 -7.08583999e+01] [-3.45559754e-03 -8.94693775e-05 9.99994025e-01 1.30983398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.34, Y:-70.88, Z:1.31 [[ 7.26417943e-01 6.87250344e-01 1.98400732e-03 2.54339798e+02] [-6.87248046e-01 7.26420649e-01 -1.77874737e-03 -7.08838817e+01] [-2.66366862e-03 -7.13911430e-05 9.99996450e-01 1.31150253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.37, Y:-70.91, Z:1.31 [[ 7.25180962e-01 6.88556178e-01 1.72115725e-03 2.54365889e+02] [-6.88554445e-01 7.25183002e-01 -1.54593881e-03 -7.09087132e+01] [-2.31261969e-03 -6.40250819e-05 9.99997324e-01 1.31407300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.39, Y:-70.93, Z:1.31 [[ 7.24494398e-01 6.89277328e-01 2.15202168e-03 2.54394500e+02] [-6.89274619e-01 7.24497590e-01 -1.93450767e-03 -7.09314842e+01] [-2.89254680e-03 -8.17939505e-05 9.99995813e-01 1.31350176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.872320588 meters Centerline goodness [0,1] 0.9999511933232467 Centerline is valid? [True, True] Translation: X:254.42, Y:-70.95, Z:1.31 [[ 7.24247953e-01 6.89533293e-01 2.95642164e-03 2.54423663e+02] [-6.89528173e-01 7.24253979e-01 -2.65961475e-03 -7.09523878e+01] [-3.97509305e-03 -1.12315474e-04 9.99992093e-01 1.31124282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.45, Y:-70.98, Z:1.31 [[ 7.24109959e-01 6.89673361e-01 3.92727286e-03 2.54450525e+02] [-6.89664309e-01 7.24120593e-01 -3.53656647e-03 -7.09762801e+01] [-5.28289483e-03 -1.47636924e-04 9.99986035e-01 1.31012840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.48, Y:-71.00, Z:1.31 [[ 7.23214334e-01 6.90616222e-01 3.20315138e-03 2.54476226e+02] [-6.90610188e-01 7.23221417e-01 -2.88964090e-03 -7.10017210e+01] [-4.31222057e-03 -1.22299259e-04 9.99990695e-01 1.31172205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96232058799995 meters Centerline goodness [0,1] 0.9999510954616588 Centerline is valid? [True, True] Translation: X:254.51, Y:-71.02, Z:1.31 [[ 7.24389945e-01 6.89380585e-01 3.69007245e-03 2.54505161e+02] [-6.89372538e-01 7.24399333e-01 -3.33332469e-03 -7.10236574e+01] [-4.97101534e-03 -1.29207718e-04 9.99987636e-01 1.31353877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.992320588 meters Centerline goodness [0,1] 0.9999023389813956 Centerline is valid? [True, True] Translation: X:254.53, Y:-71.05, Z:1.31 [[ 7.24022375e-01 6.89771136e-01 2.71660615e-03 2.54533062e+02] [-6.89766760e-01 7.24027465e-01 -2.45877905e-03 -7.10463169e+01] [-3.66289228e-03 -9.36135773e-05 9.99993287e-01 1.31389020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.56, Y:-71.07, Z:1.31 [[ 7.24612012e-01 6.89156983e-01 2.91186536e-04 2.54559407e+02] [-6.89156931e-01 7.24612070e-01 -2.68354341e-04 -7.10701633e+01] [-3.95935546e-04 -6.22044104e-06 9.99999922e-01 1.31386862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.59, Y:-71.10, Z:1.31 [[ 7.25162030e-01 6.88575607e-01 1.91394151e-03 2.54585563e+02] [-6.88573414e-01 7.25164554e-01 -1.73889548e-03 -7.10952280e+01] [-2.58528355e-03 -5.69082646e-05 9.99996657e-01 1.31246704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08232058799996 meters Centerline goodness [0,1] 0.9999512052307993 Centerline is valid? [True, True] Translation: X:254.61, Y:-71.12, Z:1.31 [[ 7.25045444e-01 6.88697151e-01 2.31069113e-03 2.54611990e+02] [-6.88693948e-01 7.25049123e-01 -2.10141419e-03 -7.11202701e+01] [-3.12260255e-03 -6.77382121e-05 9.99995122e-01 1.31308195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.64, Y:-71.14, Z:1.31 [[ 7.23960798e-01 6.89836884e-01 2.41601000e-03 2.54638813e+02] [-6.89833379e-01 7.23964826e-01 -2.20013748e-03 -7.11445077e+01] [-3.26684224e-03 -7.38310561e-05 9.99994661e-01 1.31455269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.67, Y:-71.17, Z:1.32 [[ 7.22901794e-01 6.90946955e-01 2.30258836e-03 2.54665971e+02] [-6.90943767e-01 7.22905457e-01 -2.10012677e-03 -7.11689124e+01] [-3.11562988e-03 -7.27736674e-05 9.99995144e-01 1.31541332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.69, Y:-71.19, Z:1.31 [[ 7.20674090e-01 6.93272009e-01 1.66634477e-03 2.54693153e+02] [-6.93270337e-01 7.20676014e-01 -1.52398755e-03 -7.11936708e+01] [-2.25743262e-03 -5.69290626e-05 9.99997450e-01 1.31490028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.72, Y:-71.22, Z:1.31 [[ 7.19326238e-01 6.94669464e-01 2.02485666e-03 2.54720057e+02] [-6.94666994e-01 7.19329084e-01 -1.85369766e-03 -7.12184005e+01] [-2.74424544e-03 -7.31877310e-05 9.99996232e-01 1.31346442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.75, Y:-71.24, Z:1.31 [[ 7.16896808e-01 6.97174377e-01 2.61812721e-03 2.54747527e+02] [-6.97170258e-01 7.16901581e-01 -2.39879531e-03 -7.12424205e+01] [-3.54931816e-03 -1.05591718e-04 9.99993696e-01 1.31315043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.77, Y:-71.27, Z:1.31 [[ 7.15424326e-01 6.98682621e-01 3.26028311e-03 2.54774622e+02] [-6.98676234e-01 7.15431741e-01 -2.99061410e-03 -7.12669738e+01] [-4.42200012e-03 -1.38324248e-04 9.99990213e-01 1.31319376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.80, Y:-71.29, Z:1.32 [[ 7.13648093e-01 7.00496236e-01 3.37964513e-03 2.54801816e+02] [-7.00489372e-01 7.13656080e-01 -3.10470886e-03 -7.12920890e+01] [-4.58674116e-03 -1.51735930e-04 9.99989469e-01 1.31513072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32232058799997 meters Centerline goodness [0,1] 0.9999512076116126 Centerline is valid? [True, True] Translation: X:254.83, Y:-71.32, Z:1.32 [[ 7.11982983e-01 7.02190185e-01 3.02916456e-03 2.54829388e+02] [-7.02184666e-01 7.11989413e-01 -2.78754670e-03 -7.13164180e+01] [-4.11412103e-03 -1.42347091e-04 9.99991527e-01 1.31648080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.86, Y:-71.34, Z:1.32 [[ 7.10465423e-01 7.03730722e-01 1.39773145e-03 2.54856445e+02] [-7.03729541e-01 7.10466795e-01 -1.29102885e-03 -7.13408888e+01] [-1.90157845e-03 -6.63935532e-05 9.99998190e-01 1.31724687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38232058799997 meters Centerline goodness [0,1] 0.9999511169770738 Centerline is valid? [True, True] Translation: X:254.89, Y:-71.36, Z:1.32 [[ 7.07819508e-01 7.06393241e-01 3.66390558e-04 2.54885543e+02] [-7.06393158e-01 7.07819602e-01 -3.42609935e-04 -7.13640693e+01] [-5.01355761e-04 -1.63097875e-05 9.99999874e-01 1.31520583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.91, Y:-71.39, Z:1.32 [[ 7.06433201e-01 7.07779720e-01 -2.40955532e-05 2.54913611e+02] [-7.07779720e-01 7.06433201e-01 1.70647020e-05 -7.13875800e+01] [ 2.90999494e-05 4.99927182e-06 1.00000000e+00 1.31576197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.94, Y:-71.41, Z:1.32 [[ 7.03412952e-01 7.10779661e-01 -1.57857951e-03 2.54941685e+02] [-7.10778182e-01 7.03414717e-01 1.45346182e-03 -7.14103528e+01] [ 2.14348716e-03 9.96360025e-05 9.99997698e-01 1.31609105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.97, Y:-71.43, Z:1.32 [[ 7.01732787e-01 7.12439694e-01 -8.82599241e-04 2.54970113e+02] [-7.12439234e-01 7.01733339e-01 8.11752403e-04 -7.14337577e+01] [ 1.19767395e-03 5.91650509e-05 9.99999281e-01 1.31605594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.502320588 meters Centerline goodness [0,1] 0.999902257843808 Centerline is valid? [True, True] Translation: X:255.00, Y:-71.46, Z:1.32 [[ 7.00801283e-01 7.13356510e-01 2.25928500e-04 2.54999246e+02] [-7.13356478e-01 7.00801320e-01 -2.14560543e-04 -7.14570444e+01] [-3.11389150e-04 -1.08032551e-05 9.99999951e-01 1.31652885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53232058799995 meters Centerline goodness [0,1] 0.9999511193665069 Centerline is valid? [True, True] Translation: X:255.03, Y:-71.48, Z:1.32 [[ 7.00600852e-01 7.13549351e-01 2.40197839e-03 2.55028265e+02] [-7.13545869e-01 7.00604954e-01 -2.23423139e-03 -7.14786720e+01] [-3.27707232e-03 -1.48617344e-04 9.99994619e-01 1.31594092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.06, Y:-71.50, Z:1.32 [[ 7.00805405e-01 7.13348217e-01 2.47099666e-03 2.55055697e+02] [-7.13344520e-01 7.00809745e-01 -2.30146473e-03 -7.15025850e+01] [-3.37344430e-03 -1.49793004e-04 9.99994299e-01 1.31601019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.08, Y:-71.53, Z:1.32 [[ 7.02449681e-01 7.11726280e-01 3.18552609e-03 2.55083776e+02] [-7.11720107e-01 7.02456881e-01 -2.96980077e-03 -7.15253879e+01] [-4.35137998e-03 -1.81067364e-04 9.99990516e-01 1.31629413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.11, Y:-71.55, Z:1.32 [[ 7.03325180e-01 7.10857831e-01 3.85157607e-03 2.55112573e+02] [-7.10848773e-01 7.03335695e-01 -3.59475541e-03 -7.15476669e+01] [-5.26431097e-03 -2.09606128e-04 9.99986121e-01 1.31529844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.14, Y:-71.57, Z:1.32 [[ 7.07028567e-01 7.07177023e-01 3.35605096e-03 2.55142527e+02] [-7.07170082e-01 7.07036515e-01 -3.13706176e-03 -7.15680782e+01] [-4.59130857e-03 -1.55306547e-04 9.99989448e-01 1.31617144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.17, Y:-71.59, Z:1.32 [[ 7.08278433e-01 7.05924550e-01 3.49153548e-03 2.55169668e+02] [-7.05916999e-01 7.08287023e-01 -3.26845615e-03 -7.15917492e+01] [-4.78029271e-03 -1.49757253e-04 9.99988563e-01 1.31600360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.20, Y:-71.62, Z:1.32 [[ 7.08964652e-01 7.05237350e-01 3.06644940e-03 2.55195940e+02] [-7.05231499e-01 7.08971273e-01 -2.87538624e-03 -7.16160439e+01] [-4.20185431e-03 -1.24009502e-04 9.99991164e-01 1.31532085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.22, Y:-71.64, Z:1.32 [[ 7.10538425e-01 7.03653139e-01 2.72164354e-03 2.55223221e+02] [-7.03648504e-01 7.10543630e-01 -2.55599371e-03 -7.16393776e+01] [-3.73237948e-03 -9.89486620e-05 9.99993030e-01 1.31523888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.25, Y:-71.66, Z:1.32 [[ 7.11336028e-01 7.02844818e-01 3.19648625e-03 2.55250574e+02] [-7.02838400e-01 7.11343201e-01 -3.00559642e-03 -7.16633528e+01] [-4.38626663e-03 -1.08624265e-04 9.99990374e-01 1.31653440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.28, Y:-71.69, Z:1.32 [[ 7.12598143e-01 7.01562081e-01 3.81222665e-03 2.55275875e+02] [-7.01552909e-01 7.12608331e-01 -3.58934601e-03 -7.16893330e+01] [-5.23477353e-03 -1.16717394e-04 9.99986292e-01 1.31775979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.30, Y:-71.72, Z:1.32 [[ 7.13308205e-01 7.00842971e-01 3.24582070e-03 2.55300929e+02] [-7.00836291e-01 7.13315584e-01 -3.06125940e-03 -7.17151478e+01] [-4.46075662e-03 -9.11674916e-05 9.99990047e-01 1.31827832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.33, Y:-71.74, Z:1.32 [[ 7.14481893e-01 6.99640646e-01 4.31168353e-03 2.55326836e+02] [-6.99628812e-01 7.14494895e-01 -4.07074221e-03 -7.17403222e+01] [-5.92873258e-03 -1.08106423e-04 9.99982419e-01 1.31734018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.35, Y:-71.76, Z:1.32 [[ 7.13961664e-01 7.00171535e-01 4.30862375e-03 2.55352991e+02] [-7.00159691e-01 7.13974656e-01 -4.07398272e-03 -7.17644289e+01] [-5.92873490e-03 -1.08057190e-04 9.99982419e-01 1.31752032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.38, Y:-71.79, Z:1.32 [[ 7.17199914e-01 6.96846342e-01 5.42756486e-03 2.55376449e+02] [-6.96827397e-01 7.17220444e-01 -5.13940166e-03 -7.17936016e+01] [-7.47413373e-03 -9.60974641e-05 9.99972064e-01 1.31619953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.40, Y:-71.82, Z:1.32 [[ 7.18923505e-01 6.95070951e-01 5.03649225e-03 2.55401861e+02] [-6.95054534e-01 7.18941144e-01 -4.77765226e-03 -7.18209963e+01] [-6.94174880e-03 -6.58702602e-05 9.99975904e-01 1.31673279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.43, Y:-71.85, Z:1.32 [[ 7.20861639e-01 6.93065479e-01 4.32882397e-03 2.55427746e+02] [-6.93053276e-01 7.20874636e-01 -4.11295835e-03 -7.18468289e+01] [-5.97108885e-03 -3.52317368e-05 9.99982172e-01 1.31694396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.45, Y:-71.88, Z:1.32 [[ 7.23967679e-01 6.89821985e-01 4.05327393e-03 2.55451520e+02] [-6.89811194e-01 7.23979025e-01 -3.85844497e-03 -7.18757182e+01] [-5.59612548e-03 -2.60427996e-06 9.99984342e-01 1.31581461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.48, Y:-71.90, Z:1.32 [[ 7.24387306e-01 6.89378330e-01 4.53298588e-03 2.55475676e+02] [-6.89364782e-01 7.24401489e-01 -4.32209458e-03 -7.19038154e+01] [-6.26326007e-03 5.98963479e-06 9.99980386e-01 1.31543378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.50, Y:-71.94, Z:1.32 [[ 7.23589862e-01 6.90210248e-01 5.24642664e-03 2.55495258e+02] [-6.90192066e-01 7.23608882e-01 -5.00986588e-03 -7.19367060e+01] [-7.25422169e-03 4.04612069e-06 9.99973688e-01 1.31751164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.52, Y:-71.97, Z:1.32 [[ 7.21644236e-01 6.92249557e-01 4.48865771e-03 2.55519487e+02] [-6.92236203e-01 7.21658195e-01 -4.29980582e-03 -7.19655342e+01] [-6.21581530e-03 -4.28128557e-06 9.99980682e-01 1.31788512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.13232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.54, Y:-71.99, Z:1.32 [[ 7.19754566e-01 6.94217803e-01 3.87394581e-03 2.55543222e+02] [-6.94207857e-01 7.19764991e-01 -3.71612180e-03 -7.19943047e+01] [-5.36812848e-03 -1.46279888e-05 9.99985591e-01 1.31749530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.56, Y:-72.03, Z:1.32 [[ 7.15962397e-01 6.98137125e-01 1.54977743e-03 2.55562782e+02] [-6.98135521e-01 7.15964074e-01 -1.49628388e-03 -7.20279369e+01] [-2.15419628e-03 -1.06716792e-05 9.99997680e-01 1.31872416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.59, Y:-72.06, Z:1.32 [[ 7.13244850e-01 7.00907137e-01 3.31208192e-03 2.55586663e+02] [-7.00899854e-01 7.13252539e-01 -3.19551498e-03 -7.20568551e+01] [-4.60211010e-03 -4.22531312e-05 9.99989409e-01 1.31809990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.61, Y:-72.09, Z:1.32 [[ 7.08300503e-01 7.05903843e-01 3.18766050e-03 2.55609810e+02] [-7.05897109e-01 7.08307673e-01 -3.08406707e-03 -7.20886456e+01] [-4.43489919e-03 -6.57140784e-05 9.99990164e-01 1.31898358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.64, Y:-72.12, Z:1.32 [[ 7.05678031e-01 7.08526706e-01 2.90224032e-03 2.55636000e+02] [-7.08521113e-01 7.05683996e-01 -2.81600937e-03 -7.21174160e+01] [-4.04328239e-03 -6.91025928e-05 9.99991824e-01 1.31952269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28232058799995 meters Centerline goodness [0,1] 0.9999513239875389 Centerline is valid? [True, True] Translation: X:255.66, Y:-72.15, Z:1.32 [[ 6.99587090e-01 7.14545489e-01 1.62696160e-03 2.55663219e+02] [-7.14543714e-01 6.99588980e-01 -1.59352012e-03 -7.21521142e+01] [-2.27684702e-03 -4.77290774e-05 9.99997407e-01 1.31988619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.69, Y:-72.18, Z:1.32 [[ 6.96312724e-01 7.17735887e-01 1.94587353e-03 2.55689795e+02] [-7.17733369e-01 6.96315439e-01 -1.90263504e-03 -7.21803154e+01] [-2.72053123e-03 -7.17893820e-05 9.99996297e-01 1.32090455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.72, Y:-72.21, Z:1.32 [[ 6.90382775e-01 7.23440062e-01 2.46980786e-03 2.55715155e+02] [-7.23436027e-01 6.90387183e-01 -2.41892121e-03 -7.22103004e+01] [-3.45506820e-03 -1.16766454e-04 9.99994024e-01 1.32122784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.74, Y:-72.24, Z:1.32 [[ 6.87474192e-01 7.26208093e-01 1.02030747e-03 2.55742384e+02] [-7.26207397e-01 6.87474947e-01 -1.00676475e-03 -7.22379600e+01] [-1.43255654e-03 -4.88300482e-05 9.99998973e-01 1.32218880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.77, Y:-72.27, Z:1.32 [[ 6.84836595e-01 7.28696632e-01 -2.39340656e-04 2.55770054e+02] [-7.28696597e-01 6.84836636e-01 2.26094051e-04 -7.22652160e+01] [ 3.28663223e-04 1.95692415e-05 9.99999946e-01 1.32187019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.432320588 meters Centerline goodness [0,1] 0.9999511814098809 Centerline is valid? [True, True] Translation: X:255.80, Y:-72.29, Z:1.32 [[ 6.79108805e-01 7.34037506e-01 -4.13737313e-04 2.55798130e+02] [-7.34037399e-01 6.79108930e-01 3.98022083e-04 -7.22930575e+01] [ 5.73135842e-04 3.33983601e-05 9.99999835e-01 1.32042728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.83, Y:-72.32, Z:1.32 [[ 6.76815448e-01 7.36152401e-01 7.01848338e-04 2.55826816e+02] [-7.36152069e-01 6.76815810e-01 -7.00126004e-04 -7.23192855e+01] [-9.90421490e-04 -4.28110111e-05 9.99999509e-01 1.32095793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.492320588 meters Centerline goodness [0,1] 0.9998049256278956 Centerline is valid? [True, True] Translation: X:255.85, Y:-72.35, Z:1.32 [[ 6.72900008e-01 7.39730443e-01 2.10968766e-03 2.55853849e+02] [-7.39727498e-01 6.72903298e-01 -2.09283664e-03 -7.23486842e+01] [-2.96775076e-03 -1.52324189e-04 9.99995585e-01 1.32200407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52232058799996 meters Centerline goodness [0,1] 0.9998536442579764 Centerline is valid? [True, True] Translation: X:255.90, Y:-72.39, Z:1.32 [[ 6.69182598e-01 7.43093353e-01 2.63047029e-03 2.55904111e+02] [-7.43088636e-01 6.69187744e-01 -2.65380109e-03 -7.23868266e+01] [-3.73230043e-03 -1.78795066e-04 9.99993019e-01 1.32151185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.94, Y:-72.41, Z:1.32 [[ 6.68606615e-01 7.43615580e-01 -1.03133452e-03 2.55935415e+02] [-7.43614883e-01 6.68607405e-01 1.02130995e-03 -7.24132608e+01] [ 1.44901989e-03 8.40611133e-05 9.99998947e-01 1.32241770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58232058799996 meters Centerline goodness [0,1] 0.9997071599394797 Centerline is valid? [True, True] Translation: X:255.96, Y:-72.44, Z:1.32 [[ 6.68314878e-01 7.43876229e-01 -1.83844322e-03 2.55964521e+02] [-7.43873984e-01 6.68317392e-01 1.83321041e-03 -7.24402784e+01] [ 2.59234522e-03 1.42408289e-04 9.99996630e-01 1.32295646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.612320588 meters Centerline goodness [0,1] 0.9999022960429897 Centerline is valid? [True, True] Translation: X:256.68, Y:-71.77, Z:3.19 [[ 7.92784554e-01 -6.09431952e-01 9.23832459e-03 2.56676952e+02] [-6.09374769e-01 -7.92837697e-01 -8.41284657e-03 -7.17742760e+01] [ 1.24515495e-02 1.03997290e-03 -9.99921936e-01 3.19459285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64232058799996 meters Centerline goodness [0,1] 0.9999022960429897 Centerline is valid? [True, True] Translation: X:256.07, Y:-72.55, Z:1.32 [[ 7.26649280e-01 6.86999169e-01 3.60069197e-03 2.56071669e+02] [-6.86992309e-01 7.26658163e-01 -3.07919590e-03 -7.25475575e+01] [-4.73187724e-03 -2.36152209e-04 9.99988777e-01 1.32221579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.672320588 meters Centerline goodness [0,1] 0.9998044296680194 Centerline is valid? [True, True] Translation: X:256.10, Y:-72.57, Z:1.32 [[ 7.26762420e-01 6.86877100e-01 4.02917996e-03 2.56100977e+02] [-6.86868470e-01 7.26773543e-01 -3.45280273e-03 -7.25705464e+01] [-5.29995252e-03 -2.58149408e-04 9.99985922e-01 1.32254607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70232058799996 meters Centerline goodness [0,1] 0.999951171875 Centerline is valid? [True, True] Translation: X:256.13, Y:-72.59, Z:1.32 [[ 7.26329902e-01 6.87341210e-01 2.63348411e-03 2.56131568e+02] [-6.87337509e-01 7.26334657e-01 -2.26175578e-03 -7.25914199e+01] [-3.46738873e-03 -1.67311559e-04 9.99993975e-01 1.32171040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.732320588 meters Centerline goodness [0,1] 0.9998536942209217 Centerline is valid? [True, True] Translation: X:256.16, Y:-72.61, Z:1.32 [[ 7.26933981e-01 6.86703078e-01 2.42298699e-03 2.56161418e+02] [-6.86699930e-01 7.26938003e-01 -2.08440526e-03 -7.26125517e+01] [-3.19272884e-03 -1.48639985e-04 9.99994892e-01 1.32090308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.19, Y:-72.64, Z:1.32 [[ 7.27654996e-01 6.85939691e-01 2.22428904e-03 2.56190609e+02] [-6.85937025e-01 7.27658384e-01 -1.91688536e-03 -7.26355079e+01] [-2.93339032e-03 -1.30890995e-04 9.99995689e-01 1.32265829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79232058799994 meters Centerline goodness [0,1] 0.9998048685301723 Centerline is valid? [True, True] Translation: X:256.22, Y:-72.66, Z:1.32 [[ 7.28632668e-01 6.84896220e-01 3.40621170e-03 2.56218385e+02] [-6.84889950e-01 7.28640604e-01 -2.93712320e-03 -7.26589544e+01] [-4.49352873e-03 -1.92796243e-04 9.99989885e-01 1.32347302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82232058799997 meters Centerline goodness [0,1] 0.9999025910773427 Centerline is valid? [True, True] Translation: X:256.25, Y:-72.68, Z:1.33 [[ 7.31006347e-01 6.82366731e-01 2.31623435e-03 2.56247217e+02] [-6.82363804e-01 7.31010008e-01 -2.00194722e-03 -7.26823543e+01] [-3.05925267e-03 -1.17078359e-04 9.99995314e-01 1.32509177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.28, Y:-72.70, Z:1.32 [[ 7.32566243e-01 6.80695035e-01 9.84646572e-04 2.56276398e+02] [-6.80694499e-01 7.32566903e-01 -8.55112605e-04 -7.27047215e+01] [-1.30339039e-03 -4.38168766e-05 9.99999150e-01 1.32467480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.31, Y:-72.72, Z:1.32 [[ 7.34964181e-01 6.78105910e-01 1.66345551e-04 2.56307799e+02] [-6.78105894e-01 7.34964200e-01 -1.48905336e-04 -7.27248081e+01] [-2.23231613e-04 -3.35980981e-06 9.99999975e-01 1.32238078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91232058799994 meters Centerline goodness [0,1] 0.9999511909410387 Centerline is valid? [True, True] Translation: X:256.34, Y:-72.75, Z:1.32 [[ 7.35822200e-01 6.77174779e-01 9.19696415e-05 2.56335831e+02] [-6.77174774e-01 7.35822206e-01 -8.47362474e-05 -7.27478906e+01] [-1.25054554e-04 7.12907636e-08 9.99999992e-01 1.32337474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.942320588 meters Centerline goodness [0,1] 0.9999513168784382 Centerline is valid? [True, True] Translation: X:256.36, Y:-72.77, Z:1.32 [[ 7.36825608e-01 6.76081648e-01 1.27602113e-03 2.56363287e+02] [-6.76080735e-01 7.36826712e-01 -1.11208526e-03 -7.27727482e+01] [-1.69206689e-03 -4.32804008e-05 9.99998568e-01 1.32373190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.39, Y:-72.80, Z:1.33 [[ 7.38795002e-01 6.73918749e-01 3.93256577e-03 2.56387734e+02] [-6.73910071e-01 7.38805458e-01 -3.42204013e-03 -7.28009101e+01] [-5.21157805e-03 -1.22009531e-04 9.99986412e-01 1.32595070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.002320588 meters Centerline goodness [0,1] 0.9999512385410572 Centerline is valid? [True, True] Translation: X:256.41, Y:-72.83, Z:1.33 [[ 7.39807588e-01 6.72811887e-01 2.98273614e-03 2.56414985e+02] [-6.72806866e-01 7.39813596e-01 -2.60079056e-03 -7.28255380e+01] [-3.95651156e-03 -8.27207613e-05 9.99992170e-01 1.32624380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.44, Y:-72.85, Z:1.32 [[ 7.41265840e-01 6.71211353e-01 5.24569330e-04 2.56441549e+02] [-6.71211194e-01 7.41266025e-01 -4.62349289e-04 -7.28505325e+01] [-6.99179513e-04 -9.37307203e-06 9.99999756e-01 1.32483795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.47, Y:-72.88, Z:1.32 [[ 7.42152580e-01 6.70230214e-01 1.00450587e-03 2.56468805e+02] [-6.70229633e-01 7.42153259e-01 -8.82419810e-04 -7.28760099e+01] [-1.33692172e-03 -1.83594607e-05 9.99999106e-01 1.32388729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.49, Y:-72.90, Z:1.33 [[ 7.43305484e-01 6.68950219e-01 1.60036007e-03 2.56493261e+02] [-6.68948737e-01 7.43307207e-01 -1.40820503e-03 -7.29048509e+01] [-2.13157823e-03 -2.38323266e-05 9.99997728e-01 1.32553269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.52, Y:-72.93, Z:1.33 [[ 7.43336151e-01 6.68914209e-01 2.26910258e-03 2.56519370e+02] [-6.68911225e-01 7.43339613e-01 -1.99814721e-03 -7.29314656e+01] [-3.02330289e-03 -3.25331286e-05 9.99995429e-01 1.32631537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.54, Y:-72.96, Z:1.33 [[ 7.43246745e-01 6.69013945e-01 2.14907674e-03 2.56543932e+02] [-6.69011255e-01 7.43249851e-01 -1.89721391e-03 -7.29599035e+01] [-2.86656353e-03 -2.76584579e-05 9.99995891e-01 1.32585199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.57, Y:-72.99, Z:1.33 [[ 7.42602087e-01 6.69731121e-01 1.53780964e-03 2.56570270e+02] [-6.69729735e-01 7.42603679e-01 -1.36302073e-03 -7.29868981e+01] [-2.05484050e-03 -1.77348007e-05 9.99997889e-01 1.32657500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.60, Y:-73.01, Z:1.33 [[ 7.41825729e-01 6.70589801e-01 1.97661733e-03 2.56596552e+02] [-6.70587506e-01 7.41828362e-01 -1.75453375e-03 -7.30147697e+01] [-2.64288323e-03 -2.39366084e-05 9.99996507e-01 1.32692594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.62, Y:-73.04, Z:1.33 [[ 7.40066747e-01 6.72531456e-01 1.62789394e-03 2.56620190e+02] [-6.72529895e-01 7.40068537e-01 -1.44927017e-03 -7.30448271e+01] [-2.17943286e-03 -2.22506843e-05 9.99997625e-01 1.32776084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.65, Y:-73.07, Z:1.33 [[ 7.38382685e-01 6.74379156e-01 1.94018839e-03 2.56647784e+02] [-6.74376935e-01 7.38385233e-01 -1.73122376e-03 -7.30732939e+01] [-2.60010768e-03 -3.01126555e-05 9.99996619e-01 1.32714209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.67, Y:-73.10, Z:1.33 [[ 7.36373270e-01 6.76575370e-01 -4.18653999e-04 2.56672528e+02] [-6.76575272e-01 7.36373389e-01 3.64097212e-04 -7.31038094e+01] [ 5.54624871e-04 1.51394886e-05 9.99999846e-01 1.32817645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33232058799996 meters Centerline goodness [0,1] 0.9999514657348088 Centerline is valid? [True, True] Translation: X:256.70, Y:-73.13, Z:1.33 [[ 7.34444819e-01 6.78665959e-01 -1.82317059e-03 2.56699221e+02] [-6.78664031e-01 7.34447080e-01 1.61844895e-03 -7.31327767e+01] [ 2.43740853e-03 4.86588529e-05 9.99997028e-01 1.32992015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.73, Y:-73.16, Z:1.33 [[ 7.33745366e-01 6.79424388e-01 -4.88888132e-04 2.56726467e+02] [-6.79424253e-01 7.33745529e-01 4.28837501e-04 -7.31606589e+01] [ 6.50082138e-04 1.75049244e-05 9.99999789e-01 1.32985505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.75, Y:-73.19, Z:1.33 [[ 7.31813915e-01 6.81503500e-01 1.17174563e-03 2.56752559e+02] [-6.81502676e-01 7.31814853e-01 -1.05974336e-03 -7.31898321e+01] [-1.57971966e-03 -2.30128463e-05 9.99998752e-01 1.33104407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.78, Y:-73.22, Z:1.33 [[ 7.30465596e-01 6.82948762e-01 1.00089838e-03 2.56780789e+02] [-6.82948157e-01 7.30466282e-01 -9.08689239e-04 -7.32172391e+01] [-1.35171071e-03 -1.97954811e-05 9.99999086e-01 1.33044490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.81, Y:-73.25, Z:1.33 [[ 7.28901349e-01 6.84618741e-01 -5.53468628e-05 2.56806492e+02] [-6.84618739e-01 7.28901351e-01 4.13668178e-05 -7.32477382e+01] [ 6.86629024e-05 7.73917014e-06 9.99999998e-01 1.32989394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.91, Y:-73.32, Z:1.33 [[ 7.11441399e-01 7.02744970e-01 -8.01618736e-04 2.56908534e+02] [-7.02744739e-01 7.11441836e-01 5.88534606e-04 -7.33177524e+01] [ 9.83894840e-04 1.44625466e-04 9.99999506e-01 1.32995918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.94, Y:-73.35, Z:1.33 [[ 7.10110329e-01 7.04090214e-01 -5.39437203e-04 2.56936019e+02] [-7.04090035e-01 7.10110534e-01 5.02846725e-04 -7.33483471e+01] [ 7.37109499e-04 2.27357058e-05 9.99999728e-01 1.33041625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.97, Y:-73.38, Z:1.33 [[ 7.09317403e-01 7.04889227e-01 -1.98487493e-06 2.56965251e+02] [-7.04889227e-01 7.09317403e-01 -7.85537636e-06 -7.33767186e+01] [-4.12926324e-06 6.97107211e-06 1.00000000e+00 1.33033864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.00, Y:-73.41, Z:1.33 [[ 7.08707826e-01 7.05502097e-01 9.82809636e-05 2.56995746e+02] [-7.05502089e-01 7.08707832e-01 -1.07199362e-04 -7.34069114e+01] [-1.45281863e-04 6.63560167e-06 9.99999989e-01 1.33198785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.02, Y:-73.44, Z:1.33 [[ 7.09868015e-01 7.04334519e-01 5.35104299e-04 2.57022075e+02] [-7.04334325e-01 7.09868216e-01 -5.23333309e-04 -7.34387993e+01] [-7.48455248e-04 -5.39474812e-06 9.99999720e-01 1.33216446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.63232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.05, Y:-73.47, Z:1.33 [[ 7.08886499e-01 7.05322558e-01 -1.46849721e-04 2.57050005e+02] [-7.05322546e-01 7.08886514e-01 1.31467815e-04 -7.34688749e+01] [ 1.96827003e-04 1.03806598e-05 9.99999981e-01 1.33310452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66232058799994 meters Centerline goodness [0,1] 0.9999513334631107 Centerline is valid? [True, True] Translation: X:257.09, Y:-73.51, Z:1.33 [[ 7.06095232e-01 7.08116861e-01 1.85010911e-04 2.57089528e+02] [-7.08116830e-01 7.06095256e-01 -2.11020999e-04 -7.35125885e+01] [-2.80062853e-04 1.79915818e-05 9.99999961e-01 1.33279599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.12, Y:-73.54, Z:1.33 [[ 7.06521174e-01 7.07690789e-01 1.25559168e-03 2.57118677e+02] [-7.07689720e-01 7.06522290e-01 -1.23076306e-03 -7.35416626e+01] [-1.75810318e-03 -1.90091625e-05 9.99998454e-01 1.33231097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.15, Y:-73.57, Z:1.33 [[ 7.06062634e-01 7.08147373e-01 1.68972245e-03 2.57149837e+02] [-7.08145422e-01 7.06064655e-01 -1.66242134e-03 -7.35726183e+01] [-2.37029260e-03 -2.27956343e-05 9.99997191e-01 1.33198827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.18, Y:-73.60, Z:1.33 [[ 7.05351965e-01 7.08857197e-01 -2.82561060e-04 2.57178019e+02] [-7.08857147e-01 7.05352021e-01 2.66341865e-04 -7.36035811e+01] [ 3.88103363e-04 1.24306693e-05 9.99999925e-01 1.33487716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.21, Y:-73.63, Z:1.34 [[ 7.04250264e-01 7.09951749e-01 -2.82356373e-04 2.57208452e+02] [-7.09951699e-01 7.04250321e-01 2.66558771e-04 -7.36321162e+01] [ 3.88093433e-04 1.27353021e-05 9.99999925e-01 1.33509022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.23, Y:-73.67, Z:1.33 [[ 7.03414781e-01 7.10779604e-01 4.12804482e-06 2.57232630e+02] [-7.10779604e-01 7.03414781e-01 -1.45058789e-05 -7.36659436e+01] [-1.32142100e-05 7.26951955e-06 1.00000000e+00 1.33440235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.26, Y:-73.70, Z:1.33 [[ 7.03115489e-01 7.11075657e-01 1.43265655e-04 2.57260647e+02] [-7.11075641e-01 7.03115503e-01 -1.50759661e-04 -7.36962927e+01] [-2.07933828e-04 4.12873564e-06 9.99999978e-01 1.33449405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.30, Y:-73.73, Z:1.33 [[ 7.02035083e-01 7.12142294e-01 3.08899752e-04 2.57295764e+02] [-7.12142221e-01 7.02035150e-01 -3.24208050e-04 -7.37318684e+01] [-4.47740748e-04 7.62486981e-06 9.99999900e-01 1.33472530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.33, Y:-73.76, Z:1.34 [[ 7.01137779e-01 7.13025606e-01 5.47603253e-04 2.57325595e+02] [-7.13025389e-01 7.01137993e-01 -5.56139836e-04 -7.37609270e+01] [-7.80487389e-04 -5.24373510e-07 9.99999695e-01 1.33507071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.35, Y:-73.79, Z:1.33 [[ 7.00558980e-01 7.13594501e-01 -6.15849010e-05 2.57352611e+02] [-7.13594499e-01 7.00558983e-01 5.03770722e-05 -7.37937786e+01] [ 7.90926579e-05 8.65453622e-06 9.99999997e-01 1.33263558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.38, Y:-73.83, Z:1.33 [[ 6.98429545e-01 7.15678817e-01 3.62484044e-05 2.57383037e+02] [-7.15678816e-01 6.98429546e-01 -5.04626756e-05 -7.38302907e+01] [-6.14320241e-05 9.30240841e-06 9.99999998e-01 1.33331286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.26, Y:-72.99, Z:3.20 [[ 7.68475400e-01 -6.39836131e-01 7.43541231e-03 2.58258302e+02] [-6.39799449e-01 -7.68511192e-01 -6.87117608e-03 -7.29944837e+01] [ 1.01106243e-02 5.23157093e-04 -9.99948749e-01 3.20194714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.50, Y:-73.95, Z:1.33 [[ 7.52944727e-01 6.58081440e-01 1.74842517e-03 2.57495045e+02] [-6.58079743e-01 7.52946757e-01 -1.49464300e-03 -7.39549387e+01] [-2.30006788e-03 -2.52196181e-05 9.99997355e-01 1.33495433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.52, Y:-73.98, Z:1.33 [[ 7.50699045e-01 6.60643006e-01 1.32748331e-03 2.57524588e+02] [-6.60642018e-01 7.50700219e-01 -1.14268416e-03 -7.39807859e+01] [-1.75144831e-03 -1.91793476e-05 9.99998466e-01 1.33375308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.56, Y:-74.01, Z:1.33 [[ 7.48467770e-01 6.63171146e-01 -1.67715300e-04 2.57556085e+02] [-6.63171132e-01 7.48467789e-01 1.35635274e-04 -7.40069215e+01] [ 2.15478900e-04 9.70531474e-06 9.99999977e-01 1.33388333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.59, Y:-74.03, Z:1.33 [[ 7.45984339e-01 6.65963143e-01 -6.76975816e-04 2.57585240e+02] [-6.65962896e-01 7.45984646e-01 5.74022765e-04 -7.40340702e+01] [ 8.87291570e-04 2.26287826e-05 9.99999606e-01 1.33488141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14232058799996 meters Centerline goodness [0,1] 0.9999514939852542 Centerline is valid? [True, True] Translation: X:257.62, Y:-74.06, Z:1.34 [[ 7.44338155e-01 6.67802891e-01 9.56954170e-05 2.57615118e+02] [-6.67802885e-01 7.44338162e-01 -9.02072703e-05 -7.40603668e+01] [-1.31470426e-04 3.23903763e-06 9.99999991e-01 1.33555024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.65, Y:-74.09, Z:1.34 [[ 7.42885908e-01 6.69417731e-01 6.55509530e-04 2.57645973e+02] [-6.69417485e-01 7.42886197e-01 -5.74250107e-04 -7.40866468e+01] [-8.71382185e-04 -1.22072282e-05 9.99999620e-01 1.33630487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.68, Y:-74.11, Z:1.34 [[ 7.41135306e-01 6.71355471e-01 5.38215048e-04 2.57676079e+02] [-6.71355304e-01 7.41135501e-01 -4.74134435e-04 -7.41145340e+01] [-7.17203026e-04 -9.93575700e-06 9.99999743e-01 1.33850551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.71, Y:-74.14, Z:1.34 [[ 7.39681091e-01 6.72957547e-01 -1.54869355e-04 2.57711257e+02] [-6.72957536e-01 7.39681107e-01 1.21983264e-04 -7.41445509e+01] [ 1.96643495e-04 1.39917858e-05 9.99999981e-01 1.33930906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26232058799997 meters Centerline goodness [0,1] 0.9999034003091191 Centerline is valid? [True, True] Translation: X:257.74, Y:-74.17, Z:1.34 [[ 7.39006700e-01 6.73697934e-01 -4.36866593e-04 2.57742849e+02] [-6.73697831e-01 7.39006829e-01 3.72530564e-04 -7.41696999e+01] [ 5.73820468e-04 1.90134931e-05 9.99999835e-01 1.33853860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.78, Y:-74.20, Z:1.34 [[ 7.37273549e-01 6.75594187e-01 4.56242951e-04 2.57783568e+02] [-6.75594057e-01 7.37273691e-01 -4.18721404e-04 -7.42017022e+01] [-6.19261670e-04 4.77189645e-07 9.99999808e-01 1.33679878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.81, Y:-74.23, Z:1.34 [[ 7.36997228e-01 6.75895573e-01 5.10404521e-04 2.57814613e+02] [-6.75895418e-01 7.36997405e-01 -4.57506813e-04 -7.42290318e+01] [-6.85393637e-04 -7.79882404e-06 9.99999765e-01 1.33867044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.84, Y:-74.26, Z:1.34 [[ 7.36511112e-01 6.76424214e-01 1.29034091e-03 2.57844560e+02] [-6.76423245e-01 7.36512242e-01 -1.14494396e-03 -7.42564653e+01] [-1.72481969e-03 -2.95526371e-05 9.99998512e-01 1.33937946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.88, Y:-74.28, Z:1.34 [[ 7.36066834e-01 6.76907865e-01 1.16539259e-03 2.57875370e+02] [-6.76907070e-01 7.36067756e-01 -1.03761985e-03 -7.42827478e+01] [-1.56018094e-03 -2.51049275e-05 9.99998783e-01 1.34020244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.90, Y:-74.31, Z:1.34 [[ 7.34763405e-01 6.78322543e-01 1.12517136e-03 2.57904224e+02] [-6.78321800e-01 7.34764266e-01 -1.00454101e-03 -7.43110557e+01] [-1.50813852e-03 -2.51282924e-05 9.99998862e-01 1.34013827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.93, Y:-74.34, Z:1.34 [[ 7.32286005e-01 6.80996603e-01 9.12545332e-04 2.57934337e+02] [-6.80996111e-01 7.32286574e-01 -8.18770709e-04 -7.43401657e+01] [-1.22582477e-03 -2.18654911e-05 9.99999248e-01 1.33792421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.96, Y:-74.37, Z:1.34 [[ 7.30791126e-01 6.82598713e-01 1.82435767e-03 2.57964726e+02] [-6.82596764e-01 7.30793401e-01 -1.63193057e-03 -7.43663618e+01] [-2.44718225e-03 -5.27002686e-05 9.99997004e-01 1.33770099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.00, Y:-74.40, Z:1.34 [[ 7.28187993e-01 6.85373846e-01 2.22195257e-03 2.58000441e+02] [-6.85370926e-01 7.28191380e-01 -2.00177072e-03 -7.43973802e+01] [-2.98996800e-03 -6.51962867e-05 9.99995528e-01 1.33800134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.03, Y:-74.43, Z:1.34 [[ 7.24505528e-01 6.89267721e-01 1.32261777e-03 2.58029030e+02] [-6.89266686e-01 7.24506733e-01 -1.19517880e-03 -7.44298076e+01] [-1.78204365e-03 -4.57227256e-05 9.99998411e-01 1.34184376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.562320588 meters Centerline goodness [0,1] 0.9999031852066996 Centerline is valid? [True, True] Translation: X:258.06, Y:-74.46, Z:1.34 [[ 7.22251263e-01 6.91630749e-01 -1.41643728e-04 2.58058468e+02] [-6.91630739e-01 7.22251277e-01 1.18707276e-04 -7.44588578e+01] [ 1.84403967e-04 1.22286766e-05 9.99999983e-01 1.34299315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59232058799995 meters Centerline goodness [0,1] 0.9997581503337526 Centerline is valid? [True, True] Translation: X:258.09, Y:-74.49, Z:1.34 [[ 7.18921228e-01 6.95088918e-01 -1.91440185e-03 2.58089577e+02] [-6.95086805e-01 7.18923770e-01 1.71647550e-03 -7.44876526e+01] [ 2.56941209e-03 9.66647938e-05 9.99996694e-01 1.34161122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.622320588 meters Centerline goodness [0,1] 0.9998553868402025 Centerline is valid? [True, True] Translation: X:258.12, Y:-74.52, Z:1.34 [[ 7.16204546e-01 6.97889068e-01 -1.37774151e-03 2.58120044e+02] [-6.97887977e-01 7.16205867e-01 1.23593619e-03 -7.45160609e+01] [ 1.84929291e-03 7.63261202e-05 9.99998287e-01 1.34169320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65232058799995 meters Centerline goodness [0,1] 0.9999033909767172 Centerline is valid? [True, True] Translation: X:258.15, Y:-74.55, Z:1.34 [[ 7.13204689e-01 7.00955319e-01 -8.44140963e-04 2.58152960e+02] [-7.00954915e-01 7.13205187e-01 7.53842974e-04 -7.45462004e+01] [ 1.13045596e-03 5.40604132e-05 9.99999360e-01 1.34246125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.682320588 meters Centerline goodness [0,1] 0.9996130218158952 Centerline is valid? [True, True] Translation: X:258.21, Y:-74.60, Z:1.35 [[ 7.03084080e-01 7.11102153e-01 -2.55025768e-03 2.58214184e+02] [-7.11098470e-01 7.03088677e-01 2.29740957e-03 -7.45990692e+01] [ 3.42675019e-03 1.98212241e-04 9.99994109e-01 1.34597672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71232058799995 meters Centerline goodness [0,1] 0.9995649651972158 Centerline is valid? [True, True] Translation: X:258.25, Y:-74.63, Z:1.35 [[ 6.99848218e-01 7.14286256e-01 -2.75973479e-03 2.58246221e+02] [-7.14281772e-01 6.99853632e-01 2.53844331e-03 -7.46269715e+01] [ 3.74458559e-03 1.94703230e-04 9.99992970e-01 1.34536641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.742320588 meters Centerline goodness [0,1] 0.9991287933788296 Centerline is valid? [True, True] Translation: X:258.28, Y:-74.66, Z:1.34 [[ 6.93697193e-01 7.20262340e-01 -2.52299023e-03 2.58276268e+02] [-7.20258610e-01 6.93701752e-01 2.32696522e-03 -7.46571706e+01] [ 3.42622816e-03 2.02996188e-04 9.99994110e-01 1.34442671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77232058799996 meters Centerline goodness [0,1] 0.9988893181379177 Centerline is valid? [True, True] Translation: X:258.31, Y:-74.69, Z:1.35 [[ 6.89949301e-01 7.23853130e-01 -2.57063227e-03 2.58308686e+02] [-7.23849261e-01 6.89954055e-01 2.37696030e-03 -7.46876889e+01] [ 3.49418831e-03 2.20768171e-04 9.99993871e-01 1.34576736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.802320588 meters Centerline goodness [0,1] 0.9981159420289855 Centerline is valid? [True, True] Translation: X:258.34, Y:-74.72, Z:1.35 [[ 6.83984996e-01 7.29493706e-01 -1.85964217e-03 2.58341393e+02] [-7.29491692e-01 6.83987501e-01 1.72302493e-03 -7.47152519e+01] [ 2.52890784e-03 1.78070316e-04 9.99996786e-01 1.34618574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83232058799996 meters Centerline goodness [0,1] 0.9983015480176639 Centerline is valid? [True, True] Translation: X:258.37, Y:-74.74, Z:1.35 [[ 6.80441057e-01 7.32799931e-01 -2.05662085e-03 2.58374791e+02] [-7.32797465e-01 6.80444134e-01 1.91217415e-03 -7.47434062e+01] [ 2.80065668e-03 2.05964751e-04 9.99996057e-01 1.34616611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.862320588 meters Centerline goodness [0,1] 0.996051861961396 Centerline is valid? [True, True] Translation: X:258.41, Y:-74.77, Z:1.35 [[ 6.75667512e-01 7.37199150e-01 -3.29032744e-03 2.58409384e+02] [-7.37192814e-01 6.75675435e-01 3.07617017e-03 -7.47695552e+01] [ 4.49094345e-03 3.47137496e-04 9.99989855e-01 1.34701333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89232058799996 meters Centerline goodness [0,1] 0.9965753424657534 Centerline is valid? [True, True] Translation: X:258.44, Y:-74.80, Z:1.35 [[ 6.73431050e-01 7.39244720e-01 -2.80442691e-03 2.58444499e+02] [-7.39240111e-01 6.73436821e-01 2.62814252e-03 -7.47985623e+01] [ 3.83144483e-03 3.03272082e-04 9.99992614e-01 1.34848530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.922320588 meters Centerline goodness [0,1] 0.9964511424404473 Centerline is valid? [True, True] Translation: X:258.48, Y:-74.83, Z:1.35 [[ 6.70769305e-01 7.41663545e-01 -1.93015404e-03 2.58478417e+02] [-7.41661363e-01 6.70772047e-01 1.81183216e-03 -7.48263191e+01] [ 2.63846324e-03 2.16199280e-04 9.99996496e-01 1.34931287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95232058799996 meters Centerline goodness [0,1] 0.9963920039005363 Centerline is valid? [True, True] Translation: X:258.52, Y:-74.85, Z:1.35 [[ 6.68852869e-01 7.43393168e-01 -1.56126905e-03 2.58515677e+02] [-7.43391739e-01 6.68854668e-01 1.46834902e-03 -7.48510883e+01] [ 2.13582272e-03 1.78525056e-04 9.99997703e-01 1.34907094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.982320588 meters Centerline goodness [0,1] 0.9958765887261085 Centerline is valid? [True, True] Translation: X:258.55, Y:-74.88, Z:1.35 [[ 6.67555200e-01 7.44556434e-01 -2.40250395e-03 2.58549822e+02] [-7.44553012e-01 6.67559468e-01 2.27348443e-03 -7.48787562e+01] [ 3.29655172e-03 2.71115196e-04 9.99994530e-01 1.34922970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01232058799997 meters Centerline goodness [0,1] 0.9970342279268767 Centerline is valid? [True, True] Translation: X:258.59, Y:-74.90, Z:1.35 [[ 6.67905777e-01 7.44235614e-01 -3.90186332e-03 2.58587359e+02] [-7.44226476e-01 6.67917039e-01 3.71227027e-03 -7.49029087e+01] [ 5.36892474e-03 4.24423233e-04 9.99985497e-01 1.34984709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04232058799994 meters Centerline goodness [0,1] 0.9965434983691154 Centerline is valid? [True, True] Translation: X:258.62, Y:-74.93, Z:1.35 [[ 6.67768783e-01 7.44355000e-01 -4.52623328e-03 2.58622015e+02] [-7.44342606e-01 6.67783948e-01 4.32239611e-03 -7.49284551e+01] [ 6.23994309e-03 4.82707087e-04 9.99980415e-01 1.35006786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07232058799997 meters Centerline goodness [0,1] 0.9982483456597898 Centerline is valid? [True, True] Translation: X:258.66, Y:-74.95, Z:1.35 [[ 6.69488250e-01 7.42817106e-01 -2.86890600e-03 2.58659598e+02] [-7.42812095e-01 6.69494332e-01 2.74407345e-03 -7.49515120e+01] [ 3.95906100e-03 2.93933145e-04 9.99992120e-01 1.35037659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10232058799994 meters Centerline goodness [0,1] 0.9983003933375418 Centerline is valid? [True, True] Translation: X:258.69, Y:-74.98, Z:1.35 [[ 6.69886388e-01 7.42461592e-01 -1.73510554e-03 2.58693547e+02] [-7.42459756e-01 6.69888612e-01 1.66041065e-03 -7.49785537e+01] [ 2.39511858e-03 1.75959543e-04 9.99997116e-01 1.35117324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.13232058799997 meters Centerline goodness [0,1] 0.9987361462181606 Centerline is valid? [True, True] Translation: X:258.73, Y:-75.01, Z:1.35 [[ 6.70098849e-01 7.42271586e-01 -6.51840673e-04 2.58727130e+02] [-7.42271331e-01 6.70099163e-01 6.19020225e-04 -7.50053448e+01] [ 8.96279014e-04 6.90379032e-05 9.99999596e-01 1.35149958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16232058799994 meters Centerline goodness [0,1] 0.9986293993832297 Centerline is valid? [True, True] Translation: X:258.76, Y:-75.03, Z:1.35 [[ 6.73401123e-01 7.39276918e-01 7.51819695e-04 2.58763692e+02] [-7.39276553e-01 6.73401540e-01 -7.37298966e-04 -7.50289028e+01] [-1.05134465e-03 -5.93047209e-05 9.99999446e-01 1.35048488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.192320588 meters Centerline goodness [0,1] 0.9995097318233074 Centerline is valid? [True, True] Translation: X:258.80, Y:-75.05, Z:1.35 [[ 6.74941689e-01 7.37870307e-01 1.06101460e-03 2.58798683e+02] [-7.37869576e-01 6.74942519e-01 -1.04195889e-03 -7.50547828e+01] [-1.48495439e-03 -7.96288968e-05 9.99998894e-01 1.34999762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22232058799995 meters Centerline goodness [0,1] 0.9997082563454245 Centerline is valid? [True, True] Translation: X:258.83, Y:-75.08, Z:1.35 [[ 6.79829397e-01 7.33370290e-01 8.95140412e-05 2.58834520e+02] [-7.33370284e-01 6.79829403e-01 -9.66369077e-05 -7.50787796e+01] [-1.31724914e-04 4.96728892e-08 9.99999991e-01 1.34905283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.252320588 meters Centerline goodness [0,1] 0.9996578021118498 Centerline is valid? [True, True] Translation: X:258.87, Y:-75.11, Z:1.35 [[ 6.81761700e-01 7.31574317e-01 -6.05920466e-05 2.58867445e+02] [-7.31574315e-01 6.81761703e-01 4.95436405e-05 -7.51053154e+01] [ 7.75541924e-05 1.05506284e-05 9.99999997e-01 1.34957827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28232058799995 meters Centerline goodness [0,1] 0.9996595827457083 Centerline is valid? [True, True] Translation: X:258.90, Y:-75.13, Z:1.35 [[ 6.85832796e-01 7.27758204e-01 1.17193081e-03 2.58900270e+02] [-7.27757286e-01 6.85833794e-01 -1.15692158e-03 -7.51315196e+01] [-1.64570892e-03 -5.94264225e-05 9.99998644e-01 1.35056781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.312320588 meters Centerline goodness [0,1] 0.9996572156113804 Centerline is valid? [True, True] Translation: X:258.93, Y:-75.16, Z:1.35 [[ 6.86757108e-01 7.26883559e-01 2.22856061e-03 2.58931672e+02] [-7.26880247e-01 6.86760714e-01 -2.19727249e-03 -7.51594655e+01] [-3.12764913e-03 -1.10904183e-04 9.99995103e-01 1.35109334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34232058799995 meters Centerline goodness [0,1] 0.9997564302416212 Centerline is valid? [True, True] Translation: X:258.96, Y:-75.19, Z:1.35 [[ 6.87285165e-01 7.26381778e-01 2.93491818e-03 2.58964938e+02] [-7.26375980e-01 6.87291419e-01 -2.90538335e-03 -7.51902337e+01] [-4.12756160e-03 -1.35027189e-04 9.99991472e-01 1.35149124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.372320588 meters Centerline goodness [0,1] 0.9998531211750306 Centerline is valid? [True, True] Translation: X:259.00, Y:-75.22, Z:1.35 [[ 6.89554441e-01 7.24226734e-01 3.21110028e-03 2.58996214e+02] [-7.24219753e-01 6.89561905e-01 -3.18260160e-03 -7.52185383e+01] [-4.51917758e-03 -1.30965183e-04 9.99989780e-01 1.35066453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40232058799995 meters Centerline goodness [0,1] 0.9997564776933567 Centerline is valid? [True, True] Translation: X:259.03, Y:-75.25, Z:1.35 [[ 6.90477517e-01 7.23347389e-01 3.05825464e-03 2.59028709e+02] [-7.23340989e-01 6.90484281e-01 -3.04479514e-03 -7.52479070e+01] [-4.31412137e-03 -1.09798349e-04 9.99990688e-01 1.34982770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.432320588 meters Centerline goodness [0,1] 0.9999026906047779 Centerline is valid? [True, True] Translation: X:259.06, Y:-75.27, Z:1.35 [[ 6.89363725e-01 7.24406713e-01 3.54510375e-03 2.59060983e+02] [-7.24398095e-01 6.89372828e-01 -3.53605099e-03 -7.52747856e+01] [-5.00543728e-03 -1.30441114e-04 9.99987464e-01 1.35118288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46232058799995 meters Centerline goodness [0,1] 0.9998058723610774 Centerline is valid? [True, True] Translation: X:259.09, Y:-75.31, Z:1.35 [[ 6.88779192e-01 7.24963139e-01 3.41633935e-03 2.59087734e+02] [-7.24955088e-01 6.88787654e-01 -3.41886682e-03 -7.53077530e+01] [-4.83168479e-03 -1.21848264e-04 9.99988320e-01 1.35047898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.12, Y:-75.34, Z:1.35 [[ 6.87929646e-01 7.25772769e-01 2.58645421e-03 2.59115892e+02] [-7.25768130e-01 6.87934502e-01 -2.59671911e-03 -7.53394102e+01] [-3.66393911e-03 -9.08059813e-05 9.99993284e-01 1.35118654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52232058799996 meters Centerline goodness [0,1] 0.9997092600668702 Centerline is valid? [True, True] Translation: X:259.97, Y:-74.53, Z:3.21 [[ 7.79123668e-01 -6.26793810e-01 9.78931200e-03 2.59966564e+02] [-6.26731746e-01 -7.79184791e-01 -8.85325627e-03 -7.45291596e+01] [ 1.31768492e-02 7.62508894e-04 -9.99912891e-01 3.20811492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.552320588 meters Centerline goodness [0,1] 0.9999514091350826 Centerline is valid? [True, True] Translation: X:259.23, Y:-75.46, Z:1.35 [[ 7.42327659e-01 6.70033243e-01 2.25840904e-03 2.59227547e+02] [-6.70030485e-01 7.42331089e-01 -1.92431803e-03 -7.54618617e+01] [-2.96584429e-03 -8.47284061e-05 9.99995598e-01 1.35231794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58232058799996 meters Centerline goodness [0,1] 0.9998530348307452 Centerline is valid? [True, True] Translation: X:259.26, Y:-75.49, Z:1.35 [[ 7.40864409e-01 6.71650004e-01 2.49009745e-03 2.59256862e+02] [-6.71646628e-01 7.40868587e-01 -2.13143238e-03 -7.54880592e+01] [-3.27641155e-03 -9.33631615e-05 9.99994628e-01 1.35193752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.612320588 meters Centerline goodness [0,1] 0.9998056365403304 Centerline is valid? [True, True] Translation: X:259.28, Y:-75.52, Z:1.35 [[ 7.39060308e-01 6.73634770e-01 2.46115908e-03 2.59284929e+02] [-6.73631466e-01 7.39064400e-01 -2.11218013e-03 -7.55159381e+01] [-3.24179303e-03 -9.68856943e-05 9.99994741e-01 1.35175898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64232058799996 meters Centerline goodness [0,1] 0.9999011124845488 Centerline is valid? [True, True] Translation: X:259.31, Y:-75.55, Z:1.35 [[ 7.37379975e-01 6.75466618e-01 3.95224834e-03 2.59312353e+02] [-6.75458102e-01 7.37390548e-01 -3.39585318e-03 -7.55469147e+01] [-5.20813604e-03 -1.65544028e-04 9.99986424e-01 1.35033060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.672320588 meters Centerline goodness [0,1] 0.9999510499779725 Centerline is valid? [True, True] Translation: X:259.34, Y:-75.58, Z:1.35 [[ 7.34964840e-01 6.78094014e-01 3.89771861e-03 2.59340971e+02] [-6.78085724e-01 7.34975154e-01 -3.35756768e-03 -7.55756429e+01] [-5.14147288e-03 -1.75293151e-04 9.99986767e-01 1.35070494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70232058799996 meters Centerline goodness [0,1] 0.9999510499779725 Centerline is valid? [True, True] Translation: X:259.37, Y:-75.60, Z:1.35 [[ 7.34120068e-01 6.79008517e-01 3.89352429e-03 2.59372037e+02] [-6.79000214e-01 7.34130372e-01 -3.36243656e-03 -7.56011520e+01] [-5.14147750e-03 -1.75271667e-04 9.99986767e-01 1.35090848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.732320588 meters Centerline goodness [0,1] 0.9997575052136379 Centerline is valid? [True, True] Translation: X:259.40, Y:-75.63, Z:1.35 [[ 7.31106641e-01 6.82261187e-01 1.65895255e-03 2.59401180e+02] [-6.82259669e-01 7.31108519e-01 -1.44122777e-03 -7.56294370e+01] [-2.19616811e-03 -7.81452198e-05 9.99997585e-01 1.35214411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76232058799997 meters Centerline goodness [0,1] 0.9996608362808276 Centerline is valid? [True, True] Translation: X:259.43, Y:-75.66, Z:1.35 [[ 7.29377796e-01 6.84108023e-01 2.06015032e-03 2.59431647e+02] [-6.84105681e-01 7.29380698e-01 -1.79276334e-03 -7.56570188e+01] [-2.72907767e-03 -1.01758764e-04 9.99996271e-01 1.35168302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79232058799994 meters Centerline goodness [0,1] 0.9996090504813566 Centerline is valid? [True, True] Translation: X:259.46, Y:-75.69, Z:1.35 [[ 7.26066445e-01 6.87619080e-01 2.74194589e-03 2.59458302e+02] [-6.87614947e-01 7.26071607e-01 -2.38876338e-03 -7.56883920e+01] [-3.63340834e-03 -1.51002046e-04 9.99993388e-01 1.35242753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82232058799997 meters Centerline goodness [0,1] 0.9996574839751431 Centerline is valid? [True, True] Translation: X:259.49, Y:-75.72, Z:1.35 [[ 7.23376770e-01 6.90448808e-01 2.54793807e-03 2.59488665e+02] [-6.90445228e-01 7.23381243e-01 -2.22814845e-03 -7.57172318e+01] [-3.38155305e-03 -1.47420851e-04 9.99994272e-01 1.35411341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85232058799994 meters Centerline goodness [0,1] 0.9995150339476236 Centerline is valid? [True, True] Translation: X:259.52, Y:-75.75, Z:1.36 [[ 7.20883223e-01 6.93053614e-01 2.01661876e-03 2.59519131e+02] [-6.93051365e-01 7.20886034e-01 -1.76979839e-03 -7.57465449e+01] [-2.68031747e-03 -1.21802422e-04 9.99996401e-01 1.35539854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88232058799997 meters Centerline goodness [0,1] 0.9995108350046471 Centerline is valid? [True, True] Translation: X:259.55, Y:-75.77, Z:1.36 [[ 7.17702779e-01 6.96349506e-01 -2.95909946e-04 2.59550156e+02] [-6.96349461e-01 7.17702839e-01 2.50633593e-04 -7.57730875e+01] [ 3.86903988e-04 2.61763051e-05 9.99999925e-01 1.35585285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91232058799994 meters Centerline goodness [0,1] 0.9990274265707061 Centerline is valid? [True, True] Translation: X:259.58, Y:-75.80, Z:1.35 [[ 7.15323622e-01 6.98793262e-01 3.05806959e-04 2.59582106e+02] [-6.98793207e-01 7.15323687e-01 -2.77003868e-04 -7.57987722e+01] [-4.12319397e-04 -1.55484155e-05 9.99999915e-01 1.35449304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.942320588 meters Centerline goodness [0,1] 0.9992718093111316 Centerline is valid? [True, True] Translation: X:259.62, Y:-75.83, Z:1.35 [[ 7.12769626e-01 7.01396796e-01 1.41229863e-03 2.59615290e+02] [-7.01395678e-01 7.12771019e-01 -1.25608852e-03 -7.58287369e+01] [-1.88766200e-03 -9.52784163e-05 9.99998214e-01 1.35385619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97232058799995 meters Centerline goodness [0,1] 0.9993202563604583 Centerline is valid? [True, True] Translation: X:259.65, Y:-75.86, Z:1.35 [[ 7.11704209e-01 7.02477170e-01 1.71616285e-03 2.59646905e+02] [-7.02475526e-01 7.11706268e-01 -1.52418457e-03 -7.58551318e+01] [-2.29210872e-03 -1.20793824e-04 9.99997366e-01 1.35442812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.002320588 meters Centerline goodness [0,1] 0.9990307259862363 Centerline is valid? [True, True] Translation: X:259.71, Y:-75.90, Z:1.36 [[ 7.05146774e-01 7.09060144e-01 1.31891825e-03 2.59710475e+02] [-7.09059077e-01 7.05148004e-01 -1.23184682e-03 -7.59038394e+01] [-1.80348606e-03 -6.65581450e-05 9.99998372e-01 1.35694159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03232058799995 meters Centerline goodness [0,1] 0.9993160054719562 Centerline is valid? [True, True] Translation: X:259.75, Y:-75.93, Z:1.36 [[ 7.04079760e-01 7.10120608e-01 -6.44029375e-04 2.59745350e+02] [-7.10120381e-01 7.04080052e-01 5.69719157e-04 -7.59279053e+01] [ 8.58017550e-04 5.62106576e-05 9.99999630e-01 1.35767873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.062320588 meters Centerline goodness [0,1] 0.9987852874010009 Centerline is valid? [True, True] Translation: X:259.78, Y:-75.96, Z:1.36 [[ 7.03685600e-01 7.10508977e-01 -1.88951630e-03 2.59777898e+02] [-7.10506973e-01 7.03688120e-01 1.69410017e-03 -7.59554950e+01] [ 2.53330355e-03 1.50400611e-04 9.99996780e-01 1.35780274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09232058799995 meters Centerline goodness [0,1] 0.9987414686093228 Centerline is valid? [True, True] Translation: X:259.82, Y:-75.99, Z:1.36 [[ 7.02654815e-01 7.11529703e-01 -1.30085758e-03 2.59816865e+02] [-7.11528764e-01 7.02656011e-01 1.16139645e-03 -7.59876148e+01] [ 1.74042347e-03 1.09536777e-04 9.99998479e-01 1.35725341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.122320588 meters Centerline goodness [0,1] 0.9993679194826665 Centerline is valid? [True, True] Translation: X:259.85, Y:-76.02, Z:1.36 [[ 7.04602640e-01 7.09601929e-01 4.71460909e-04 2.59848006e+02] [-7.09601794e-01 7.04602798e-01 -4.37104183e-04 -7.60152234e+01] [-6.42362646e-04 -2.65647452e-05 9.99999793e-01 1.35921151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15232058799995 meters Centerline goodness [0,1] 0.9997555370850242 Centerline is valid? [True, True] Translation: X:259.88, Y:-76.04, Z:1.36 [[ 7.04820035e-01 7.09386110e-01 2.54579431e-04 2.59881174e+02] [-7.09386069e-01 7.04820081e-01 -2.41129982e-04 -7.60399974e+01] [-3.50486954e-04 -1.06418594e-05 9.99999939e-01 1.36075402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.182320588 meters Centerline goodness [0,1] 0.9992721979621543 Centerline is valid? [True, True] Translation: X:259.92, Y:-76.07, Z:1.36 [[ 7.06647176e-01 7.07563727e-01 -1.82777318e-03 2.59916331e+02] [-7.07561792e-01 7.06649529e-01 1.65909162e-03 -7.60669044e+01] [ 2.46550811e-03 1.20870064e-04 9.99996953e-01 1.36059778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21232058799995 meters Centerline goodness [0,1] 0.9990793235450889 Centerline is valid? [True, True] Translation: X:259.95, Y:-76.09, Z:1.36 [[ 7.05951674e-01 7.08256126e-01 -2.34401062e-03 2.59947693e+02] [-7.08252909e-01 7.05955549e-01 2.14001106e-03 -7.60944020e+01] [ 3.17044324e-03 1.49407950e-04 9.99994963e-01 1.35842100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.242320588 meters Centerline goodness [0,1] 0.9992206906629 Centerline is valid? [True, True] Translation: X:259.98, Y:-76.12, Z:1.36 [[ 7.05924516e-01 7.08281683e-01 -2.76308156e-03 2.59979275e+02] [-7.08277183e-01 7.05929903e-01 2.53069238e-03 -7.61229041e+01] [ 3.74298495e-03 1.70549828e-04 9.99992980e-01 1.35929176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27232058799996 meters Centerline goodness [0,1] 0.9988324576765908 Centerline is valid? [True, True] Translation: X:260.01, Y:-76.15, Z:1.36 [[ 7.04144155e-01 7.10055777e-01 -1.34244451e-03 2.60011034e+02] [-7.10054721e-01 7.04145429e-01 1.22795115e-03 -7.61501018e+01] [ 1.81718997e-03 8.85544376e-05 9.99998345e-01 1.36094387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.302320588 meters Centerline goodness [0,1] 0.9991748774450323 Centerline is valid? [True, True] Translation: X:260.04, Y:-76.18, Z:1.36 [[ 7.02955714e-01 7.11232616e-01 -1.19547094e-03 2.60043109e+02] [-7.11231776e-01 7.02956726e-01 1.09617345e-03 -7.61761656e+01] [ 1.61999865e-03 7.96955283e-05 9.99998685e-01 1.36212837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33232058799996 meters Centerline goodness [0,1] 0.9994634408077655 Centerline is valid? [True, True] Translation: X:260.08, Y:-76.20, Z:1.36 [[ 7.02180588e-01 7.11997769e-01 -1.26429406e-03 2.60075128e+02] [-7.11996824e-01 7.02181722e-01 1.16275575e-03 -7.62032272e+01] [ 1.71564368e-03 8.37088416e-05 9.99998525e-01 1.36184681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.362320588 meters Centerline goodness [0,1] 0.9994154041019145 Centerline is valid? [True, True] Translation: X:260.11, Y:-76.23, Z:1.36 [[ 7.01586931e-01 7.12582645e-01 -1.32350806e-03 2.60106082e+02] [-7.12581605e-01 7.01588174e-01 1.22055753e-03 -7.62318431e+01] [ 1.79830571e-03 8.67802843e-05 9.99998379e-01 1.36149483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39232058799996 meters Centerline goodness [0,1] 0.9989793934681181 Centerline is valid? [True, True] Translation: X:260.14, Y:-76.26, Z:1.36 [[ 7.00959449e-01 7.13200018e-01 -1.25941649e-03 2.60137686e+02] [-7.13199072e-01 7.00960575e-01 1.16420172e-03 -7.62594706e+01] [ 1.71311000e-03 8.21564770e-05 9.99998529e-01 1.36339210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.422320588 meters Centerline goodness [0,1] 0.9993650793650793 Centerline is valid? [True, True] Translation: X:260.17, Y:-76.29, Z:1.36 [[ 7.00011002e-01 7.14132021e-01 2.29161293e-04 2.60170011e+02] [-7.14131987e-01 7.00011040e-01 -2.22797741e-04 -7.62858749e+01] [-3.19522436e-04 -7.69053947e-06 9.99999949e-01 1.36357169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45232058799996 meters Centerline goodness [0,1] 0.9993695441319108 Centerline is valid? [True, True] Translation: X:260.21, Y:-76.32, Z:1.36 [[ 6.98211544e-01 7.15891400e-01 -3.77651479e-04 2.60206455e+02] [-7.15891320e-01 6.98211645e-01 3.40677102e-04 -7.63153687e+01] [ 5.07568469e-04 3.24927309e-05 9.99999871e-01 1.36474222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.482320588 meters Centerline goodness [0,1] 0.999417701863354 Centerline is valid? [True, True] Translation: X:260.24, Y:-76.35, Z:1.36 [[ 6.96918559e-01 7.17150268e-01 -1.23312854e-04 2.60242720e+02] [-7.17150261e-01 6.96918569e-01 1.02538622e-04 -7.63458783e+01] [ 1.59474619e-04 1.69727769e-05 9.99999987e-01 1.36454214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51232058799997 meters Centerline goodness [0,1] 0.9992174508461312 Centerline is valid? [True, True] Translation: X:260.28, Y:-76.38, Z:1.36 [[ 6.94479626e-01 7.19510954e-01 -1.42715670e-03 2.60279860e+02] [-7.19509725e-01 6.94481085e-01 1.33370927e-03 -7.63779867e+01] [ 1.95075177e-03 1.00619213e-04 9.99998092e-01 1.36496116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54232058799994 meters Centerline goodness [0,1] 0.9992225083823315 Centerline is valid? [True, True] Translation: X:260.31, Y:-76.41, Z:1.37 [[ 6.93349696e-01 7.20600079e-01 -1.31348020e-03 2.60310792e+02] [-7.20599023e-01 6.93350934e-01 1.23676132e-03 -7.64070869e+01] [ 1.80191303e-03 8.89844664e-05 9.99998373e-01 1.36553138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.57232058799997 meters Centerline goodness [0,1] 0.999512004684755 Centerline is valid? [True, True] Translation: X:260.34, Y:-76.44, Z:1.37 [[ 6.92470146e-01 7.21446511e-01 -1.69268792e-04 2.60342756e+02] [-7.21446495e-01 6.92470167e-01 1.51769326e-04 -7.64355018e+01] [ 2.26707040e-04 1.70226494e-05 9.99999974e-01 1.36588029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60232058799994 meters Centerline goodness [0,1] 0.9995599667530436 Centerline is valid? [True, True] Translation: X:260.38, Y:-76.46, Z:1.37 [[ 6.92160887e-01 7.21742157e-01 1.25097749e-03 2.60380310e+02] [-7.21741150e-01 6.92162014e-01 -1.20781876e-03 -7.64634923e+01] [-1.73761281e-03 -6.68770245e-05 9.99998488e-01 1.36624433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.63232058799997 meters Centerline goodness [0,1] 0.9993196948345401 Centerline is valid? [True, True] Translation: X:260.41, Y:-76.49, Z:1.37 [[ 6.91510293e-01 7.22366397e-01 5.50620193e-04 2.60412532e+02] [-7.22366199e-01 6.91510511e-01 -5.36567487e-04 -7.64903839e+01] [-7.68357973e-04 -2.67074755e-05 9.99999704e-01 1.36621143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66232058799994 meters Centerline goodness [0,1] 0.9994665890796237 Centerline is valid? [True, True] Translation: X:260.44, Y:-76.52, Z:1.37 [[ 6.91765312e-01 7.22122319e-01 -3.30749690e-04 2.60444789e+02] [-7.22122254e-01 6.91765391e-01 3.08023899e-04 -7.65177565e+01] [ 4.51232122e-04 2.57614631e-05 9.99999898e-01 1.36537985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.692320588 meters Centerline goodness [0,1] 0.999707844378439 Centerline is valid? [True, True] Translation: X:260.49, Y:-76.56, Z:1.37 [[ 6.89485602e-01 7.24298205e-01 -1.30950098e-03 2.60490672e+02] [-7.24297153e-01 6.89486839e-01 1.23831062e-03 -7.65594709e+01] [ 1.79978985e-03 9.46704894e-05 9.99998376e-01 1.36672565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72232058799995 meters Centerline goodness [0,1] 0.9997560142487679 Centerline is valid? [True, True] Translation: X:260.52, Y:-76.59, Z:1.37 [[ 6.89920971e-01 7.23882595e-01 -1.74413850e-03 2.60521543e+02] [-7.23880643e-01 6.89923169e-01 1.68418882e-03 -7.65890562e+01] [ 2.42247654e-03 1.00590914e-04 9.99997061e-01 1.36733891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.752320588 meters Centerline goodness [0,1] 0.9999029879705084 Centerline is valid? [True, True] Translation: X:260.55, Y:-76.62, Z:1.37 [[ 6.90148709e-01 7.23665550e-01 -1.71208422e-03 2.60553705e+02] [-7.23663656e-01 6.90150826e-01 1.65831594e-03 -7.66173317e+01] [ 2.38166246e-03 9.44885169e-05 9.99997159e-01 1.36725267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78232058799995 meters Centerline goodness [0,1] 0.9996599300427517 Centerline is valid? [True, True] Translation: X:260.58, Y:-76.65, Z:1.37 [[ 6.90342864e-01 7.23479740e-01 -1.94821417e-03 2.60584745e+02] [-7.23477269e-01 6.90345606e-01 1.89362748e-03 -7.66463518e+01] [ 2.71494221e-03 1.02236451e-04 9.99996309e-01 1.36724929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.812320588 meters Centerline goodness [0,1] 0.9999513689636726 Centerline is valid? [True, True] Translation: X:260.62, Y:-76.67, Z:1.37 [[ 6.90407648e-01 7.23413952e-01 -3.08759246e-03 2.60617634e+02] [-7.23407686e-01 6.90414535e-01 3.01479316e-03 -7.66734124e+01] [ 4.31266215e-03 1.52151857e-04 9.99990689e-01 1.36681577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84232058799995 meters Centerline goodness [0,1] 0.9998548340269041 Centerline is valid? [True, True] Translation: X:260.65, Y:-76.71, Z:1.37 [[ 6.89821443e-01 7.23977355e-01 -1.77945838e-03 2.60649566e+02] [-7.23975283e-01 6.89823732e-01 1.73469727e-03 -7.67092096e+01] [ 2.48339416e-03 9.16525082e-05 9.99996912e-01 1.36704462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.872320588 meters Centerline goodness [0,1] 0.9999511671061627 Centerline is valid? [True, True] Translation: X:260.69, Y:-76.74, Z:1.37 [[ 6.87536511e-01 7.26149162e-01 -9.69665204e-04 2.60691503e+02] [-7.26148560e-01 6.87537192e-01 9.37378721e-04 -7.67436713e+01] [ 1.34735767e-03 5.96388965e-05 9.99999091e-01 1.36885810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90232058799995 meters Centerline goodness [0,1] 0.9998548199767712 Centerline is valid? [True, True] Translation: X:260.75, Y:-76.80, Z:1.37 [[ 6.81702105e-01 7.31629718e-01 4.43087041e-04 2.60749776e+02] [-7.31629539e-01 6.81702249e-01 -5.11305990e-04 -7.68000696e+01] [-6.76140089e-04 2.43828021e-05 9.99999771e-01 1.36907670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.932320588 meters Centerline goodness [0,1] 0.9999514986904646 Centerline is valid? [True, True] Translation: X:261.64, Y:-75.96, Z:3.21 [[ 7.77308656e-01 -6.29096878e-01 5.32648462e-03 2.61636952e+02] [-6.29076491e-01 -7.77326662e-01 -5.10189553e-03 -7.59593841e+01] [ 7.35000506e-03 6.14981301e-04 -9.99972799e-01 3.21157314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96232058799995 meters Centerline goodness [0,1] 0.9999033769747331 Centerline is valid? [True, True] Translation: X:260.86, Y:-76.92, Z:1.37 [[ 7.39100789e-01 6.73587708e-01 -3.10219755e-03 2.60863049e+02] [-6.73582456e-01 7.39107289e-01 2.66269237e-03 -7.69248041e+01] [ 4.08641367e-03 1.21587811e-04 9.99991643e-01 1.36957090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.992320588 meters Centerline goodness [0,1] 0.9996618030727606 Centerline is valid? [True, True] Translation: X:260.89, Y:-76.95, Z:1.37 [[ 7.37821904e-01 6.74990575e-01 -2.56148833e-03 2.60894259e+02] [-6.74987004e-01 7.37826343e-01 2.19825480e-03 -7.69507562e+01] [ 3.37373484e-03 1.07050791e-04 9.99994303e-01 1.36817775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02232058799996 meters Centerline goodness [0,1] 0.9999516207063377 Centerline is valid? [True, True] Translation: X:260.92, Y:-76.98, Z:1.37 [[ 7.36156117e-01 6.76811640e-01 -4.18295271e-04 2.60924838e+02] [-6.76811549e-01 7.36156235e-01 3.53157531e-04 -7.69775267e+01] [ 5.46951801e-04 2.31279935e-05 9.99999850e-01 1.36754931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.96, Y:-77.00, Z:1.37 [[ 7.35278806e-01 6.77762714e-01 1.66748985e-03 2.60957935e+02] [-6.77761159e-01 7.35280695e-01 -1.45307854e-03 -7.70015223e+01] [-2.21091555e-03 -6.17420007e-05 9.99997554e-01 1.36974119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08232058799996 meters Centerline goodness [0,1] 0.9998543901373587 Centerline is valid? [True, True] Translation: X:260.98, Y:-77.03, Z:1.37 [[ 7.33297640e-01 6.79906067e-01 1.52025550e-03 2.60984031e+02] [-6.79904769e-01 7.33299213e-01 -1.32993511e-03 -7.70347091e+01] [-2.01903312e-03 -5.83906872e-05 9.99997960e-01 1.36947607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.112320588 meters Centerline goodness [0,1] 0.9997094853047983 Centerline is valid? [True, True] Translation: X:261.02, Y:-77.06, Z:1.37 [[ 7.32539178e-01 6.80724797e-01 3.21153967e-04 2.61015082e+02] [-6.80724736e-01 7.32539248e-01 -2.88251970e-04 -7.70618672e+01] [-4.31478149e-04 -7.46158784e-06 9.99999907e-01 1.36767428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14232058799996 meters Centerline goodness [0,1] 0.9999031711450012 Centerline is valid? [True, True] Translation: X:261.05, Y:-77.09, Z:1.37 [[ 7.31444627e-01 6.81899498e-01 -1.35357770e-03 2.61046084e+02] [-6.81898491e-01 7.31445877e-01 1.17352766e-03 -7.70883066e+01] [ 1.79029675e-03 6.46320896e-05 9.99998395e-01 1.36859947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.172320588 meters Centerline goodness [0,1] 0.9998066325050758 Centerline is valid? [True, True] Translation: X:261.09, Y:-77.12, Z:1.37 [[ 7.28716061e-01 6.84813923e-01 -1.67116602e-03 2.61087234e+02] [-6.84812400e-01 7.28717972e-01 1.44708615e-03 -7.71231976e+01] [ 2.20879346e-03 8.99202923e-05 9.99997557e-01 1.36896984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20232058799996 meters Centerline goodness [0,1] 0.9997571636716853 Centerline is valid? [True, True] Translation: X:261.12, Y:-77.15, Z:1.37 [[ 7.26036696e-01 6.87655191e-01 -1.02716812e-03 2.61117214e+02] [-6.87654609e-01 7.26037420e-01 8.96464501e-04 -7.71513838e+01] [ 1.36222096e-03 5.54707680e-05 9.99999071e-01 1.36946009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.232320588 meters Centerline goodness [0,1] 0.99961307796479 Centerline is valid? [True, True] Translation: X:261.15, Y:-77.18, Z:1.37 [[ 7.24323321e-01 6.89460368e-01 -3.56694488e-04 2.61153152e+02] [-6.89460303e-01 7.24323409e-01 3.00494978e-04 -7.71821595e+01] [ 4.65541546e-04 2.82711694e-05 9.99999891e-01 1.36968887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26232058799997 meters Centerline goodness [0,1] 0.9995641224331654 Centerline is valid? [True, True] Translation: X:261.18, Y:-77.21, Z:1.37 [[ 7.23014474e-01 6.90832345e-01 8.60982405e-04 2.61184585e+02] [-6.90831914e-01 7.23014986e-01 -7.72922913e-04 -7.72110085e+01] [-1.15646333e-03 -3.59596690e-05 9.99999331e-01 1.36981814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29232058799994 meters Centerline goodness [0,1] 0.9997581737279938 Centerline is valid? [True, True] Translation: X:261.22, Y:-77.24, Z:1.37 [[ 7.21725872e-01 6.92176637e-01 1.80803770e-03 2.61216377e+02] [-6.92174751e-01 7.21728132e-01 -1.61764592e-03 -7.72393272e+01] [-2.42460838e-03 -8.39811330e-05 9.99997057e-01 1.36883113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32232058799997 meters Centerline goodness [0,1] 0.9998048590106352 Centerline is valid? [True, True] Translation: X:261.25, Y:-77.27, Z:1.37 [[ 7.20903653e-01 6.93031958e-01 2.15126886e-03 2.61247201e+02] [-6.93029284e-01 7.20906856e-01 -1.92769737e-03 -7.72668283e+01] [-2.88682035e-03 -1.01208239e-04 9.99995828e-01 1.36920585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35232058799994 meters Centerline goodness [0,1] 0.9996596985901799 Centerline is valid? [True, True] Translation: X:261.28, Y:-77.29, Z:1.37 [[ 7.20927134e-01 6.93005661e-01 2.68724283e-03 2.61280364e+02] [-6.93001474e-01 7.20932132e-01 -2.41198136e-03 -7.72915007e+01] [-3.60883643e-03 -1.23400434e-04 9.99993481e-01 1.36772234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.31, Y:-77.32, Z:1.37 [[ 7.20810355e-01 6.93127095e-01 2.69473991e-03 2.61313106e+02] [-6.93122863e-01 7.20815383e-01 -2.42508361e-03 -7.73168301e+01] [-3.62330114e-03 -1.19760460e-04 9.99993429e-01 1.36645579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.35, Y:-77.34, Z:1.37 [[ 7.20568419e-01 6.93381792e-01 1.68646889e-03 2.61345838e+02] [-6.93380118e-01 7.20570389e-01 -1.52523199e-03 -7.73420107e+01] [-2.27278763e-03 -7.03299926e-05 9.99997415e-01 1.36887496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.442320588 meters Centerline goodness [0,1] 0.9999513381995134 Centerline is valid? [True, True] Translation: X:261.38, Y:-77.37, Z:1.37 [[ 7.19830685e-01 6.94147758e-01 1.63566638e-03 2.61377405e+02] [-6.94146168e-01 7.19832540e-01 -1.48704390e-03 -7.73707770e+01] [-2.20963407e-03 -6.49717166e-05 9.99997557e-01 1.36981736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.41, Y:-77.40, Z:1.37 [[ 7.22002087e-01 6.91887051e-01 2.30104436e-03 2.61410504e+02] [-6.91883899e-01 7.22005749e-01 -2.09010914e-03 -7.73963832e+01] [-3.10748671e-03 -8.29923808e-05 9.99995168e-01 1.36746608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.44, Y:-77.42, Z:1.37 [[ 7.22879018e-01 6.90971166e-01 2.18475404e-03 2.61442885e+02] [-6.90968304e-01 7.22882316e-01 -1.99012456e-03 -7.74226408e+01] [-2.95443875e-03 -7.09765113e-05 9.99995633e-01 1.36653510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.47, Y:-77.45, Z:1.37 [[ 7.24608926e-01 6.89156099e-01 2.40316108e-03 2.61474730e+02] [-6.89152610e-01 7.24612908e-01 -2.19391181e-03 -7.74489564e+01] [-3.25330925e-03 -6.64166491e-05 9.99994706e-01 1.36596298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.51, Y:-77.48, Z:1.37 [[ 7.28138426e-01 6.85422227e-01 3.28683574e-03 2.61512295e+02] [-6.85415570e-01 7.28145843e-01 -3.02121656e-03 -7.74824447e+01] [-4.46410476e-03 -5.29845211e-05 9.99990034e-01 1.36732689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.54, Y:-77.51, Z:1.37 [[ 7.27244567e-01 6.86370552e-01 3.28707630e-03 2.61543175e+02] [-6.86363907e-01 7.27251993e-01 -3.02094150e-03 -7.75093545e+01] [-4.46401808e-03 -5.91672340e-05 9.99990034e-01 1.36753769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.58, Y:-77.54, Z:1.37 [[ 7.30769881e-01 6.82613732e-01 3.72482473e-03 2.61575535e+02] [-6.82605106e-01 7.30779373e-01 -3.43192169e-03 -7.75360514e+01] [-5.06470195e-03 -3.46393784e-05 9.99987174e-01 1.36791174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.61, Y:-77.56, Z:1.37 [[ 7.32028667e-01 6.81258351e-01 4.59227803e-03 2.61606838e+02] [-6.81245164e-01 7.32043071e-01 -4.23895202e-03 -7.75619655e+01] [-6.24956677e-03 -2.54327973e-05 9.99980471e-01 1.36570197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.64, Y:-77.59, Z:1.36 [[ 7.32439014e-01 6.80818752e-01 4.34941308e-03 2.61637301e+02] [-6.80806852e-01 7.32451928e-01 -4.02531841e-03 -7.75891197e+01] [-5.92624826e-03 -1.28099783e-05 9.99982440e-01 1.36402608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.66, Y:-77.62, Z:1.37 [[ 7.32676573e-01 6.80563399e-01 4.30109812e-03 2.61664839e+02] [-6.80551694e-01 7.32689198e-01 -3.99136391e-03 -7.76202533e+01] [-5.86774432e-03 -2.74077845e-06 9.99982785e-01 1.36593884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.69, Y:-77.65, Z:1.37 [[ 7.32052289e-01 6.81238600e-01 3.66275788e-03 2.61694281e+02] [-6.81230069e-01 7.32061453e-01 -3.40926816e-03 -7.76500634e+01] [-5.00388892e-03 5.81763828e-07 9.99987480e-01 1.36823806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.72, Y:-77.68, Z:1.37 [[ 7.29880377e-01 6.83569280e-01 2.77050034e-03 2.61722600e+02] [-6.83564382e-01 7.29885635e-01 -2.58754184e-03 -7.76803443e+01] [-3.79091251e-03 -5.21933980e-06 9.99992814e-01 1.36855082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.75, Y:-77.71, Z:1.37 [[ 7.27757061e-01 6.85822610e-01 4.12421436e-03 2.61752361e+02] [-6.85811760e-01 7.27768746e-01 -3.85772852e-03 -7.77090577e+01] [-5.64719175e-03 -2.09455413e-05 9.99984054e-01 1.36677241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.78, Y:-77.74, Z:1.36 [[ 7.25917460e-01 6.87757538e-01 5.78012268e-03 2.61781642e+02] [-6.87736204e-01 7.25940471e-01 -5.41719070e-03 -7.77385367e+01] [-7.92173871e-03 -4.27663167e-05 9.99968622e-01 1.36487005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.81, Y:-77.77, Z:1.36 [[ 7.22893977e-01 6.90917006e-01 7.61505741e-03 2.61809028e+02] [-6.90879976e-01 7.22934079e-01 -7.15377841e-03 -7.77704075e+01] [-1.04478517e-02 -8.96673482e-05 9.99945416e-01 1.36490767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.84, Y:-77.80, Z:1.36 [[ 7.20176825e-01 6.93756180e-01 6.90670366e-03 2.61838260e+02] [-6.93725671e-01 7.20209935e-01 -6.50709205e-03 -7.78016102e+01] [-9.48861192e-03 -1.05100738e-04 9.99954977e-01 1.36458035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.87, Y:-77.83, Z:1.37 [[ 7.15732596e-01 6.98359186e-01 4.61500167e-03 2.61866019e+02] [-6.98345561e-01 7.15747467e-01 -4.36348158e-03 -7.78344511e+01] [-6.35045320e-03 -9.97799396e-05 9.99979831e-01 1.36598279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.90, Y:-77.86, Z:1.37 [[ 7.12518478e-01 7.01635640e-01 4.98457507e-03 2.61897084e+02] [-7.01619740e-01 7.12535902e-01 -4.72540634e-03 -7.78647092e+01] [-6.86720219e-03 -1.30336927e-04 9.99976412e-01 1.36542163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.982320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.93, Y:-77.89, Z:1.36 [[ 7.07330986e-01 7.06853285e-01 6.42732596e-03 2.61929434e+02] [-7.06826877e-01 7.07360153e-01 -6.11383752e-03 -7.78946983e+01] [-8.86802041e-03 -2.18500021e-04 9.99960654e-01 1.36443797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.96, Y:-77.93, Z:1.36 [[ 7.04439756e-01 7.09737485e-01 6.11009294e-03 2.61959728e+02] [-7.09713590e-01 7.04466216e-01 -5.82850093e-03 -7.79250327e+01] [-8.44105964e-03 -2.30588225e-04 9.99964347e-01 1.36484333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.99, Y:-77.96, Z:1.37 [[ 6.99500131e-01 7.14610886e-01 5.55409805e-03 2.61988976e+02] [-7.14591130e-01 6.99522137e-01 -5.31950191e-03 -7.79585062e+01] [-7.68658851e-03 -2.47916916e-04 9.99970427e-01 1.36764173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.07232058799997 meters Centerline goodness [0,1] 0.9999030350043634 Centerline is valid? [True, True] Translation: X:262.02, Y:-77.99, Z:1.37 [[ 6.97234713e-01 7.16826841e-01 4.79943124e-03 2.62021245e+02] [-7.16812021e-01 6.97251196e-01 -4.61478102e-03 -7.79885383e+01] [-6.65440808e-03 -2.22704487e-04 9.99977834e-01 1.36722283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10232058799994 meters Centerline goodness [0,1] 0.9999517304629049 Centerline is valid? [True, True] Translation: X:262.05, Y:-78.02, Z:1.37 [[ 6.94719580e-01 7.19267208e-01 4.40332839e-03 2.62053976e+02] [-7.19254690e-01 6.94733501e-01 -4.24897452e-03 -7.80172172e+01] [-6.11528779e-03 -2.15268798e-04 9.99981278e-01 1.36639061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.13232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.09, Y:-78.05, Z:1.36 [[ 6.93310265e-01 7.20617608e-01 5.58023690e-03 2.62090199e+02] [-7.20597404e-01 6.93332667e-01 -5.40317670e-03 -7.80463458e+01] [-7.76258480e-03 -2.75026358e-04 9.99969833e-01 1.36397001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.12, Y:-78.08, Z:1.36 [[ 6.93855438e-01 7.20085717e-01 6.41814003e-03 2.62123375e+02] [-7.20058805e-01 6.93885057e-01 -6.23256092e-03 -7.80751199e+01] [-8.94142956e-03 -2.96941955e-04 9.99959981e-01 1.36326325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.192320588 meters Centerline goodness [0,1] 0.9999519115171916 Centerline is valid? [True, True] Translation: X:262.16, Y:-78.10, Z:1.36 [[ 6.99660869e-01 7.14447425e-01 6.28854694e-03 2.62157113e+02] [-7.14421170e-01 6.99689099e-01 -6.12841419e-03 -7.81038645e+01] [-8.77845747e-03 -2.04859464e-04 9.99961448e-01 1.36259633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.19, Y:-78.13, Z:1.36 [[ 7.03379295e-01 7.10785887e-01 6.40230937e-03 2.62190144e+02] [-7.10758331e-01 7.03408417e-01 -6.26044159e-03 -7.81330119e+01] [-8.95327183e-03 -1.47029734e-04 9.99959908e-01 1.36289854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.22, Y:-78.16, Z:1.36 [[ 7.12784571e-01 7.01347236e-01 7.08588845e-03 2.62223194e+02] [-7.01312783e-01 7.12819791e-01 -6.95172377e-03 -7.81617371e+01] [-9.92653378e-03 -1.43426997e-05 9.99950731e-01 1.36158907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.26, Y:-78.19, Z:1.36 [[ 7.17315685e-01 6.96709428e-01 7.36074712e-03 2.62255152e+02] [-6.96671764e-01 7.17353447e-01 -7.24468370e-03 -7.81900098e+01] [-1.03276968e-02 6.87005777e-05 9.99946666e-01 1.36013858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.29, Y:-78.22, Z:1.36 [[ 7.20409670e-01 6.93494958e-01 8.64002678e-03 2.62286107e+02] [-6.93442559e-01 7.20461463e-01 -8.52626648e-03 -7.82201588e+01] [-1.21377292e-02 1.51042544e-04 9.99926324e-01 1.35674785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34232058799995 meters Centerline goodness [0,1] 0.9999520728492691 Centerline is valid? [True, True] Translation: X:262.31, Y:-78.25, Z:1.36 [[ 7.27517935e-01 6.86027982e-01 9.12483852e-03 2.62313009e+02] [-6.85968628e-01 7.27575091e-01 -9.02929416e-03 -7.82535121e+01] [-1.28333537e-02 3.09620481e-04 9.99917601e-01 1.35645670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.372320588 meters Centerline goodness [0,1] 0.9999521576882595 Centerline is valid? [True, True] Translation: X:262.34, Y:-78.29, Z:1.36 [[ 7.29952932e-01 6.83434033e-01 9.30804128e-03 2.62341734e+02] [-6.83371627e-01 7.30012173e-01 -9.24372867e-03 -7.82878975e+01] [-1.31124622e-02 3.86635533e-04 9.99913953e-01 1.35814316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.36, Y:-78.32, Z:1.36 [[ 7.35199732e-01 6.77809005e-01 7.50373958e-03 2.62364950e+02] [-6.77767927e-01 7.35237911e-01 -7.47343838e-03 -7.83242797e+01] [-1.05825976e-02 4.08675877e-04 9.99943919e-01 1.36034745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.38, Y:-78.37, Z:1.36 [[ 7.35663385e-01 6.77294703e-01 8.44207388e-03 2.62383682e+02] [-6.77242267e-01 7.35711657e-01 -8.44213792e-03 -7.83651340e+01] [-1.19287475e-02 4.93242510e-04 9.99928728e-01 1.36286267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46232058799995 meters Centerline goodness [0,1] 0.9999521897112259 Centerline is valid? [True, True] Translation: X:262.41, Y:-78.40, Z:1.36 [[ 7.34096733e-01 6.78995373e-01 8.20188947e-03 2.62412874e+02] [-6.78945551e-01 7.34142393e-01 -8.23925201e-03 -7.83990434e+01] [-1.16157688e-02 4.79771621e-04 9.99932420e-01 1.35868948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.492320588 meters Centerline goodness [0,1] 0.9998088228265545 Centerline is valid? [True, True] Translation: X:263.43, Y:-77.43, Z:3.25 [[ 7.33953791e-01 -6.78987017e-01 1.69842126e-02 2.63429090e+02] [-6.78821433e-01 -7.34150096e-01 -1.50032859e-02 -7.74265136e+01] [ 2.26559976e-02 -5.17528957e-04 -9.99743186e-01 3.24646539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52232058799996 meters Centerline goodness [0,1] 0.9998562116564417 Centerline is valid? [True, True] Translation: X:262.53, Y:-78.54, Z:1.36 [[ 7.86124881e-01 6.18019812e-01 7.69306131e-03 2.62532119e+02] [-6.17985082e-01 7.86162418e-01 -6.56444175e-03 -7.85421770e+01] [-1.01049507e-02 4.06273861e-04 9.99948861e-01 1.35858248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.552320588 meters Centerline goodness [0,1] 0.999952340101039 Centerline is valid? [True, True] Translation: X:262.55, Y:-78.58, Z:1.36 [[ 7.84049937e-01 6.20668028e-01 6.07414660e-03 2.62554208e+02] [-6.20646315e-01 7.84073405e-01 -5.20073131e-03 -7.85783656e+01] [-7.99050446e-03 3.07736349e-04 9.99968028e-01 1.35739949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58232058799996 meters Centerline goodness [0,1] 0.9998570747975226 Centerline is valid? [True, True] Translation: X:262.58, Y:-78.61, Z:1.36 [[ 7.83015892e-01 6.21980675e-01 5.11395878e-03 2.62581237e+02] [-6.21965233e-01 7.83032550e-01 -4.39020675e-03 -7.86095719e+01] [-6.73501994e-03 2.56897089e-04 9.99977286e-01 1.35761953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.61, Y:-78.64, Z:1.36 [[ 7.83132173e-01 6.21835734e-01 4.93151509e-03 2.62605036e+02] [-6.21821305e-01 7.83147658e-01 -4.24391760e-03 -7.86443921e+01] [-6.50112411e-03 2.57027260e-04 9.99978834e-01 1.35869532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64232058799996 meters Centerline goodness [0,1] 0.9999525188737477 Centerline is valid? [True, True] Translation: X:262.63, Y:-78.67, Z:1.36 [[ 7.82408892e-01 6.22741345e-01 5.43526531e-03 2.62632709e+02] [-6.22723767e-01 7.82427720e-01 -4.68760915e-03 -7.86744154e+01] [-7.17187027e-03 2.82958202e-04 9.99974242e-01 1.35745716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.64, Y:-78.73, Z:1.36 [[ 7.58478184e-01 6.51657881e-01 7.26986023e-03 2.62644658e+02] [-6.51627538e-01 7.58513022e-01 -6.28864760e-03 -7.87254217e+01] [-9.61233042e-03 3.25608903e-05 9.99953800e-01 1.36159434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.68, Y:-78.75, Z:1.36 [[ 7.60513317e-01 6.49280235e-01 7.39399486e-03 2.62677617e+02] [-6.49248497e-01 7.60549255e-01 -6.42024488e-03 -7.87544168e+01] [-9.79203539e-03 8.21416791e-05 9.99952053e-01 1.36036722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.71, Y:-78.78, Z:1.36 [[ 7.61773915e-01 6.47792117e-01 8.11638090e-03 2.62710835e+02] [-6.47753535e-01 7.61817141e-01 -7.07121050e-03 -7.87842592e+01] [-1.07638725e-02 1.29249290e-04 9.99942059e-01 1.35863441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.74, Y:-78.82, Z:1.36 [[ 7.60477976e-01 6.49312884e-01 8.12566961e-03 2.62743376e+02] [-6.49273989e-01 7.60521375e-01 -7.10812742e-03 -7.88172902e+01] [-1.07951441e-02 1.29788430e-04 9.99941722e-01 1.35887402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.78, Y:-78.85, Z:1.36 [[ 7.59350951e-01 6.50630691e-01 8.11397964e-03 2.62777265e+02] [-6.50591729e-01 7.59394290e-01 -7.12147873e-03 -7.88450166e+01] [-1.07951624e-02 1.28813608e-04 9.99941722e-01 1.35909771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.81, Y:-78.88, Z:1.36 [[ 7.57802975e-01 6.52426377e-01 8.62987659e-03 2.62807577e+02] [-6.52382121e-01 7.57852101e-01 -7.60009155e-03 -7.88775787e+01] [-1.14986703e-02 1.29394789e-04 9.99933880e-01 1.36206940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.84, Y:-78.91, Z:1.36 [[ 7.56656314e-01 6.53756055e-01 8.61645767e-03 2.62841344e+02] [-6.53711712e-01 7.56705361e-01 -7.61531323e-03 -7.89054101e+01] [-1.14986769e-02 1.29495537e-04 9.99933880e-01 1.36229223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.87, Y:-78.94, Z:1.37 [[ 7.53803767e-01 6.57047419e-01 8.28071311e-03 2.62871039e+02] [-6.57006370e-01 7.53849242e-01 -7.34502636e-03 -7.89380065e+01] [-1.10684399e-02 9.62272779e-05 9.99938738e-01 1.36562950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.91, Y:-78.97, Z:1.37 [[ 7.52614677e-01 6.58409296e-01 8.26726663e-03 2.62905328e+02] [-6.58368163e-01 7.52660076e-01 -7.36017032e-03 -7.89664418e+01] [-1.10684461e-02 9.64670662e-05 9.99938738e-01 1.36585635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.94, Y:-79.00, Z:1.37 [[ 7.49317998e-01 6.62164026e-01 7.83202621e-03 2.62937149e+02] [-6.62127037e-01 7.49358926e-01 -6.99909022e-03 -7.89978652e+01] [-1.05035445e-02 5.87479620e-05 9.99944835e-01 1.36671598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.96, Y:-79.04, Z:1.36 [[ 7.33189265e-01 6.80022268e-01 1.79376419e-03 2.62963122e+02] [-6.80020342e-01 7.33191458e-01 -1.61875921e-03 -7.90380005e+01] [-2.41596489e-03 -3.29392620e-05 9.99997081e-01 1.36266982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.002320588 meters Centerline goodness [0,1] 0.9999044890162369 Centerline is valid? [True, True] Translation: X:263.00, Y:-79.07, Z:1.36 [[ 7.29583172e-01 6.83886142e-01 2.85285200e-03 2.62999701e+02] [-6.83881265e-01 7.29588747e-01 -2.58379912e-03 -7.90719636e+01] [-3.84843313e-03 -6.59156752e-05 9.99992593e-01 1.36499993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03232058799995 meters Centerline goodness [0,1] 0.9998095328793867 Centerline is valid? [True, True] Translation: X:263.03, Y:-79.10, Z:1.37 [[ 7.25891231e-01 6.87797136e-01 4.12571491e-03 2.63034106e+02] [-6.87786976e-01 7.25902945e-01 -3.74034697e-03 -7.91035868e+01] [-5.56746853e-03 -1.22527920e-04 9.99984494e-01 1.36595623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.062320588 meters Centerline goodness [0,1] 0.9998095328793867 Centerline is valid? [True, True] Translation: X:263.07, Y:-79.13, Z:1.37 [[ 7.24537664e-01 6.89222905e-01 4.11827646e-03 2.63069286e+02] [-6.89212722e-01 7.24549358e-01 -3.74854994e-03 -7.91333492e+01] [-5.56748104e-03 -1.22402915e-04 9.99984494e-01 1.36619160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09232058799995 meters Centerline goodness [0,1] 0.9996212659186668 Centerline is valid? [True, True] Translation: X:263.10, Y:-79.16, Z:1.37 [[ 7.21243521e-01 6.92667832e-01 4.36540883e-03 2.63104353e+02] [-6.92656365e-01 7.21256717e-01 -3.98836843e-03 -7.91644522e+01] [-5.91119496e-03 -1.47143324e-04 9.99982518e-01 1.36611239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.122320588 meters Centerline goodness [0,1] 0.999432543623209 Centerline is valid? [True, True] Translation: X:263.14, Y:-79.20, Z:1.37 [[ 7.18598913e-01 6.95407870e-01 4.84734465e-03 2.63139206e+02] [-6.95393689e-01 7.18615240e-01 -4.44458399e-03 -7.91951182e+01] [-6.57417442e-03 -1.76939656e-04 9.99978374e-01 1.36525510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15232058799995 meters Centerline goodness [0,1] 0.999432543623209 Centerline is valid? [True, True] Translation: X:263.17, Y:-79.22, Z:1.37 [[ 7.17065687e-01 6.96988814e-01 4.83673167e-03 2.63174251e+02] [-6.96974591e-01 7.17081977e-01 -4.45615150e-03 -7.92247679e+01] [-6.57422085e-03 -1.75725744e-04 9.99978374e-01 1.36548963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.182320588 meters Centerline goodness [0,1] 0.9995263806005494 Centerline is valid? [True, True] Translation: X:263.21, Y:-79.26, Z:1.36 [[ 7.13251643e-01 7.00887320e-01 5.39049799e-03 2.63208413e+02] [-7.00869646e-01 7.13271978e-01 -4.98248722e-03 -7.92559866e+01] [-7.33705328e-03 -2.24269227e-04 9.99973058e-01 1.36494859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21232058799995 meters Centerline goodness [0,1] 0.9993297587131368 Centerline is valid? [True, True] Translation: X:263.24, Y:-79.29, Z:1.36 [[ 7.09312532e-01 7.04858027e-01 7.13401125e-03 2.63241929e+02] [-7.04827058e-01 7.09348327e-01 -6.61582386e-03 -7.92880259e+01] [-9.72371550e-03 -3.35557392e-04 9.99952667e-01 1.36440350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.242320588 meters Centerline goodness [0,1] 0.9992392182968 Centerline is valid? [True, True] Translation: X:263.28, Y:-79.32, Z:1.37 [[ 7.04951676e-01 7.09219605e-01 7.11944465e-03 2.63276029e+02] [-7.09188720e-01 7.04987525e-01 -6.62937544e-03 -7.93212781e+01] [-9.72080270e-03 -3.75640515e-04 9.99952681e-01 1.36580186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27232058799996 meters Centerline goodness [0,1] 0.9994233541566555 Centerline is valid? [True, True] Translation: X:263.31, Y:-79.35, Z:1.37 [[ 7.01519475e-01 7.12598899e-01 8.55777846e-03 2.63310553e+02] [-7.12554119e-01 7.01571504e-01 -8.00330687e-03 -7.93526589e+01] [-1.17070412e-02 -4.83404657e-04 9.99931353e-01 1.36548822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.302320588 meters Centerline goodness [0,1] 0.9988085593099175 Centerline is valid? [True, True] Translation: X:263.35, Y:-79.38, Z:1.37 [[ 6.96220271e-01 7.17793361e-01 7.07289995e-03 2.63346652e+02] [-7.17762716e-01 6.96256052e-01 -6.64780526e-03 -7.93828194e+01] [-9.69629988e-03 -4.48327102e-04 9.99952889e-01 1.36850305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33232058799996 meters Centerline goodness [0,1] 0.9978016726403823 Centerline is valid? [True, True] Translation: X:263.38, Y:-79.41, Z:1.37 [[ 6.88944030e-01 7.24793739e-01 5.49181810e-03 2.63382263e+02] [-7.24775282e-01 6.88965798e-01 -5.18834319e-03 -7.94134286e+01] [-7.54415350e-03 -4.05855953e-04 9.99971460e-01 1.37090721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.362320588 meters Centerline goodness [0,1] 0.9970129119290807 Centerline is valid? [True, True] Translation: X:263.42, Y:-79.44, Z:1.37 [[ 6.82282203e-01 7.31083586e-01 2.79033099e-03 2.63418910e+02] [-7.31078799e-01 6.82287870e-01 -2.65560473e-03 -7.94435146e+01] [-3.84527802e-03 -2.28079987e-04 9.99992581e-01 1.37252133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39232058799996 meters Centerline goodness [0,1] 0.9963575365444525 Centerline is valid? [True, True] Translation: X:263.46, Y:-79.47, Z:1.37 [[ 6.78241647e-01 7.34829662e-01 3.69270521e-03 2.63455719e+02] [-7.34821278e-01 6.78251623e-01 -3.52505235e-03 -7.94728370e+01] [-5.09489632e-03 -3.22641051e-04 9.99986969e-01 1.37155615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.422320588 meters Centerline goodness [0,1] 0.9963575365444525 Centerline is valid? [True, True] Translation: X:263.52, Y:-79.52, Z:1.37 [[ 6.72770138e-01 7.39842570e-01 3.64877434e-03 2.63516081e+02] [-7.39834012e-01 6.72779967e-01 -3.57087101e-03 -7.95221062e+01] [-5.09670467e-03 -2.97111978e-04 9.99986968e-01 1.37194899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45232058799996 meters Centerline goodness [0,1] 0.9952141660684374 Centerline is valid? [True, True] Translation: X:263.55, Y:-79.55, Z:1.37 [[ 6.68364006e-01 7.43826435e-01 3.43369391e-03 2.63552442e+02] [-7.43818990e-01 6.68372750e-01 -3.34337889e-03 -7.95526095e+01] [-4.78188104e-03 -3.19452631e-04 9.99988516e-01 1.37214992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.482320588 meters Centerline goodness [0,1] 0.994120157428043 Centerline is valid? [True, True] Translation: X:263.59, Y:-79.58, Z:1.37 [[ 6.63589645e-01 7.48092073e-01 2.65203083e-03 2.63588456e+02] [-7.48087608e-01 6.63594893e-01 -2.59770165e-03 -7.95833058e+01] [-3.70319412e-03 -2.60143483e-04 9.99993109e-01 1.37251769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51232058799997 meters Centerline goodness [0,1] 0.994120157428043 Centerline is valid? [True, True] Translation: X:263.62, Y:-79.61, Z:1.37 [[ 6.61902859e-01 7.49584954e-01 2.64630556e-03 2.63623127e+02] [-7.49580477e-01 6.61908098e-01 -2.60355089e-03 -7.96147522e+01] [-3.70319365e-03 -2.60321206e-04 9.99993109e-01 1.37275806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54232058799994 meters Centerline goodness [0,1] 0.994120157428043 Centerline is valid? [True, True] Translation: X:263.66, Y:-79.65, Z:1.37 [[ 6.60212715e-01 7.51074030e-01 2.64044318e-03 2.63657729e+02] [-7.51069542e-01 6.60217944e-01 -2.60951397e-03 -7.96462764e+01] [-3.70320614e-03 -2.60322150e-04 9.99993109e-01 1.37299829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.57232058799997 meters Centerline goodness [0,1] 0.9936272160996646 Centerline is valid? [True, True] Translation: X:263.70, Y:-79.68, Z:1.38 [[ 6.55080583e-01 7.55557655e-01 1.43518005e-03 2.63695016e+02] [-7.55556310e-01 6.55082139e-01 -1.43295852e-03 -7.96778046e+01] [-2.02284360e-03 -1.45656041e-04 9.99997943e-01 1.37528005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60232058799994 meters Centerline goodness [0,1] 0.9936272160996646 Centerline is valid? [True, True] Translation: X:263.73, Y:-79.71, Z:1.38 [[ 6.53331181e-01 7.57070880e-01 1.43204174e-03 2.63730062e+02] [-7.57069532e-01 6.53332734e-01 -1.43611153e-03 -7.97100539e+01] [-2.02283796e-03 -1.45898735e-04 9.99997943e-01 1.37552474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.63232058799997 meters Centerline goodness [0,1] 0.9881023496614895 Centerline is valid? [True, True] Translation: X:263.77, Y:-79.74, Z:1.38 [[ 6.48519160e-01 7.61198319e-01 -1.36338395e-04 2.63767019e+02] [-7.61198310e-01 6.48519174e-01 1.19586323e-04 -7.97410186e+01] [ 1.79446972e-04 2.62265345e-05 9.99999984e-01 1.37696843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66232058799994 meters Centerline goodness [0,1] 0.9840045974809636 Centerline is valid? [True, True] Translation: X:263.81, Y:-79.78, Z:1.38 [[ 6.40937725e-01 7.67592785e-01 -3.85807049e-04 2.63806863e+02] [-7.67592701e-01 6.40937838e-01 3.64118583e-04 -7.97779127e+01] [ 5.26773133e-04 6.27653386e-05 9.99999859e-01 1.37697487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.692320588 meters Centerline goodness [0,1] 0.9781264859724204 Centerline is valid? [True, True] Translation: X:265.00, Y:-78.64, Z:3.24 [[ 8.18746778e-01 -5.74123406e-01 6.00237325e-03 2.65004881e+02] [-5.74096917e-01 -8.18767944e-01 -5.63774295e-03 -7.86413879e+01] [ 8.15131099e-03 1.16993990e-03 -9.99966093e-01 3.24496253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72232058799995 meters Centerline goodness [0,1] 0.9781264859724204 Centerline is valid? [True, True] Translation: X:263.96, Y:-79.94, Z:1.38 [[ 6.97107329e-01 7.16965728e-01 -1.23138790e-03 2.63960185e+02] [-7.16964981e-01 6.97108400e-01 1.04613856e-03 -7.99351022e+01] [ 1.60845634e-03 1.53591150e-04 9.99998695e-01 1.37952115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.752320588 meters Centerline goodness [0,1] 0.9839598028795052 Centerline is valid? [True, True] Translation: X:264.00, Y:-79.96, Z:1.38 [[ 6.92388223e-01 7.21525093e-01 2.97162373e-04 2.64001114e+02] [-7.21525045e-01 6.92388286e-01 -2.66315753e-04 -7.99577785e+01] [-3.97905243e-04 -3.00162036e-05 9.99999920e-01 1.37973275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78232058799995 meters Centerline goodness [0,1] 0.9839598028795052 Centerline is valid? [True, True] Translation: X:264.04, Y:-79.99, Z:1.38 [[ 6.90992706e-01 7.22861669e-01 2.96466481e-04 2.64037154e+02] [-7.22861620e-01 6.90992769e-01 -2.67114032e-04 -7.99868969e+01] [-3.97942689e-04 -2.97303932e-05 9.99999920e-01 1.37996823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.812320588 meters Centerline goodness [0,1] 0.9745718238633653 Centerline is valid? [True, True] Translation: X:264.07, Y:-80.02, Z:1.38 [[ 6.84893596e-01 7.28643073e-01 1.87130199e-04 2.64071354e+02] [-7.28643052e-01 6.84893621e-01 -1.73757464e-04 -8.00190100e+01] [-2.54771451e-04 -1.73457451e-05 9.99999967e-01 1.38179290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84232058799995 meters Centerline goodness [0,1] 0.9727137582122476 Centerline is valid? [True, True] Translation: X:264.11, Y:-80.05, Z:1.38 [[ 6.79094306e-01 7.34049366e-01 1.56579870e-03 2.64110087e+02] [-7.34048126e-01 6.79096076e-01 -1.36691649e-03 -8.00460539e+01] [-2.06671194e-03 -2.21106399e-04 9.99997840e-01 1.38223849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.872320588 meters Centerline goodness [0,1] 0.9727137582122476 Centerline is valid? [True, True] Translation: X:264.15, Y:-80.08, Z:1.38 [[ 6.77729808e-01 7.35309366e-01 1.56324717e-03 2.64146059e+02] [-7.35308123e-01 6.77731575e-01 -1.36984681e-03 -8.00754479e+01] [-2.06672316e-03 -2.21082325e-04 9.99997840e-01 1.38247447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90232058799995 meters Centerline goodness [0,1] 0.9727137582122476 Centerline is valid? [True, True] Translation: X:264.18, Y:-80.10, Z:1.38 [[ 6.76362972e-01 7.36566830e-01 1.56070670e-03 2.64181976e+02] [-7.36565584e-01 6.76364736e-01 -1.37275339e-03 -8.01049086e+01] [-2.06673159e-03 -2.21083280e-04 9.99997840e-01 1.38271048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.932320588 meters Centerline goodness [0,1] 0.9734032226752087 Centerline is valid? [True, True] Translation: X:264.22, Y:-80.13, Z:1.38 [[ 6.69827037e-01 7.42516420e-01 1.05217744e-03 2.64221280e+02] [-7.42515850e-01 6.69827845e-01 -9.33085975e-04 -8.01303827e+01] [-1.39760940e-03 -1.56252211e-04 9.99999011e-01 1.38419264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96232058799995 meters Centerline goodness [0,1] 0.9734032226752087 Centerline is valid? [True, True] Translation: X:264.26, Y:-80.16, Z:1.38 [[ 6.68429316e-01 7.43774930e-01 1.05043011e-03 2.64257088e+02] [-7.43774358e-01 6.68430123e-01 -9.35065650e-04 -8.01600271e+01] [-1.39761752e-03 -1.56257690e-04 9.99999011e-01 1.38442886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.992320588 meters Centerline goodness [0,1] 0.9701940291285625 Centerline is valid? [True, True] Translation: X:264.29, Y:-80.19, Z:1.39 [[ 6.62285483e-01 7.49250518e-01 1.26514337e-03 2.64294284e+02] [-7.49249694e-01 6.62286661e-01 -1.12914809e-03 -8.01893813e+01] [-1.68390237e-03 -2.00089891e-04 9.99998562e-01 1.38510963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02232058799996 meters Centerline goodness [0,1] 0.9570743405275779 Centerline is valid? [True, True] Translation: X:264.33, Y:-80.22, Z:1.39 [[ 6.56670433e-01 7.54177323e-01 7.13566890e-04 2.64329178e+02] [-7.54177055e-01 6.56670810e-01 -6.45348925e-04 -8.02214024e+01] [-9.55286072e-04 -1.14374218e-04 9.99999537e-01 1.38631815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.052320588 meters Centerline goodness [0,1] 0.960444636927963 Centerline is valid? [True, True] Translation: X:264.37, Y:-80.25, Z:1.39 [[ 6.51289994e-01 7.58828928e-01 4.81857998e-05 2.64369297e+02] [-7.58828926e-01 6.51289996e-01 -5.49592164e-05 -8.02468941e+01] [-7.30875720e-05 -7.70390989e-07 9.99999997e-01 1.38691990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08232058799996 meters Centerline goodness [0,1] 0.9609235376515481 Centerline is valid? [True, True] Translation: X:264.41, Y:-80.27, Z:1.39 [[ 6.46824386e-01 7.62638924e-01 -2.92896662e-04 2.64409669e+02] [-7.62638886e-01 6.46824449e-01 2.47462962e-04 -8.02742515e+01] [ 3.78177609e-04 6.33093054e-05 9.99999926e-01 1.38773085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.112320588 meters Centerline goodness [0,1] 0.9651917118512781 Centerline is valid? [True, True] Translation: X:264.45, Y:-80.30, Z:1.39 [[ 6.42105533e-01 7.66615003e-01 -1.38617759e-03 2.64452885e+02] [-7.66614068e-01 6.42106971e-01 1.22812692e-03 -8.03011603e+01] [ 1.83157482e-03 2.74076149e-04 9.99998285e-01 1.38856274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14232058799996 meters Centerline goodness [0,1] 0.9130476556495004 Centerline is valid? [True, False] Translation: X:264.65, Y:-80.69, Z:1.56 [[ 8.51539498e-01 5.24227432e-01 -8.12912480e-03 2.64651964e+02] [-5.13596065e-01 8.37185338e-01 1.87988805e-01 -8.06904471e+01] [ 1.05354473e-01 -1.55904806e-01 9.82137529e-01 1.56063847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.172320588 meters Centerline goodness [0,1] 0.9561602784088162 Centerline is valid? [False, True] Translation: X:264.84, Y:-80.79, Z:1.57 [[ 9.21348516e-01 3.86648366e-01 -4.02486525e-02 2.64837388e+02] [-3.72662085e-01 9.07967380e-01 1.91619954e-01 -8.07918809e+01] [ 1.10634006e-01 -1.61549614e-01 9.80643584e-01 1.56677953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20232058799996 meters Centerline goodness [0,1] 0.9576090123336894 Centerline is valid? [True, True] Translation: X:264.92, Y:-80.65, Z:1.41 [[ 9.22591670e-01 3.76421255e-01 -8.44490892e-02 2.64917702e+02] [-3.76077536e-01 9.26360224e-01 2.05529274e-02 -8.06519644e+01] [ 8.59668359e-02 1.27974457e-02 9.96215804e-01 1.41496396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.232320588 meters Centerline goodness [0,1] 0.9576090123336894 Centerline is valid? [True, True] Translation: X:264.95, Y:-80.66, Z:1.42 [[ 9.22448032e-01 3.76774649e-01 -8.44422393e-02 2.64949294e+02] [-3.76429860e-01 9.26216487e-01 2.05810322e-02 -8.06593730e+01] [ 8.59662055e-02 1.28016477e-02 9.96215805e-01 1.41781393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26232058799997 meters Centerline goodness [0,1] 0.9575932071052118 Centerline is valid? [True, True] Translation: X:264.98, Y:-80.66, Z:1.42 [[ 9.22137966e-01 3.77573616e-01 -8.42599320e-02 2.64981058e+02] [-3.77230628e-01 9.25890870e-01 2.05706247e-02 -8.06639272e+01] [ 8.57824269e-02 1.28164731e-02 9.96231456e-01 1.42140464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29232058799994 meters Centerline goodness [0,1] 0.8539557645252602 Centerline is valid? [True, False] Translation: X:265.16, Y:-80.73, Z:1.43 [[ 9.51109289e-01 2.96296818e-01 -8.71740555e-02 2.65164026e+02] [-2.94857542e-01 9.55093575e-01 2.92453992e-02 -8.07322923e+01] [ 9.19246990e-02 -2.11164315e-03 9.95763722e-01 1.42600012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32232058799997 meters Centerline goodness [0,1] 0.9535019171965248 Centerline is valid? [False, True] Translation: X:265.35, Y:-80.77, Z:1.43 [[ 9.64621877e-01 2.47402442e-01 -9.10860385e-02 2.65349893e+02] [-2.45357242e-01 9.68864648e-01 3.31830866e-02 -8.07718774e+01] [ 9.64596193e-02 -9.66051208e-03 9.95290016e-01 1.43056825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35232058799994 meters Centerline goodness [0,1] 0.9558517082626605 Centerline is valid? [True, True] Translation: X:265.39, Y:-80.75, Z:1.41 [[ 9.65347268e-01 2.43413768e-01 -9.40977684e-02 2.65385515e+02] [-2.43603559e-01 9.69826972e-01 9.64110862e-03 -8.07489609e+01] [ 9.36053323e-02 1.36155335e-02 9.95516278e-01 1.41451339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38232058799997 meters Centerline goodness [0,1] 0.9558517082626605 Centerline is valid? [True, True] Translation: X:265.42, Y:-80.75, Z:1.42 [[ 9.65254791e-01 2.43780397e-01 -9.40973263e-02 2.65417797e+02] [-2.43971478e-01 9.69734440e-01 9.64542161e-03 -8.07519613e+01] [ 9.36007827e-02 1.36467744e-02 9.95516278e-01 1.41757957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41232058799994 meters Centerline goodness [0,1] 0.9558517082626605 Centerline is valid? [True, True] Translation: X:265.45, Y:-80.76, Z:1.42 [[ 9.65161748e-01 2.44149927e-01 -9.40936370e-02 2.65450073e+02] [-2.44339301e-01 9.69641469e-01 9.68127895e-03 -8.07550029e+01] [ 9.36007760e-02 1.36467734e-02 9.95516278e-01 1.42067042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.442320588 meters Centerline goodness [0,1] 0.962520633071172 Centerline is valid? [True, True] Translation: X:265.48, Y:-80.75, Z:1.42 [[ 9.65530147e-01 2.42220854e-01 -9.52921441e-02 2.65481802e+02] [-2.42402507e-01 9.70125856e-01 9.84115801e-03 -8.07523934e+01] [ 9.48291065e-02 1.35971199e-02 9.95400703e-01 1.42341216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47232058799995 meters Centerline goodness [0,1] 0.937256598874946 Centerline is valid? [True, False] Translation: X:265.64, Y:-80.78, Z:1.43 [[ 9.75312932e-01 2.00499174e-01 -9.25460224e-02 2.65641509e+02] [-2.00096556e-01 9.79680327e-01 1.37049332e-02 -8.07792200e+01] [ 9.34133453e-02 5.15154180e-03 9.95614086e-01 1.42708301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.502320588 meters Centerline goodness [0,1] 0.9568816169393648 Centerline is valid? [False, True] Translation: X:265.78, Y:-80.80, Z:1.43 [[ 9.82442219e-01 1.64653439e-01 -8.77298821e-02 2.65779913e+02] [-1.63710674e-01 9.86346263e-01 1.78847539e-02 -8.07981915e+01] [ 8.94768276e-02 -3.20841924e-03 9.95983736e-01 1.43158972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53232058799995 meters Centerline goodness [0,1] 0.9675890092879257 Centerline is valid? [True, True] Translation: X:265.81, Y:-80.78, Z:1.42 [[ 9.83482240e-01 1.58626315e-01 -8.71801331e-02 2.65812292e+02] [-1.59006856e-01 9.87274038e-01 2.60636589e-03 -8.07789323e+01] [ 8.64841203e-02 1.12989243e-02 9.96189154e-01 1.42320482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.562320588 meters Centerline goodness [0,1] 0.9675890092879257 Centerline is valid? [True, True] Translation: X:265.84, Y:-80.78, Z:1.43 [[ 9.83421254e-01 1.59003979e-01 -8.71801087e-02 2.65844661e+02] [-1.59385905e-01 9.87212913e-01 2.60718090e-03 -8.07795861e+01] [ 8.64798813e-02 1.13313234e-02 9.96189154e-01 1.42605876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59232058799995 meters Centerline goodness [0,1] 0.9626379983608928 Centerline is valid? [True, True] Translation: X:265.88, Y:-80.78, Z:1.43 [[ 9.84265893e-01 1.54134358e-01 -8.63901087e-02 2.65875003e+02] [-1.54488030e-01 9.87991194e-01 2.61707228e-03 -8.07809579e+01] [ 8.57560474e-02 1.07703427e-02 9.96257949e-01 1.42910756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.622320588 meters Centerline goodness [0,1] 0.9683519876495561 Centerline is valid? [True, True] Translation: X:265.91, Y:-80.78, Z:1.43 [[ 9.85177596e-01 1.48637103e-01 -8.56277767e-02 2.65905836e+02] [-1.48963932e-01 9.88839223e-01 2.59576363e-03 -8.07761054e+01] [ 8.50579309e-02 1.01981621e-02 9.96323816e-01 1.43221596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65232058799995 meters Centerline goodness [0,1] 0.9716585530438135 Centerline is valid? [True, True] Translation: X:265.94, Y:-80.77, Z:1.43 [[ 9.86098099e-01 1.43478216e-01 -8.38125318e-02 2.65937084e+02] [-1.43772606e-01 9.89607481e-01 2.54403303e-03 -8.07722936e+01] [ 8.33065218e-02 9.54128002e-03 9.96478292e-01 1.43411969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.682320588 meters Centerline goodness [0,1] 0.9705472541200212 Centerline is valid? [True, True] Translation: X:265.97, Y:-80.77, Z:1.44 [[ 9.86845180e-01 1.39212703e-01 -8.21974084e-02 2.65967606e+02] [-1.39481037e-01 9.90221594e-01 2.49686729e-03 -8.07698921e+01] [ 8.17412444e-02 9.00095830e-03 9.96612940e-01 1.43582022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71232058799995 meters Centerline goodness [0,1] 0.9705472541200212 Centerline is valid? [True, True] Translation: X:266.00, Y:-80.77, Z:1.44 [[ 9.86791498e-01 1.39592675e-01 -8.21974735e-02 2.65999900e+02] [-1.39862485e-01 9.90167795e-01 2.49473630e-03 -8.07705456e+01] [ 8.17375380e-02 9.03455830e-03 9.96612940e-01 1.43866681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.742320588 meters Centerline goodness [0,1] 0.9808326863354038 Centerline is valid? [True, True] Translation: X:266.03, Y:-80.76, Z:1.44 [[ 9.87543313e-01 1.34961938e-01 -8.08917778e-02 2.66030303e+02] [-1.35205157e-01 9.90814500e-01 2.48847524e-03 -8.07618646e+01] [ 8.04845958e-02 8.47950840e-03 9.96719784e-01 1.44169036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77232058799996 meters Centerline goodness [0,1] 0.9778173419305168 Centerline is valid? [True, True] Translation: X:266.06, Y:-80.77, Z:1.44 [[ 9.88190406e-01 1.30665065e-01 -8.00397580e-02 2.66060512e+02] [-1.30889165e-01 9.91393948e-01 2.46299089e-03 -8.07653642e+01] [ 7.96727585e-02 8.04243314e-03 9.96788629e-01 1.44376458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.802320588 meters Centerline goodness [0,1] 0.9817111422091396 Centerline is valid? [True, True] Translation: X:266.09, Y:-80.76, Z:1.45 [[ 9.88822862e-01 1.25813399e-01 -8.00021049e-02 2.66091071e+02] [-1.26021558e-01 9.92024448e-01 2.46206638e-03 -8.07630565e+01] [ 7.96738049e-02 7.64744235e-03 9.96791654e-01 1.44662847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83232058799996 meters Centerline goodness [0,1] 0.9865366983544853 Centerline is valid? [True, True] Translation: X:266.12, Y:-80.76, Z:1.45 [[ 9.89372001e-01 1.21606025e-01 -7.97183731e-02 2.66121529e+02] [-1.21799185e-01 9.92551732e-01 2.45322836e-03 -8.07597251e+01] [ 7.94229366e-02 7.28247740e-03 9.96814407e-01 1.44833080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.862320588 meters Centerline goodness [0,1] 0.9937210200927357 Centerline is valid? [True, True] Translation: X:266.15, Y:-80.75, Z:1.45 [[ 9.90714747e-01 1.11572190e-01 -7.76912929e-02 2.66152073e+02] [-1.11724959e-01 9.93736291e-01 2.39113000e-03 -8.07527346e+01] [ 7.74714409e-02 6.31112873e-03 9.96974596e-01 1.44810076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89232058799996 meters Centerline goodness [0,1] 0.9965151735153187 Centerline is valid? [True, True] Translation: X:266.18, Y:-80.75, Z:1.45 [[ 9.91539099e-01 1.06621737e-01 -7.40406598e-02 2.66182535e+02] [-1.06746670e-01 9.94283639e-01 2.27918604e-03 -8.07495195e+01] [ 7.38604274e-02 5.64369177e-03 9.97252619e-01 1.44945324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.922320588 meters Centerline goodness [0,1] 0.9979782420333109 Centerline is valid? [True, True] Translation: X:266.21, Y:-80.75, Z:1.45 [[ 9.92575260e-01 9.63273116e-02 -7.42657513e-02 2.66213357e+02] [-9.64242594e-02 9.95337697e-01 2.28732732e-03 -8.07453622e+01] [ 7.41398340e-02 4.89067557e-03 9.97235863e-01 1.45270486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95232058799996 meters Centerline goodness [0,1] 0.9988480921526278 Centerline is valid? [True, True] Translation: X:266.24, Y:-80.74, Z:1.46 [[ 9.92933771e-01 9.12222256e-02 -7.59014611e-02 2.66244226e+02] [-9.13085896e-02 9.95819899e-01 2.33889110e-03 -8.07441826e+01] [ 7.57975441e-02 4.60809140e-03 9.97112580e-01 1.45504957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.982320588 meters Centerline goodness [0,1] 0.9993252686876476 Centerline is valid? [True, True] Translation: X:266.27, Y:-80.74, Z:1.46 [[ 9.93389440e-01 8.60988871e-02 -7.59236641e-02 2.66274098e+02] [-8.61702143e-02 9.96277677e-01 2.34206668e-03 -8.07420619e+01] [ 7.58427010e-02 4.21577410e-03 9.97110882e-01 1.45749345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01232058799997 meters Centerline goodness [0,1] 0.999564101322226 Centerline is valid? [True, True] Translation: X:266.30, Y:-80.74, Z:1.46 [[ 9.94172153e-01 7.59288659e-02 -7.65280209e-02 2.66304237e+02] [-7.59714444e-02 9.97107203e-01 2.35893622e-03 -8.07377970e+01] [ 7.64857522e-02 3.46875558e-03 9.97064641e-01 1.46001914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04232058799994 meters Centerline goodness [0,1] 0.9999517700395486 Centerline is valid? [True, True] Translation: X:266.33, Y:-80.74, Z:1.46 [[ 9.94509250e-01 7.12571004e-02 -7.66405662e-02 2.66334329e+02] [-7.12862607e-02 9.97453110e-01 2.35868165e-03 -8.07353895e+01] [ 7.66134439e-02 3.11768866e-03 9.97055997e-01 1.46249196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.07232058799997 meters Centerline goodness [0,1] 0.9999516417621742 Centerline is valid? [True, True] Translation: X:266.36, Y:-80.73, Z:1.46 [[ 9.95301519e-01 6.16046783e-02 -7.46977275e-02 2.66364585e+02] [-6.16053731e-02 9.98097942e-01 2.29700682e-03 -8.07280560e+01] [ 7.46971545e-02 2.31556700e-03 9.97203577e-01 1.46348121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10232058799994 meters Centerline goodness [0,1] 0.999951458667055 Centerline is valid? [True, True] Translation: X:266.39, Y:-80.73, Z:1.47 [[ 9.95644540e-01 5.64356040e-02 -7.42089840e-02 2.66394069e+02] [-5.64217814e-02 9.98404409e-01 2.28432275e-03 -8.07266405e+01] [ 7.42194940e-02 1.91262960e-03 9.97240096e-01 1.46530104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.13232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.42, Y:-80.73, Z:1.47 [[ 9.96011899e-01 5.10592980e-02 -7.31658749e-02 2.66422797e+02] [-5.10331259e-02 9.98694475e-01 2.22833533e-03 -8.07269197e+01] [ 7.31841323e-02 1.51443480e-03 9.97317296e-01 1.46728153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.45, Y:-80.73, Z:1.47 [[ 9.96665984e-01 3.92371348e-02 -7.15357572e-02 2.66451626e+02] [-3.91838059e-02 9.99229708e-01 2.14919484e-03 -8.07265824e+01] [ 7.15649821e-02 6.61013842e-04 9.97435720e-01 1.46888170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.48, Y:-80.73, Z:1.47 [[ 9.96808230e-01 3.28321276e-02 -7.27695315e-02 2.66481097e+02] [-3.27602043e-02 9.99460859e-01 2.18202878e-03 -8.07254344e+01] [ 7.28019391e-02 2.08880477e-04 9.97346396e-01 1.47129866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.51, Y:-80.72, Z:1.47 [[ 9.97147067e-01 1.97536267e-02 -7.28527341e-02 2.66509722e+02] [-1.96487026e-02 9.99804619e-01 2.15669430e-03 -8.07216558e+01] [ 7.28811027e-02 -7.19079688e-04 9.97340377e-01 1.47188917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.54, Y:-80.72, Z:1.48 [[ 9.97205776e-01 1.35584309e-02 -7.34629775e-02 2.66538785e+02] [-1.34354112e-02 9.99907389e-01 2.16851450e-03 -8.07218905e+01] [ 7.34855757e-02 -1.17544987e-03 9.97295587e-01 1.47517035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.57, Y:-80.72, Z:1.48 [[ 9.97460977e-01 3.08339956e-03 -7.11483749e-02 2.66567409e+02] [-2.94353540e-03 9.99993524e-01 2.07057294e-03 -8.07233876e+01] [ 7.11542985e-02 -1.85588794e-03 9.97463594e-01 1.47817031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.312320588 meters Centerline goodness [0,1] 0.9998566308243727 Centerline is valid? [True, True] Translation: X:266.60, Y:-80.73, Z:1.48 [[ 9.97511197e-01 -1.72390545e-03 -7.04871560e-02 2.66596812e+02] [ 1.87290384e-03 9.99996149e-01 2.04780209e-03 -8.07261762e+01] [ 7.04833543e-02 -2.17472118e-03 9.97510585e-01 1.48021210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34232058799995 meters Centerline goodness [0,1] 0.9999522125585396 Centerline is valid? [True, True] Translation: X:266.63, Y:-80.73, Z:1.48 [[ 9.97285061e-01 -1.19245967e-02 -7.26657439e-02 2.66626106e+02] [ 1.21096736e-02 9.99924455e-01 2.10691746e-03 -8.07323695e+01] [ 7.26351303e-02 -2.98115574e-03 9.97354125e-01 1.48442027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.65, Y:-80.75, Z:1.49 [[ 9.97149140e-01 -1.66531281e-02 -7.35952812e-02 2.66654530e+02] [ 1.68557276e-02 9.99855658e-01 2.13260767e-03 -8.07479876e+01] [ 7.35491437e-02 -3.36702991e-03 9.97285910e-01 1.49077965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.68, Y:-80.75, Z:1.49 [[ 9.97140844e-01 -1.71428787e-02 -7.35952348e-02 2.66682268e+02] [ 1.73469301e-02 9.99847253e-01 2.13427329e-03 -8.07490562e+01] [ 7.35474057e-02 -3.40482246e-03 9.97285910e-01 1.49322217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.432320588 meters Centerline goodness [0,1] 0.9991369390103567 Centerline is valid? [True, True] Translation: X:266.71, Y:-80.74, Z:1.49 [[ 9.97023877e-01 -2.16666893e-02 -7.39861032e-02 2.66711939e+02] [ 2.18821952e-02 9.99758344e-01 2.10333772e-03 -8.07393401e+01] [ 7.39226516e-02 -3.71605628e-03 9.97257054e-01 1.49153876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46232058799995 meters Centerline goodness [0,1] 0.9910236822001528 Centerline is valid? [True, True] Translation: X:266.74, Y:-80.75, Z:1.49 [[ 9.96781499e-01 -3.03817566e-02 -7.41862000e-02 2.66740674e+02] [ 3.06219207e-02 9.99528829e-01 2.10177096e-03 -8.07460065e+01] [ 7.40873901e-02 -4.36673034e-03 9.97242192e-01 1.49209449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.77, Y:-80.77, Z:1.50 [[ 9.96708517e-01 -3.37972099e-02 -7.36877254e-02 2.66769573e+02] [ 3.40430651e-02 9.99418197e-01 2.08265767e-03 -8.07694957e+01] [ 7.35744656e-02 -4.58435867e-03 9.97279189e-01 1.49753004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52232058799996 meters Centerline goodness [0,1] 0.9602788121837105 Centerline is valid? [True, True] Translation: X:266.80, Y:-80.76, Z:1.49 [[ 9.96673727e-01 -3.95714328e-02 -7.12431237e-02 2.66800796e+02] [ 3.98156862e-02 9.99205017e-01 2.01105979e-03 -8.07626980e+01] [ 7.11069062e-02 -4.84096432e-03 9.97456953e-01 1.49389266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.552320588 meters Centerline goodness [0,1] 0.9588761053532376 Centerline is valid? [True, True] Translation: X:266.83, Y:-80.77, Z:1.50 [[ 9.96575229e-01 -4.14584419e-02 -7.15472566e-02 2.66830353e+02] [ 4.17096522e-02 9.99127732e-01 2.02002435e-03 -8.07707888e+01] [ 7.14011011e-02 -4.99731742e-03 9.97435166e-01 1.49689905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58232058799996 meters Centerline goodness [0,1] 0.9403888915172447 Centerline is valid? [True, False] Translation: X:266.90, Y:-80.79, Z:1.50 [[ 9.97484108e-01 -3.02748508e-02 -6.41006006e-02 2.66896247e+02] [ 3.06125899e-02 9.99522105e-01 4.29308571e-03 -8.07894284e+01] [ 6.39399947e-02 -6.24457017e-03 9.97934207e-01 1.50294310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.612320588 meters Centerline goodness [0,1] 0.9121002889182704 Centerline is valid? [False, False] Translation: X:266.92, Y:-80.80, Z:1.50 [[ 9.98713048e-01 -2.24213939e-02 -4.54920717e-02 2.66922765e+02] [ 2.27732620e-02 9.99714504e-01 7.23117656e-03 -8.08022799e+01] [ 4.53169508e-02 -8.25787325e-03 9.98938527e-01 1.50358539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64232058799996 meters Centerline goodness [0,1] 0.9179547596606974 Centerline is valid? [False, False] Translation: X:266.94, Y:-80.81, Z:1.50 [[ 9.99411109e-01 -2.02464494e-02 -2.77040975e-02 2.66939427e+02] [ 2.02838189e-02 9.99793691e-01 1.06849021e-03 -8.08078026e+01] [ 2.76767487e-02 -1.62980588e-03 9.99615597e-01 1.49935395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.672320588 meters Centerline goodness [0,1] 0.9072982025758363 Centerline is valid? [False, False] Translation: X:266.97, Y:-80.83, Z:1.50 [[ 9.99592050e-01 -1.46844093e-02 -2.44969582e-02 2.66968075e+02] [ 1.47509693e-02 9.99887976e-01 2.53857307e-03 -8.08301025e+01] [ 2.44569365e-02 -2.89889134e-03 9.99696681e-01 1.50035430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70232058799996 meters Centerline goodness [0,1] 0.9035475675167027 Centerline is valid? [False, False] Translation: X:266.99, Y:-80.84, Z:1.50 [[ 9.99731738e-01 -7.76950425e-03 -2.18194238e-02 2.66989261e+02] [ 7.74811116e-03 9.99969416e-01 -1.06483079e-03 -8.08380235e+01] [ 2.18270296e-02 8.95485818e-04 9.99761361e-01 1.49657778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.732320588 meters Centerline goodness [0,1] 0.9508243185790543 Centerline is valid? [False, True] Translation: X:266.99, Y:-80.85, Z:1.50 [[ 9.99961330e-01 -6.10753945e-03 -6.32747216e-03 2.66985007e+02] [ 6.13338499e-03 9.99972894e-01 4.07333365e-03 -8.08465561e+01] [ 6.30242260e-03 -4.11198496e-03 9.99971685e-01 1.49738907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76232058799997 meters Centerline goodness [0,1] 0.9723158401540684 Centerline is valid? [True, True] Translation: X:267.02, Y:-80.85, Z:1.50 [[ 9.99982402e-01 9.29829811e-04 -5.85924550e-03 2.67015295e+02] [-9.27689312e-04 9.99999502e-01 3.68027166e-04 -8.08524703e+01] [ 5.85958479e-03 -3.62585131e-04 9.99982767e-01 1.49625693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79232058799994 meters Centerline goodness [0,1] 0.991106719367589 Centerline is valid? [True, True] Translation: X:267.05, Y:-80.86, Z:1.50 [[ 9.99956470e-01 8.22370062e-03 -4.40784395e-03 2.67045335e+02] [-8.22255983e-03 9.99966156e-01 2.76869605e-04 -8.08635812e+01] [ 4.40997167e-03 -2.40613792e-04 9.99990247e-01 1.49830390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82232058799997 meters Centerline goodness [0,1] 0.9987629062187753 Centerline is valid? [True, True] Translation: X:267.08, Y:-80.87, Z:1.50 [[ 9.99845345e-01 1.64146028e-02 -6.31249174e-03 2.67075702e+02] [-1.64124271e-02 9.99865229e-01 3.96313830e-04 -8.08704137e+01] [ 6.31814633e-03 -2.92649227e-04 9.99979997e-01 1.49937801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85232058799994 meters Centerline goodness [0,1] 0.999200112925234 Centerline is valid? [True, True] Translation: X:267.11, Y:-80.87, Z:1.50 [[ 9.99798592e-01 1.79599846e-02 -8.95623380e-03 2.67106770e+02] [-1.79556772e-02 9.99838626e-01 5.61124526e-04 -8.08711711e+01] [ 8.96486629e-03 -4.00196267e-04 9.99959735e-01 1.49890377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88232058799997 meters Centerline goodness [0,1] 0.9970941495544363 Centerline is valid? [True, True] Translation: X:267.14, Y:-80.87, Z:1.50 [[ 9.99849438e-01 1.35121907e-02 -1.08868087e-02 2.67138212e+02] [-1.35055533e-02 9.99908563e-01 6.82966412e-04 -8.08695192e+01] [ 1.08950416e-02 -5.35831208e-04 9.99940504e-01 1.50052256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91232058799994 meters Centerline goodness [0,1] 0.9950109284424594 Centerline is valid? [True, True] Translation: X:267.17, Y:-80.87, Z:1.50 [[ 9.99869971e-01 1.12870127e-02 -1.15171496e-02 2.67169144e+02] [-1.12794314e-02 9.99936124e-01 7.23013066e-04 -8.08685358e+01] [ 1.15245746e-02 -5.93012155e-04 9.99933414e-01 1.50126335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.942320588 meters Centerline goodness [0,1] 0.9761713013406604 Centerline is valid? [True, True] Translation: X:267.20, Y:-80.86, Z:1.50 [[ 9.99927523e-01 2.91154009e-03 -1.16821395e-02 2.67200122e+02] [-2.90314938e-03 9.99995516e-01 7.35144912e-04 -8.08625845e+01] [ 1.16842275e-02 -7.01176634e-04 9.99931491e-01 1.50142455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97232058799995 meters Centerline goodness [0,1] 0.9952017657502039 Centerline is valid? [True, True] Translation: X:267.23, Y:-80.91, Z:1.52 [[ 9.91611146e-01 1.26738721e-01 -2.53895939e-02 2.67225828e+02] [-1.26739117e-01 9.91934794e-01 1.60008098e-03 -8.09096656e+01] [ 2.53876138e-02 1.63119659e-03 9.99676352e-01 1.52431526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.002320588 meters Centerline goodness [0,1] 0.9939388154440891 Centerline is valid? [True, True] Translation: X:267.26, Y:-80.91, Z:1.52 [[ 9.91170447e-01 1.29778225e-01 -2.71801011e-02 2.67256681e+02] [-1.29780133e-01 9.91541337e-01 1.70135407e-03 -8.09081326e+01] [ 2.71709925e-02 1.84110526e-03 9.99629105e-01 1.52467454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03232058799995 meters Centerline goodness [0,1] 0.9936579085403653 Centerline is valid? [True, True] Translation: X:267.29, Y:-80.91, Z:1.53 [[ 9.91015329e-01 1.30885814e-01 -2.75231051e-02 2.67288655e+02] [-1.30888219e-01 9.91395637e-01 1.72196762e-03 -8.09085420e+01] [ 2.75116675e-02 1.89595390e-03 9.99619684e-01 1.52621655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.062320588 meters Centerline goodness [0,1] 0.9936256889527918 Centerline is valid? [True, True] Translation: X:267.32, Y:-80.91, Z:1.53 [[ 9.90861917e-01 1.31897201e-01 -2.82097353e-02 2.67320515e+02] [-1.31899841e-01 9.91261459e-01 1.77537619e-03 -8.09087231e+01] [ 2.81973905e-02 1.96170694e-03 9.99600450e-01 1.52819599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09232058799995 meters Centerline goodness [0,1] 0.9920543195608206 Centerline is valid? [True, True] Translation: X:267.35, Y:-80.91, Z:1.53 [[ 9.90670937e-01 1.33219056e-01 -2.87015358e-02 2.67352732e+02] [-1.33222038e-01 9.91084551e-01 1.81685918e-03 -8.09069300e+01] [ 2.86876890e-02 2.02376752e-03 9.99586375e-01 1.53004495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.122320588 meters Centerline goodness [0,1] 0.9930237003058104 Centerline is valid? [True, True] Translation: X:267.38, Y:-80.91, Z:1.53 [[ 9.90662274e-01 1.33326286e-01 -2.85019428e-02 2.67384602e+02] [-1.33328981e-01 9.91070175e-01 1.81441079e-03 -8.09073416e+01] [ 2.84893341e-02 2.00266667e-03 9.99592090e-01 1.53011698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15232058799995 meters Centerline goodness [0,1] 0.9922458493887065 Centerline is valid? [True, True] Translation: X:267.42, Y:-80.91, Z:1.53 [[ 9.90572238e-01 1.33833539e-01 -2.92442255e-02 2.67417224e+02] [-1.33836285e-01 9.91001687e-01 1.87233320e-03 -8.09069796e+01] [ 2.92316578e-02 2.05925721e-03 9.99570543e-01 1.53048233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.182320588 meters Centerline goodness [0,1] 0.9932866733323811 Centerline is valid? [True, True] Translation: X:267.45, Y:-80.91, Z:1.53 [[ 9.90643534e-01 1.33371100e-01 -2.89402488e-02 2.67449551e+02] [-1.33373246e-01 9.91064125e-01 1.86482926e-03 -8.09071126e+01] [ 2.89303567e-02 2.01247387e-03 9.99579404e-01 1.52980918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21232058799995 meters Centerline goodness [0,1] 0.9943828247726948 Centerline is valid? [True, True] Translation: X:267.48, Y:-80.91, Z:1.53 [[ 9.90763697e-01 1.32407922e-01 -2.92478697e-02 2.67481813e+02] [-1.32409385e-01 9.91193302e-01 1.89530155e-03 -8.09064288e+01] [ 2.92412455e-02 1.99489647e-03 9.99570393e-01 1.52985069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.242320588 meters Centerline goodness [0,1] 0.9940299933135925 Centerline is valid? [True, True] Translation: X:267.51, Y:-80.91, Z:1.53 [[ 9.91058833e-01 1.30403374e-01 -2.82373871e-02 2.67513198e+02] [-1.30403616e-01 9.91459282e-01 1.84083621e-03 -8.09064860e+01] [ 2.82362708e-02 1.85788038e-03 9.99599550e-01 1.53053237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27232058799996 meters Centerline goodness [0,1] 0.9966722129783694 Centerline is valid? [True, True] Translation: X:267.54, Y:-80.91, Z:1.53 [[ 9.91807852e-01 1.25196534e-01 -2.53576750e-02 2.67543699e+02] [-1.25194994e-01 9.92130776e-01 1.65459484e-03 -8.09054372e+01] [ 2.53652793e-02 1.53361381e-03 9.99677073e-01 1.53319576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.302320588 meters Centerline goodness [0,1] 0.9965885066307899 Centerline is valid? [True, True] Translation: X:267.57, Y:-80.90, Z:1.54 [[ 9.92324611e-01 1.21319261e-01 -2.39479507e-02 2.67574840e+02] [-1.21316769e-01 9.92612614e-01 1.56224403e-03 -8.09049264e+01] [ 2.39605682e-02 1.35503481e-03 9.99711986e-01 1.53669818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33232058799996 meters Centerline goodness [0,1] 0.9968719923002888 Centerline is valid? [True, True] Translation: X:267.61, Y:-80.91, Z:1.54 [[ 9.92573574e-01 1.19450916e-01 -2.30038886e-02 2.67607398e+02] [-1.19448122e-01 9.92839310e-01 1.50043039e-03 -8.09052483e+01] [ 2.30183926e-02 1.25848374e-03 9.99734250e-01 1.53659351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.362320588 meters Centerline goodness [0,1] 0.9980553974577879 Centerline is valid? [True, True] Translation: X:267.64, Y:-80.90, Z:1.54 [[ 9.92807620e-01 1.17631488e-01 -2.22679721e-02 2.67639434e+02] [-1.17628354e-01 9.93056621e-01 1.45506979e-03 -8.09047669e+01] [ 2.22845191e-02 1.17474053e-03 9.99750979e-01 1.53565888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39232058799996 meters Centerline goodness [0,1] 0.9979921598623195 Centerline is valid? [True, True] Translation: X:267.67, Y:-80.90, Z:1.54 [[ 9.93114113e-01 1.14742704e-01 -2.36319651e-02 2.67671288e+02] [-1.14738081e-01 9.93394560e-01 1.55594551e-03 -8.09037412e+01] [ 2.36543989e-02 1.16625489e-03 9.99719515e-01 1.53650595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.422320588 meters Centerline goodness [0,1] 0.9987147753236862 Centerline is valid? [True, True] Translation: X:267.70, Y:-80.90, Z:1.54 [[ 9.93308427e-01 1.13166814e-01 -2.30573531e-02 2.67703228e+02] [-1.13162009e-01 9.93575391e-01 1.51725196e-03 -8.09049947e+01] [ 2.30809212e-02 1.10211724e-03 9.99732993e-01 1.53743013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45232058799996 meters Centerline goodness [0,1] 0.9990478004189678 Centerline is valid? [True, True] Translation: X:267.74, Y:-80.91, Z:1.54 [[ 9.93924578e-01 1.07829841e-01 -2.20603309e-02 2.67735153e+02] [-1.07823901e-01 9.94168934e-01 1.46200357e-03 -8.09053720e+01] [ 2.20893433e-02 9.25509655e-04 9.99755572e-01 1.54017445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.482320588 meters Centerline goodness [0,1] 0.9990945913747915 Centerline is valid? [True, True] Translation: X:267.77, Y:-80.90, Z:1.54 [[ 9.94204044e-01 1.05166827e-01 -2.23216780e-02 2.67766986e+02] [-1.05160099e-01 9.94454206e-01 1.47826450e-03 -8.09046558e+01] [ 2.23533510e-02 8.77653330e-04 9.99749747e-01 1.54147456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51232058799997 meters Centerline goodness [0,1] 0.9991857067586339 Centerline is valid? [True, True] Translation: X:267.80, Y:-80.90, Z:1.54 [[ 9.94586360e-01 1.01230689e-01 -2.34589236e-02 2.67798588e+02] [-1.01221900e-01 9.94862643e-01 1.56483336e-03 -8.09040446e+01] [ 2.34968159e-02 8.18194908e-04 9.99723577e-01 1.54268804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54232058799994 meters Centerline goodness [0,1] 0.9997598232298972 Centerline is valid? [True, True] Translation: X:267.83, Y:-80.90, Z:1.54 [[ 9.95222037e-01 9.47529959e-02 -2.35577138e-02 2.67830263e+02] [-9.47422443e-02 9.95500592e-01 1.57460125e-03 -8.09019577e+01] [ 2.36009162e-02 6.64832808e-04 9.99721239e-01 1.54078572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.57232058799997 meters Centerline goodness [0,1] 0.9993842072853015 Centerline is valid? [True, True] Translation: X:267.86, Y:-80.90, Z:1.54 [[ 9.95509091e-01 9.15903153e-02 -2.39345631e-02 2.67861963e+02] [-9.15783345e-02 9.95796592e-01 1.59849347e-03 -8.09036669e+01] [ 2.39803629e-02 6.00572640e-04 9.99712249e-01 1.54257735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60232058799994 meters Centerline goodness [0,1] 0.9998102556804705 Centerline is valid? [True, True] Translation: X:267.89, Y:-80.90, Z:1.54 [[ 9.96297480e-01 8.29537352e-02 -2.25833881e-02 2.67893722e+02] [-8.29406166e-02 9.96553334e-01 1.51855553e-03 -8.09039874e+01] [ 2.26315205e-02 3.60147078e-04 9.99743809e-01 1.54363097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.63232058799997 meters Centerline goodness [0,1] 0.9998540145985402 Centerline is valid? [True, True] Translation: X:267.93, Y:-80.90, Z:1.55 [[ 9.96692194e-01 7.79098375e-02 -2.31241924e-02 2.67925484e+02] [-7.78947422e-02 9.96960377e-01 1.55419613e-03 -8.09039820e+01] [ 2.31749908e-02 2.52197863e-04 9.99731392e-01 1.54544835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66232058799994 meters Centerline goodness [0,1] 0.9998570066730219 Centerline is valid? [True, True] Translation: X:267.96, Y:-80.91, Z:1.55 [[ 9.96876461e-01 7.50933518e-02 -2.44603579e-02 2.67957677e+02] [-7.50753792e-02 9.97176490e-01 1.65356109e-03 -8.09056479e+01] [ 2.45154653e-02 1.87974522e-04 9.99699433e-01 1.54692737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.99, Y:-80.91, Z:1.55 [[ 9.97566049e-01 6.53113802e-02 -2.44213327e-02 2.67990020e+02] [-6.52903142e-02 9.97864931e-01 1.65982375e-03 -8.09054852e+01] [ 2.44775968e-02 -6.13073324e-05 9.99700377e-01 1.54676071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72232058799995 meters Centerline goodness [0,1] 0.9999521782793744 Centerline is valid? [True, True] Translation: X:268.02, Y:-80.91, Z:1.55 [[ 9.97717795e-01 6.26645091e-02 -2.51467753e-02 2.68022834e+02] [-6.26411016e-02 9.98034639e-01 1.71826939e-03 -8.09078200e+01] [ 2.52050273e-02 -1.39126243e-04 9.99682293e-01 1.54760723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.05, Y:-80.91, Z:1.54 [[ 9.98224750e-01 5.53965612e-02 -2.18762184e-02 2.68054573e+02] [-5.53769235e-02 9.98464390e-01 1.50291273e-03 -8.09082520e+01] [ 2.19258812e-02 -2.88807010e-04 9.99759557e-01 1.54364158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.09, Y:-80.91, Z:1.54 [[ 9.98333723e-01 5.33667368e-02 -2.19492325e-02 2.68086507e+02] [-5.33463211e-02 9.98574922e-01 1.51502407e-03 -8.09116831e+01] [ 2.19988050e-02 -3.41588812e-04 9.99757939e-01 1.54472898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.12, Y:-80.92, Z:1.55 [[ 9.98684871e-01 4.68924215e-02 -2.07275036e-02 2.68117860e+02] [-4.68726380e-02 9.98899837e-01 1.43952074e-03 -8.09174126e+01] [ 2.07722026e-02 -4.66074809e-04 9.99784126e-01 1.54712129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.15, Y:-80.92, Z:1.55 [[ 9.98807719e-01 4.44194197e-02 -2.02498195e-02 2.68149205e+02] [-4.44000003e-02 9.99012842e-01 1.40779531e-03 -8.09210213e+01] [ 2.02923632e-02 -5.07024834e-04 9.99793960e-01 1.54777324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.18, Y:-80.92, Z:1.55 [[ 9.98935129e-01 4.16182217e-02 -1.99131056e-02 2.68180983e+02] [-4.15987069e-02 9.99133428e-01 1.39339491e-03 -8.09247114e+01] [ 1.99538401e-02 -5.63551686e-04 9.99800743e-01 1.54883741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.21, Y:-80.93, Z:1.55 [[ 9.99147385e-01 3.67430767e-02 -1.88267999e-02 2.68211384e+02] [-3.67247174e-02 9.99324548e-01 1.32009427e-03 -8.09310893e+01] [ 1.88625876e-02 -6.27559829e-04 9.99821889e-01 1.54960119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.932320588 meters Centerline goodness [0,1] 0.9999524262607041 Centerline is valid? [True, True] Translation: X:268.24, Y:-80.94, Z:1.55 [[ 9.99221479e-01 3.49662853e-02 -1.82700385e-02 2.68243235e+02] [-3.49487105e-02 9.99388287e-01 1.28044771e-03 -8.09365677e+01] [ 1.83036350e-02 -6.40936570e-04 9.99832269e-01 1.55062489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96232058799995 meters Centerline goodness [0,1] 0.9999059177721329 Centerline is valid? [True, True] Translation: X:268.27, Y:-80.94, Z:1.55 [[ 9.99250162e-01 3.37163322e-02 -1.90347826e-02 2.68274864e+02] [-3.36969898e-02 9.99431202e-01 1.33607099e-03 -8.09448163e+01] [ 1.90690030e-02 -6.93654281e-04 9.99817929e-01 1.55229940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.992320588 meters Centerline goodness [0,1] 0.9999051008303678 Centerline is valid? [True, True] Translation: X:268.31, Y:-80.95, Z:1.55 [[ 9.99259139e-01 3.30511134e-02 -1.97179194e-02 2.68306875e+02] [-3.30301878e-02 9.99453393e-01 1.38607086e-03 -8.09488381e+01] [ 1.97529526e-02 -7.33757399e-04 9.99804622e-01 1.55367801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02232058799996 meters Centerline goodness [0,1] 0.9999060017859661 Centerline is valid? [True, True] Translation: X:268.34, Y:-80.96, Z:1.55 [[ 9.99313375e-01 3.14346235e-02 -1.96122940e-02 2.68338494e+02] [-3.14135730e-02 9.99505518e-01 1.38056358e-03 -8.09560345e+01] [ 1.96459936e-02 -7.63523424e-04 9.99806707e-01 1.55460840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.052320588 meters Centerline goodness [0,1] 0.9999525998957197 Centerline is valid? [True, True] Translation: X:268.37, Y:-80.96, Z:1.56 [[ 9.99331813e-01 3.12093527e-02 -1.90237864e-02 2.68369880e+02] [-3.11894724e-02 9.99512591e-01 1.34089805e-03 -8.09619147e+01] [ 1.90563626e-02 -7.46660221e-04 9.99818132e-01 1.55562633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08232058799996 meters Centerline goodness [0,1] 0.9999052671466464 Centerline is valid? [True, True] Translation: X:268.40, Y:-80.97, Z:1.56 [[ 9.99224733e-01 3.46327533e-02 -1.87218040e-02 2.68401323e+02] [-3.46140596e-02 9.99399880e-01 1.32172225e-03 -8.09667092e+01] [ 1.87563435e-02 -6.72659922e-04 9.99823858e-01 1.55696289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.43, Y:-80.98, Z:1.56 [[ 9.98854063e-01 4.37134850e-02 -1.94856761e-02 2.68431378e+02] [-4.36949196e-02 9.99043971e-01 1.37771456e-03 -8.09777296e+01] [ 1.95272719e-02 -5.24710738e-04 9.99809187e-01 1.55923032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.46, Y:-80.98, Z:1.56 [[ 9.98610162e-01 4.87387943e-02 -2.00567903e-02 2.68462952e+02] [-4.87202006e-02 9.98811464e-01 1.41493750e-03 -8.09833005e+01] [ 2.01019144e-02 -4.35800115e-04 9.99797841e-01 1.56074234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.49, Y:-80.99, Z:1.56 [[ 9.98091250e-01 5.65736536e-02 -2.47644405e-02 2.68493682e+02] [-5.65473789e-02 9.98398365e-01 1.76054990e-03 -8.09909054e+01] [ 2.48243777e-02 -3.56825245e-04 9.99691764e-01 1.56308036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.53, Y:-80.99, Z:1.56 [[ 9.97850767e-01 5.93892208e-02 -2.76905574e-02 2.68525165e+02] [-5.93574459e-02 9.98234851e-01 1.96879581e-03 -8.09936546e+01] [ 2.77586046e-02 -3.20923653e-04 9.99614604e-01 1.56439867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.56, Y:-81.00, Z:1.57 [[ 9.97640517e-01 6.36030244e-02 -2.58467246e-02 2.68557183e+02] [-6.35765357e-02 9.97975258e-01 1.84613901e-03 -8.09976903e+01] [ 2.59118117e-02 -1.98537863e-04 9.99664213e-01 1.56549710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.59, Y:-81.00, Z:1.57 [[ 9.97477378e-01 6.62467392e-02 -2.55000169e-02 2.68589434e+02] [-6.62215995e-02 9.97803263e-01 1.83000415e-03 -8.10014736e+01] [ 2.55652319e-02 -1.36735833e-04 9.99673147e-01 1.56768663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.62, Y:-81.01, Z:1.57 [[ 9.97263664e-01 6.91329228e-02 -2.61882441e-02 2.68621036e+02] [-6.91071015e-02 9.97607454e-01 1.89084380e-03 -8.10054500e+01] [ 2.62563071e-02 -7.58761782e-05 9.99655241e-01 1.56992353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.65, Y:-81.01, Z:1.57 [[ 9.97235157e-01 6.95431728e-02 -2.61875796e-02 2.68653126e+02] [-6.95172526e-02 9.97578940e-01 1.89999688e-03 -8.10074142e+01] [ 2.62563097e-02 -7.42550970e-05 9.99655241e-01 1.57097236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.69, Y:-81.01, Z:1.57 [[ 9.96923018e-01 7.37011994e-02 -2.66951107e-02 2.68685464e+02] [-7.36754521e-02 9.97280368e-01 1.94811525e-03 -8.10133660e+01] [ 2.67660883e-02 2.46534185e-05 9.99641724e-01 1.57244134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.72, Y:-81.02, Z:1.57 [[ 9.96797114e-01 7.55410247e-02 -2.62500969e-02 2.68717694e+02] [-7.55164866e-02 9.97142693e-01 1.92627313e-03 -8.10169500e+01] [ 2.63206049e-02 6.22115915e-05 9.99653551e-01 1.57248616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.75, Y:-81.02, Z:1.57 [[ 9.96793388e-01 7.58569165e-02 -2.54689946e-02 2.68749848e+02] [-7.58336611e-02 9.97118711e-01 1.87910247e-03 -8.10197923e+01] [ 2.55381540e-02 5.83301873e-05 9.99673846e-01 1.57374260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.442320588 meters Centerline goodness [0,1] 0.9999525166191833 Centerline is valid? [True, True] Translation: X:268.78, Y:-81.02, Z:1.57 [[ 9.96789104e-01 7.59390391e-02 -2.53918213e-02 2.68782861e+02] [-7.59156842e-02 9.97112461e-01 1.88389076e-03 -8.10212516e+01] [ 2.54615623e-02 4.97957010e-05 9.99675801e-01 1.57378470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47232058799995 meters Centerline goodness [0,1] 0.9998116051243406 Centerline is valid? [True, True] Translation: X:268.82, Y:-81.02, Z:1.58 [[ 9.96763497e-01 7.61536822e-02 -2.57516538e-02 2.68815437e+02] [-7.61294497e-02 9.97096091e-01 1.92152036e-03 -8.10232879e+01] [ 2.58232042e-02 4.51578755e-05 9.99666524e-01 1.57520114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.85, Y:-81.03, Z:1.58 [[ 9.96787257e-01 7.60917986e-02 -2.50040655e-02 2.68847754e+02] [-7.60686829e-02 9.97100816e-01 1.87572466e-03 -8.10252946e+01] [ 2.50743014e-02 3.23278949e-05 9.99685590e-01 1.57598943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53232058799995 meters Centerline goodness [0,1] 0.9998112228042852 Centerline is valid? [True, True] Translation: X:268.88, Y:-81.03, Z:1.58 [[ 9.96580157e-01 7.85485954e-02 -2.56536193e-02 2.68880215e+02] [-7.85247939e-02 9.96910282e-01 1.93543485e-03 -8.10296918e+01] [ 2.57263825e-02 8.56292040e-05 9.99669018e-01 1.57858092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.562320588 meters Centerline goodness [0,1] 0.9999050963272279 Centerline is valid? [True, True] Translation: X:268.91, Y:-81.03, Z:1.58 [[ 9.96478415e-01 7.96863851e-02 -2.60930656e-02 2.68912905e+02] [-7.96618603e-02 9.96819978e-01 1.97969815e-03 -8.10323544e+01] [ 2.61678441e-02 1.05895667e-04 9.99657558e-01 1.58008713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59232058799995 meters Centerline goodness [0,1] 0.9998586838758302 Centerline is valid? [True, True] Translation: X:268.95, Y:-81.03, Z:1.58 [[ 9.96406026e-01 7.99887772e-02 -2.78716086e-02 2.68945628e+02] [-7.99605643e-02 9.96795758e-01 2.12709928e-03 -8.10341463e+01] [ 2.79524453e-02 1.09175011e-04 9.99609248e-01 1.58178222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.622320588 meters Centerline goodness [0,1] 0.9999529278855206 Centerline is valid? [True, True] Translation: X:268.98, Y:-81.04, Z:1.58 [[ 9.96373926e-01 8.02305257e-02 -2.83206912e-02 2.68978599e+02] [-8.02011540e-02 9.96776330e-01 2.17332937e-03 -8.10353531e+01] [ 2.84037619e-02 1.05903396e-04 9.99596526e-01 1.58225641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.01, Y:-81.04, Z:1.58 [[ 9.96423972e-01 7.95396579e-02 -2.85080926e-02 2.69011302e+02] [-7.95092725e-02 9.96831700e-01 2.19963129e-03 -8.10364611e+01] [ 2.85927283e-02 7.48923547e-05 9.99591142e-01 1.58319778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.682320588 meters Centerline goodness [0,1] 0.9999526828806662 Centerline is valid? [True, True] Translation: X:269.04, Y:-81.04, Z:1.58 [[ 9.96535771e-01 7.82329297e-02 -2.82146383e-02 2.69044224e+02] [-7.82023140e-02 9.96935107e-01 2.18861016e-03 -8.10375392e+01] [ 2.82993849e-02 2.54216983e-05 9.99599492e-01 1.58386387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.08, Y:-81.04, Z:1.59 [[ 9.96654043e-01 7.69984524e-02 -2.74218319e-02 2.69076924e+02] [-7.69687633e-02 9.97031212e-01 2.13811948e-03 -8.10391093e+01] [ 2.75050542e-02 -2.03409341e-05 9.99621664e-01 1.58561735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.11, Y:-81.04, Z:1.59 [[ 9.96710079e-01 7.60347321e-02 -2.80666781e-02 2.69109025e+02] [-7.60029100e-02 9.97105168e-01 2.20040099e-03 -8.10408366e+01] [ 2.81527367e-02 -6.00126348e-05 9.99603631e-01 1.58742792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77232058799996 meters Centerline goodness [0,1] 0.9998586372632174 Centerline is valid? [True, True] Translation: X:269.14, Y:-81.04, Z:1.59 [[ 9.96853558e-01 7.41518670e-02 -2.80086346e-02 2.69141925e+02] [-7.41191067e-02 9.97246953e-01 2.20746941e-03 -8.10408456e+01] [ 2.80952135e-02 -1.24548755e-04 9.99605244e-01 1.58832516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.17, Y:-81.04, Z:1.59 [[ 9.96975666e-01 7.28934679e-02 -2.69455743e-02 2.69174641e+02] [-7.28624005e-02 9.97339719e-01 2.13432223e-03 -8.10413666e+01] [ 2.70294697e-02 -1.64548094e-04 9.99634624e-01 1.58815160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83232058799996 meters Centerline goodness [0,1] 0.9998589430129773 Centerline is valid? [True, True] Translation: X:269.21, Y:-81.04, Z:1.59 [[ 9.97154377e-01 7.09249393e-02 -2.55499718e-02 2.69206571e+02] [-7.08961002e-02 9.97481632e-01 2.03395921e-03 -8.10412377e+01] [ 2.56298860e-02 -2.16777968e-04 9.99671477e-01 1.58739974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.862320588 meters Centerline goodness [0,1] 0.9999525706697021 Centerline is valid? [True, True] Translation: X:269.24, Y:-81.04, Z:1.59 [[ 9.97226394e-01 7.04066942e-02 -2.41333188e-02 2.69238211e+02] [-7.03806181e-02 9.97518344e-01 1.92924404e-03 -8.10427726e+01] [ 2.42092599e-02 -2.25375188e-04 9.99706888e-01 1.58829319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89232058799996 meters Centerline goodness [0,1] 0.9999527142046529 Centerline is valid? [True, True] Translation: X:269.27, Y:-81.05, Z:1.59 [[ 9.97185875e-01 7.07980689e-02 -2.46569188e-02 2.69270962e+02] [-7.07707535e-02 9.97490642e-01 1.97978592e-03 -8.10453212e+01] [ 2.47352108e-02 -2.29225834e-04 9.99694012e-01 1.59027801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.30, Y:-81.05, Z:1.59 [[ 9.97269766e-01 6.99660098e-02 -2.36171903e-02 2.69302363e+02] [-6.99404895e-02 9.97549345e-01 1.90588483e-03 -8.10475160e+01] [ 2.36926598e-02 -2.48883469e-04 9.99719259e-01 1.59192025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.33, Y:-81.05, Z:1.59 [[ 9.97318289e-01 6.97118088e-02 -2.22821270e-02 2.69334258e+02] [-6.96888657e-02 9.97567142e-01 1.80545987e-03 -8.10500320e+01] [ 2.23537796e-02 -2.47801999e-04 9.99750092e-01 1.59257901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.982320588 meters Centerline goodness [0,1] 0.9999530251785044 Centerline is valid? [True, True] Translation: X:269.37, Y:-81.05, Z:1.59 [[ 9.97535535e-01 6.74110899e-02 -1.94576742e-02 2.69366071e+02] [-6.73930504e-02 9.97725250e-01 1.58209823e-03 -8.10525132e+01] [ 1.95200639e-02 -2.66887188e-04 9.99809430e-01 1.59420423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.40, Y:-81.05, Z:1.60 [[ 9.97613012e-01 6.64354971e-02 -1.88309034e-02 2.69398235e+02] [-6.64183075e-02 9.97790682e-01 1.53748285e-03 -8.10535904e+01] [ 1.88914433e-02 -2.83096169e-04 9.99821501e-01 1.59544535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.43, Y:-81.06, Z:1.60 [[ 9.97541812e-01 6.73343354e-02 -1.94015871e-02 2.69430371e+02] [-6.73161163e-02 9.97730429e-01 1.59135004e-03 -8.10558882e+01] [ 1.94647063e-02 -2.81398709e-04 9.99810505e-01 1.59586834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.07232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.46, Y:-81.06, Z:1.60 [[ 9.97511455e-01 6.67420249e-02 -2.27244056e-02 2.69461979e+02] [-6.67166481e-02 9.97770203e-01 1.87388833e-03 -8.10561146e+01] [ 2.27988019e-02 -3.53128903e-04 9.99740011e-01 1.59683976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.49, Y:-81.06, Z:1.60 [[ 9.97464774e-01 6.74003367e-02 -2.28302234e-02 2.69494010e+02] [-6.73746724e-02 9.97725951e-01 1.89234339e-03 -8.10595588e+01] [ 2.29058509e-02 -3.49367054e-04 9.99737566e-01 1.59784216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.13232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.53, Y:-81.06, Z:1.60 [[ 9.97214731e-01 7.02321184e-02 -2.51043896e-02 2.69525888e+02] [-7.02018786e-02 9.97530626e-01 2.08495654e-03 -8.10641854e+01] [ 2.51888283e-02 -3.16774064e-04 9.99682661e-01 1.60146381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.56, Y:-81.07, Z:1.60 [[ 9.97056621e-01 7.21830052e-02 -2.58400648e-02 2.69557135e+02] [-7.21513706e-02 9.97391364e-01 2.15573410e-03 -8.10678399e+01] [ 2.59282648e-02 -2.84992862e-04 9.99663765e-01 1.60405861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.59, Y:-81.07, Z:1.61 [[ 9.96997922e-01 7.27797788e-02 -2.64243633e-02 2.69589743e+02] [-7.27466569e-02 9.97347995e-01 2.21389068e-03 -8.10701989e+01] [ 2.65154122e-02 -2.84960316e-04 9.99648364e-01 1.60642729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22232058799995 meters Centerline goodness [0,1] 0.9999531000844198 Centerline is valid? [True, True] Translation: X:269.62, Y:-81.07, Z:1.60 [[ 9.96895294e-01 7.46690972e-02 -2.49859733e-02 2.69622514e+02] [-7.46398388e-02 9.97208340e-01 2.10287325e-03 -8.10703492e+01] [ 2.50732406e-02 -2.31395426e-04 9.99685590e-01 1.60388286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.65, Y:-81.07, Z:1.60 [[ 9.96728379e-01 7.63111967e-02 -2.66296595e-02 2.69654294e+02] [-7.62782246e-02 9.97084026e-01 2.25327912e-03 -8.10704236e+01] [ 2.67239585e-02 -2.14644099e-04 9.99642828e-01 1.60455718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.69, Y:-81.07, Z:1.61 [[ 9.96695298e-01 7.71348350e-02 -2.54695954e-02 2.69686701e+02] [-7.71047302e-02 9.97020652e-01 2.16342185e-03 -8.10730458e+01] [ 2.55605878e-02 -1.92446101e-04 9.99673256e-01 1.60577588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.72, Y:-81.08, Z:1.61 [[ 9.96588430e-01 7.80616905e-02 -2.67931759e-02 2.69719409e+02] [-7.80283950e-02 9.96948513e-01 2.28754463e-03 -8.10752203e+01] [ 2.68899865e-02 -1.89112001e-04 9.99638381e-01 1.60756153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.75, Y:-81.08, Z:1.61 [[ 9.96507755e-01 7.88162760e-02 -2.75733443e-02 2.69752241e+02] [-7.87809774e-02 9.96889141e-01 2.36586370e-03 -8.10760193e+01] [ 2.76740361e-02 -1.85346503e-04 9.99616983e-01 1.60957494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.79, Y:-81.08, Z:1.61 [[ 9.96541381e-01 7.87442082e-02 -2.65447933e-02 2.69785034e+02] [-7.87111894e-02 9.96894836e-01 2.28809610e-03 -8.10773377e+01] [ 2.66425417e-02 -1.90810190e-04 9.99645006e-01 1.61053012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.82, Y:-81.08, Z:1.61 [[ 9.96741605e-01 7.73326449e-02 -2.29310803e-02 2.69817348e+02] [-7.73074451e-02 9.97005326e-01 1.98472855e-03 -8.10784010e+01] [ 2.30158935e-02 -2.05518297e-04 9.99735078e-01 1.61196455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.432320588 meters Centerline goodness [0,1] 0.9998572584098587 Centerline is valid? [True, True] Translation: X:269.85, Y:-81.08, Z:1.61 [[ 9.96730599e-01 7.77085679e-02 -2.21244399e-02 2.69849994e+02] [-7.76850466e-02 9.96976098e-01 1.92193406e-03 -8.10801691e+01] [ 2.22068886e-02 -1.96912337e-04 9.99753377e-01 1.61343436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.88, Y:-81.08, Z:1.61 [[ 9.96719298e-01 7.76303249e-02 -2.28948294e-02 2.69882605e+02] [-7.76048871e-02 9.96982190e-01 1.99882034e-03 -8.10794413e+01] [ 2.29809062e-02 -2.15512153e-04 9.99735881e-01 1.61432692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.492320588 meters Centerline goodness [0,1] 0.9999528546508887 Centerline is valid? [True, True] Translation: X:269.91, Y:-81.08, Z:1.61 [[ 9.96623802e-01 7.87562678e-02 -2.32044859e-02 2.69914997e+02] [-7.87302159e-02 9.96893881e-01 2.03557049e-03 -8.10812688e+01] [ 2.32927239e-02 -2.01803815e-04 9.99728667e-01 1.61459304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.95, Y:-81.08, Z:1.62 [[ 9.96688852e-01 7.77766240e-02 -2.37092771e-02 2.69947394e+02] [-7.77489101e-02 9.96970782e-01 2.08988692e-03 -8.10823129e+01] [ 2.38000009e-02 -2.39596541e-04 9.99716711e-01 1.61599970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.98, Y:-81.08, Z:1.62 [[ 9.96663386e-01 7.78811245e-02 -2.44258974e-02 2.69979766e+02] [-7.78514855e-02 9.96962620e-01 2.16347520e-03 -8.10836198e+01] [ 2.45202006e-02 -2.54664125e-04 9.99699302e-01 1.61694788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58232058799996 meters Centerline goodness [0,1] 0.9999527477200775 Centerline is valid? [True, True] Translation: X:270.01, Y:-81.08, Z:1.62 [[ 9.96708557e-01 7.71445917e-02 -2.49151387e-02 2.70012793e+02] [-7.71132614e-02 9.97019874e-01 2.21726897e-03 -8.10840695e+01] [ 2.50119387e-02 -2.88683349e-04 9.99687111e-01 1.61746046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.05, Y:-81.08, Z:1.62 [[ 9.96724753e-01 7.68306086e-02 -2.52353782e-02 2.70045432e+02] [-7.67981006e-02 9.97044112e-01 2.25627929e-03 -8.10828059e+01] [ 2.53341366e-02 -3.10860303e-04 9.99678991e-01 1.61695899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64232058799996 meters Centerline goodness [0,1] 0.9999057315233786 Centerline is valid? [True, True] Translation: X:270.08, Y:-81.08, Z:1.62 [[ 9.96659941e-01 7.78939654e-02 -2.45253520e-02 2.70078096e+02] [-7.78633457e-02 9.96961608e-01 2.20243828e-03 -8.10844644e+01] [ 2.46223910e-02 -2.85456043e-04 9.99696782e-01 1.61739129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.672320588 meters Centerline goodness [0,1] 0.9999527387872773 Centerline is valid? [True, True] Translation: X:270.11, Y:-81.09, Z:1.62 [[ 9.96672791e-01 7.77204575e-02 -2.45535753e-02 2.70110302e+02] [-7.76894671e-02 9.96975145e-01 2.21500879e-03 -8.10865418e+01] [ 2.46514558e-02 -3.00084813e-04 9.99696062e-01 1.62026133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70232058799996 meters Centerline goodness [0,1] 0.999760444614795 Centerline is valid? [True, True] Translation: X:270.14, Y:-81.09, Z:1.62 [[ 9.96725369e-01 7.71264189e-02 -2.42910394e-02 2.70142512e+02] [-7.70956734e-02 9.97021270e-01 2.20108300e-03 -8.10877734e+01] [ 2.43884446e-02 -3.21141232e-04 9.99702506e-01 1.62140892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.732320588 meters Centerline goodness [0,1] 0.9998116849489196 Centerline is valid? [True, True] Translation: X:270.17, Y:-81.09, Z:1.62 [[ 9.96904238e-01 7.44134842e-02 -2.53884437e-02 2.70174504e+02] [-7.43787256e-02 9.97227386e-01 2.31197968e-03 -8.10887366e+01] [ 2.54900938e-02 -4.16462255e-04 9.99674988e-01 1.62212106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76232058799997 meters Centerline goodness [0,1] 0.9997636827677474 Centerline is valid? [True, True] Translation: X:270.21, Y:-81.09, Z:1.62 [[ 9.97123811e-01 7.15671692e-02 -2.49448582e-02 2.70205858e+02] [-7.15325036e-02 9.97435662e-01 2.28039785e-03 -8.10902814e+01] [ 2.50440928e-02 -4.89470838e-04 9.99686228e-01 1.62434293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79232058799994 meters Centerline goodness [0,1] 0.9999526895964422 Centerline is valid? [True, True] Translation: X:270.24, Y:-81.09, Z:1.62 [[ 9.97353669e-01 6.90738831e-02 -2.26816408e-02 2.70237708e+02] [-6.90444367e-02 9.97611418e-01 2.07975128e-03 -8.10919225e+01] [ 2.27711203e-02 -5.08206460e-04 9.99740575e-01 1.62411560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82232058799997 meters Centerline goodness [0,1] 0.9999060106207999 Centerline is valid? [True, True] Translation: X:270.27, Y:-81.09, Z:1.62 [[ 9.97744538e-01 6.38424763e-02 -2.07358595e-02 2.70269347e+02] [-6.38165988e-02 9.97959820e-01 1.90796572e-03 -8.10927481e+01] [ 2.08153638e-02 -5.80370347e-04 9.99783168e-01 1.62484458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85232058799994 meters Centerline goodness [0,1] 0.9999529278855206 Centerline is valid? [True, True] Translation: X:270.30, Y:-81.09, Z:1.63 [[ 9.97896965e-01 6.12139955e-02 -2.13188619e-02 2.70301181e+02] [-6.11858936e-02 9.98124447e-01 1.96857772e-03 -8.10944064e+01] [ 2.13993818e-02 -6.60024118e-04 9.99770789e-01 1.62590235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88232058799997 meters Centerline goodness [0,1] 0.9999056069473287 Centerline is valid? [True, True] Translation: X:270.33, Y:-81.10, Z:1.63 [[ 9.98211353e-01 5.62639014e-02 -2.02106184e-02 2.70332168e+02] [-5.62374278e-02 9.98415661e-01 1.87631269e-03 -8.10979433e+01] [ 2.02841666e-02 -7.36363437e-04 9.99793984e-01 1.62657126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91232058799994 meters Centerline goodness [0,1] 0.9997645064054258 Centerline is valid? [True, True] Translation: X:270.36, Y:-81.10, Z:1.63 [[ 9.98367230e-01 5.34756310e-02 -2.00805997e-02 2.70364453e+02] [-5.34489260e-02 9.98568844e-01 1.86462384e-03 -8.11012354e+01] [ 2.01515732e-02 -7.88292851e-04 9.99796626e-01 1.62717752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.942320588 meters Centerline goodness [0,1] 0.9990558020961193 Centerline is valid? [True, True] Translation: X:270.40, Y:-81.10, Z:1.63 [[ 9.98459773e-01 5.14902292e-02 -2.06600613e-02 2.70396377e+02] [-5.14615501e-02 9.98673135e-01 1.91775992e-03 -8.11046291e+01] [ 2.07313941e-02 -8.51607355e-04 9.99784719e-01 1.62846923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97232058799995 meters Centerline goodness [0,1] 0.9996238834038552 Centerline is valid? [True, True] Translation: X:270.43, Y:-81.11, Z:1.63 [[ 9.98403070e-01 5.19427505e-02 -2.22094866e-02 2.70428617e+02] [-5.19094828e-02 9.98649644e-01 2.07219197e-03 -8.11100229e+01] [ 2.22871312e-02 -9.15999862e-04 9.99751191e-01 1.62904137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.002320588 meters Centerline goodness [0,1] 0.9997640062302355 Centerline is valid? [True, True] Translation: X:270.46, Y:-81.12, Z:1.63 [[ 9.98237224e-01 5.55557525e-02 -2.08806977e-02 2.70460109e+02] [-5.55270821e-02 9.98455276e-01 1.95079241e-03 -8.11153994e+01] [ 2.09568205e-02 -7.87909383e-04 9.99780071e-01 1.62978537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03232058799995 meters Centerline goodness [0,1] 0.9999527767283718 Centerline is valid? [True, True] Translation: X:270.49, Y:-81.13, Z:1.63 [[ 9.97812030e-01 6.19178304e-02 -2.31804718e-02 2.70489925e+02] [-6.18841326e-02 9.98080984e-01 2.16893977e-03 -8.11255757e+01] [ 2.32702841e-02 -7.29690801e-04 9.99728944e-01 1.63375843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.52, Y:-81.13, Z:1.64 [[ 9.97586701e-01 6.52307432e-02 -2.37849584e-02 2.70522146e+02] [-6.51962104e-02 9.97869983e-01 2.22527957e-03 -8.11313909e+01] [ 2.38794527e-02 -6.69220158e-04 9.99714621e-01 1.63537025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09232058799995 meters Centerline goodness [0,1] 0.9999528279635832 Centerline is valid? [True, True] Translation: X:270.55, Y:-81.14, Z:1.64 [[ 9.97227828e-01 7.00557324e-02 -2.50769560e-02 2.70553459e+02] [-7.00187760e-02 9.97542906e-01 2.34984584e-03 -8.11368624e+01] [ 2.51799597e-02 -5.87473905e-04 9.99682762e-01 1.63504039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.122320588 meters Centerline goodness [0,1] 0.999953056051075 Centerline is valid? [True, True] Translation: X:270.59, Y:-81.14, Z:1.64 [[ 9.97007009e-01 7.33612985e-02 -2.43955583e-02 2.70585281e+02] [-7.33273207e-02 9.97305309e-01 2.28565354e-03 -8.11423542e+01] [ 2.44974983e-02 -4.89951670e-04 9.99699771e-01 1.63577361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.62, Y:-81.15, Z:1.64 [[ 9.96657769e-01 7.74573190e-02 -2.59548569e-02 2.70616238e+02] [-7.74199896e-02 9.96995579e-01 2.44156193e-03 -8.11494525e+01] [ 2.60659945e-02 -4.23976914e-04 9.99660134e-01 1.64000197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.182320588 meters Centerline goodness [0,1] 0.9999056648271308 Centerline is valid? [True, True] Translation: X:270.65, Y:-81.15, Z:1.64 [[ 9.96530348e-01 7.87633460e-02 -2.68998194e-02 2.70647461e+02] [-7.87234552e-02 9.96893256e-01 2.54039924e-03 -8.11525252e+01] [ 2.70163389e-02 -4.13938212e-04 9.99634906e-01 1.64147414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21232058799995 meters Centerline goodness [0,1] 0.9999056648271308 Centerline is valid? [True, True] Translation: X:270.68, Y:-81.16, Z:1.64 [[ 9.96498523e-01 7.91652653e-02 -2.68989497e-02 2.70679510e+02] [-7.91252733e-02 9.96861420e-01 2.54957155e-03 -8.11552108e+01] [ 2.70163627e-02 -4.12257542e-04 9.99634906e-01 1.64252305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.242320588 meters Centerline goodness [0,1] 0.9999529942653004 Centerline is valid? [True, True] Translation: X:270.71, Y:-81.16, Z:1.64 [[ 9.96347890e-01 8.04839938e-02 -2.85168303e-02 2.70711938e+02] [-8.04392008e-02 9.96755816e-01 2.71632520e-03 -8.11577968e+01] [ 2.86429372e-02 -4.12533837e-04 9.99589622e-01 1.64474970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27232058799996 meters Centerline goodness [0,1] 0.99995290349927 Centerline is valid? [True, True] Translation: X:270.74, Y:-81.16, Z:1.64 [[ 9.96046797e-01 8.44013027e-02 -2.76983533e-02 2.70743974e+02] [-8.43604920e-02 9.96431801e-01 2.64074573e-03 -8.11614429e+01] [ 2.78224024e-02 -2.93659617e-04 9.99612839e-01 1.64280576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.302320588 meters Centerline goodness [0,1] 0.9999529854254819 Centerline is valid? [True, True] Translation: X:270.78, Y:-81.17, Z:1.64 [[ 9.95863884e-01 8.63097160e-02 -2.83858651e-02 2.70775376e+02] [-8.62673306e-02 9.96268321e-01 2.71673685e-03 -8.11662081e+01] [ 2.85144190e-02 -2.56727300e-04 9.99593348e-01 1.64412499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.81, Y:-81.17, Z:1.65 [[ 9.95615616e-01 8.90820669e-02 -2.85294763e-02 2.70806384e+02] [-8.90400944e-02 9.96024272e-01 2.74075691e-03 -8.11716097e+01] [ 2.86602031e-02 -1.88473119e-04 9.99589194e-01 1.64539222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.362320588 meters Centerline goodness [0,1] 0.9999058380414313 Centerline is valid? [True, True] Translation: X:270.84, Y:-81.17, Z:1.65 [[ 9.95436965e-01 9.09185188e-02 -2.89667328e-02 2.70838508e+02] [-9.08757232e-02 9.95858324e-01 2.79318964e-03 -8.11748865e+01] [ 2.91007147e-02 -1.48071418e-04 9.99576474e-01 1.64657777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39232058799996 meters Centerline goodness [0,1] 0.9999523764168016 Centerline is valid? [True, True] Translation: X:270.87, Y:-81.18, Z:1.65 [[ 9.95157828e-01 9.41513305e-02 -2.82209766e-02 2.70870605e+02] [-9.41116901e-02 9.95557895e-01 2.73255396e-03 -8.11780599e+01] [ 2.83528896e-02 -6.33986597e-05 9.99597974e-01 1.64831678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.90, Y:-81.18, Z:1.65 [[ 9.94899076e-01 9.68837588e-02 -2.80956383e-02 2.70903054e+02] [-9.68452313e-02 9.95295703e-01 2.73201406e-03 -8.11817008e+01] [ 2.82281558e-02 2.85032441e-06 9.99601506e-01 1.64924235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.94, Y:-81.19, Z:1.65 [[ 9.94615663e-01 9.93680008e-02 -2.94225020e-02 2.70935362e+02] [-9.93264518e-02 9.95050751e-01 2.87395866e-03 -8.11856172e+01] [ 2.95624622e-02 6.39484328e-05 9.99562933e-01 1.65197463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.97, Y:-81.19, Z:1.65 [[ 9.94370781e-01 1.01929511e-01 -2.89331028e-02 2.70967665e+02] [-1.01890072e-01 9.94791616e-01 2.83799106e-03 -8.11889734e+01] [ 2.90716831e-02 1.25980538e-04 9.99577321e-01 1.65092129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.00, Y:-81.19, Z:1.65 [[ 9.94385799e-01 1.01912696e-01 -2.84725470e-02 2.70999980e+02] [-1.01874163e-01 9.94793340e-01 2.80445349e-03 -8.11907353e+01] [ 2.86101096e-02 1.11908179e-04 9.99590641e-01 1.65134721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54232058799994 meters Centerline goodness [0,1] 0.999905953164676 Centerline is valid? [True, True] Translation: X:271.03, Y:-81.19, Z:1.65 [[ 9.94208917e-01 1.03767402e-01 -2.79455876e-02 2.71032533e+02] [-1.03730695e-01 9.94601580e-01 2.76394618e-03 -8.11916550e+01] [ 2.80815331e-02 1.50875279e-04 9.99605625e-01 1.65060112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.57232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.06, Y:-81.19, Z:1.65 [[ 9.93989005e-01 1.05995983e-01 -2.73990653e-02 2.71064613e+02] [-1.05961237e-01 9.94366538e-01 2.72103689e-03 -8.11948067e+01] [ 2.75331327e-02 1.98558114e-04 9.99620872e-01 1.65204998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.10, Y:-81.20, Z:1.66 [[ 9.93577834e-01 1.09607904e-01 -2.80926153e-02 2.71095433e+02] [-1.09572472e-01 9.93974859e-01 2.80221877e-03 -8.12006135e+01] [ 2.82304987e-02 2.93954844e-04 9.99601397e-01 1.65764671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.63232058799997 meters Centerline goodness [0,1] 0.9999528702045433 Centerline is valid? [True, True] Translation: X:271.13, Y:-81.20, Z:1.66 [[ 9.93245824e-01 1.12210959e-01 -2.95200558e-02 2.71127270e+02] [-1.12172648e-01 9.93684336e-01 2.95591412e-03 -8.12035827e+01] [ 2.96653030e-02 3.75393464e-04 9.99559818e-01 1.65944869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.16, Y:-81.20, Z:1.66 [[ 9.93091504e-01 1.13637534e-01 -2.92536424e-02 2.71160212e+02] [-1.13600224e-01 9.93522193e-01 2.93964928e-03 -8.12048616e+01] [ 2.93981974e-02 4.03879584e-04 9.99567698e-01 1.65934185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.19, Y:-81.21, Z:1.66 [[ 9.92537031e-01 1.17994072e-01 -3.07837719e-02 2.71192158e+02] [-1.17954429e-01 9.93014149e-01 3.10699054e-03 -8.12058111e+01] [ 3.09353275e-02 5.47279065e-04 9.99521238e-01 1.65807661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.22, Y:-81.21, Z:1.66 [[ 9.92215708e-01 1.20574378e-01 -3.11417577e-02 2.71223379e+02] [-1.20534717e-01 9.92704100e-01 3.15457666e-03 -8.12095031e+01] [ 3.12949116e-02 6.23642445e-04 9.99510000e-01 1.66041478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.752320588 meters Centerline goodness [0,1] 0.9999523605354675 Centerline is valid? [True, True] Translation: X:271.26, Y:-81.21, Z:1.66 [[ 9.91809087e-01 1.23775748e-01 -3.15325125e-02 2.71255383e+02] [-1.23736335e-01 9.92309953e-01 3.20576331e-03 -8.12122166e+01] [ 3.16868218e-02 7.22212347e-04 9.99497586e-01 1.66439529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78232058799995 meters Centerline goodness [0,1] 0.9999524647050435 Centerline is valid? [True, True] Translation: X:271.29, Y:-81.21, Z:1.67 [[ 9.91725318e-01 1.24395046e-01 -3.17295741e-02 2.71288518e+02] [-1.24355085e-01 9.92232499e-01 3.23739517e-03 -8.12128418e+01] [ 3.18858305e-02 7.35127136e-04 9.99491247e-01 1.66514541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.32, Y:-81.21, Z:1.66 [[ 9.91611269e-01 1.25276506e-01 -3.18258965e-02 2.71321676e+02] [-1.25236330e-01 9.92121581e-01 3.26053338e-03 -8.12120530e+01] [ 3.19836269e-02 7.52576819e-04 9.99488110e-01 1.66460106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.35, Y:-81.22, Z:1.67 [[ 9.91530175e-01 1.26049796e-01 -3.12947575e-02 2.71353860e+02] [-1.26010930e-01 9.92023631e-01 3.21894516e-03 -8.12153220e+01] [ 3.14508864e-02 7.51800258e-04 9.99505016e-01 1.66535394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.872320588 meters Centerline goodness [0,1] 0.9997156802350377 Centerline is valid? [True, True] Translation: X:271.39, Y:-81.22, Z:1.67 [[ 9.91353516e-01 1.27205941e-01 -3.22002383e-02 2.71385477e+02] [-1.27164957e-01 9.91876006e-01 3.32586641e-03 -8.12188978e+01] [ 3.23617137e-02 7.97632566e-04 9.99475904e-01 1.66954686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90232058799995 meters Centerline goodness [0,1] 0.9998586838758302 Centerline is valid? [True, True] Translation: X:271.42, Y:-81.22, Z:1.67 [[ 9.91293492e-01 1.27822979e-01 -3.15990434e-02 2.71418383e+02] [-1.27783467e-01 9.91796683e-01 3.27499256e-03 -8.12208868e+01] [ 3.17584457e-02 7.91356523e-04 9.99495260e-01 1.67098248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.932320588 meters Centerline goodness [0,1] 0.999856685616013 Centerline is valid? [True, True] Translation: X:271.45, Y:-81.22, Z:1.67 [[ 9.91297192e-01 1.27772533e-01 -3.16868503e-02 2.71450592e+02] [-1.27732353e-01 9.91803193e-01 3.29736125e-03 -8.12224058e+01] [ 3.18484315e-02 7.78771001e-04 9.99492407e-01 1.67181988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96232058799995 meters Centerline goodness [0,1] 0.999620169024784 Centerline is valid? [True, True] Translation: X:271.48, Y:-81.23, Z:1.67 [[ 9.91156097e-01 1.28563843e-01 -3.28774940e-02 2.71483219e+02] [-1.28520553e-01 9.91700895e-01 3.43545027e-03 -8.12273548e+01] [ 3.30463149e-02 8.20366223e-04 9.99453485e-01 1.67389595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.992320588 meters Centerline goodness [0,1] 0.999952655998485 Centerline is valid? [True, True] Translation: X:271.52, Y:-81.23, Z:1.68 [[ 9.91030594e-01 1.29167350e-01 -3.42659799e-02 2.71516009e+02] [-1.29120174e-01 9.91622435e-01 3.59537791e-03 -8.12317217e+01] [ 3.44433198e-02 8.61299780e-04 9.99406282e-01 1.67683456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02232058799996 meters Centerline goodness [0,1] 0.9999527878759266 Centerline is valid? [True, True] Translation: X:271.55, Y:-81.23, Z:1.68 [[ 9.91145502e-01 1.28216478e-01 -3.45127216e-02 2.71548118e+02] [-1.28167547e-01 9.91745866e-01 3.63561417e-03 -8.12319427e+01] [ 3.46939946e-02 8.19988233e-04 9.99397646e-01 1.67551764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.58, Y:-81.23, Z:1.68 [[ 9.91094861e-01 1.28542924e-01 -3.47518768e-02 2.71580773e+02] [-1.28493062e-01 9.91703603e-01 3.67368880e-03 -8.12338876e+01] [ 3.49357881e-02 8.24400970e-04 9.99389219e-01 1.67627323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08232058799996 meters Centerline goodness [0,1] 0.9998061451972473 Centerline is valid? [True, True] Translation: X:271.61, Y:-81.24, Z:1.68 [[ 9.91186940e-01 1.28273470e-01 -3.30812241e-02 2.71612119e+02] [-1.28227701e-01 9.91738542e-01 3.51016740e-03 -8.12369001e+01] [ 3.32581863e-02 7.62697247e-04 9.99446502e-01 1.67629328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.112320588 meters Centerline goodness [0,1] 0.9998576985105777 Centerline is valid? [True, True] Translation: X:271.64, Y:-81.24, Z:1.68 [[ 9.90991032e-01 1.29022086e-01 -3.59176154e-02 2.71644367e+02] [-1.28968108e-01 9.91641363e-01 3.82537935e-03 -8.12437266e+01] [ 3.61109515e-02 8.41310268e-04 9.99347433e-01 1.68348299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14232058799996 meters Centerline goodness [0,1] 0.9999528257382772 Centerline is valid? [True, True] Translation: X:271.68, Y:-81.25, Z:1.68 [[ 9.91219446e-01 1.27780570e-01 -3.40020090e-02 2.71676682e+02] [-1.27731011e-01 9.91802187e-01 3.63470406e-03 -8.12454461e+01] [ 3.41877114e-02 7.40321626e-04 9.99415155e-01 1.68197237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.172320588 meters Centerline goodness [0,1] 0.999951704819859 Centerline is valid? [True, True] Translation: X:271.71, Y:-81.25, Z:1.68 [[ 9.91511047e-01 1.25990539e-01 -3.21282872e-02 2.71708893e+02] [-1.25944996e-01 9.92031243e-01 3.44546070e-03 -8.12470935e+01] [ 3.23063601e-02 6.30184643e-04 9.99477815e-01 1.68023886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.74, Y:-81.25, Z:1.68 [[ 9.91682154e-01 1.24772209e-01 -3.15974750e-02 2.71740327e+02] [-1.24727180e-01 9.92185251e-01 3.39986072e-03 -8.12500882e+01] [ 3.17747568e-02 5.69482758e-04 9.99494893e-01 1.68039259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.232320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.77, Y:-81.25, Z:1.68 [[ 9.92077735e-01 1.21525091e-01 -3.18342510e-02 2.71771981e+02] [-1.21477338e-01 9.92588255e-01 3.43704633e-03 -8.12539894e+01] [ 3.20159910e-02 4.57322922e-04 9.99487252e-01 1.68155011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.80, Y:-81.26, Z:1.68 [[ 9.92176650e-01 1.20578176e-01 -3.23480917e-02 2.71804023e+02] [-1.20527975e-01 9.92703745e-01 3.50451554e-03 -8.12562820e+01] [ 3.25346399e-02 4.21751485e-04 9.99470519e-01 1.68297314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29232058799994 meters Centerline goodness [0,1] 0.9999525796661608 Centerline is valid? [True, True] Translation: X:271.84, Y:-81.26, Z:1.68 [[ 9.92577552e-01 1.17310038e-01 -3.20648982e-02 2.71835718e+02] [-1.17258629e-01 9.93095295e-01 3.48554284e-03 -8.12577785e+01] [ 3.22523887e-02 3.00214424e-04 9.99479711e-01 1.68280483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.87, Y:-81.26, Z:1.69 [[ 9.92612470e-01 1.16605079e-01 -3.35222169e-02 2.71868121e+02] [-1.16548050e-01 9.93178322e-01 3.65695470e-03 -8.12628475e+01] [ 3.37199586e-02 2.77010164e-04 9.99431282e-01 1.68594853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.90, Y:-81.27, Z:1.69 [[ 9.92809328e-01 1.15098787e-01 -3.28923746e-02 2.71900219e+02] [-1.15042616e-01 9.93354028e-01 3.60149641e-03 -8.12682655e+01] [ 3.30883007e-02 2.08425586e-04 9.99452411e-01 1.68802607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38232058799997 meters Centerline goodness [0,1] 0.9999061165094119 Centerline is valid? [True, True] Translation: X:271.93, Y:-81.27, Z:1.69 [[ 9.92951064e-01 1.13741101e-01 -3.33338769e-02 2.71932574e+02] [-1.13682487e-01 9.93510411e-01 3.65459747e-03 -8.12748404e+01] [ 3.35332317e-02 1.60641572e-04 9.99437590e-01 1.68993674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.97, Y:-81.28, Z:1.69 [[ 9.92966146e-01 1.13277527e-01 -3.44446508e-02 2.71965282e+02] [-1.13214146e-01 9.93563377e-01 3.79123083e-03 -8.12785091e+01] [ 3.46524048e-02 1.35057871e-04 9.99399416e-01 1.69082542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.442320588 meters Centerline goodness [0,1] 0.9999530185576697 Centerline is valid? [True, True] Translation: X:272.00, Y:-81.28, Z:1.69 [[ 9.93131669e-01 1.11924286e-01 -3.40946099e-02 2.71997835e+02] [-1.11860907e-01 9.93716735e-01 3.76679094e-03 -8.12829524e+01] [ 3.43019798e-02 7.29346044e-05 9.99411511e-01 1.69253489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.03, Y:-81.29, Z:1.69 [[ 9.93226353e-01 1.11171712e-01 -3.37973832e-02 2.72030640e+02] [-1.11108520e-01 9.93801212e-01 3.74797312e-03 -8.12863634e+01] [ 3.40045490e-02 3.25915676e-05 9.99421678e-01 1.69265327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.06, Y:-81.29, Z:1.69 [[ 9.93301601e-01 1.10152789e-01 -3.49040339e-02 2.72062986e+02] [-1.10084235e-01 9.93914666e-01 3.88568275e-03 -8.12893117e+01] [ 3.51196500e-02 -1.72710489e-05 9.99383115e-01 1.69481670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.09, Y:-81.29, Z:1.69 [[ 9.93529252e-01 1.08469911e-01 -3.36734756e-02 2.72094928e+02] [-1.08404681e-01 9.94099729e-01 3.76222831e-03 -8.12943250e+01] [ 3.38828816e-02 -8.75214874e-05 9.99425806e-01 1.69408566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.562320588 meters Centerline goodness [0,1] 0.9999530912843606 Centerline is valid? [True, True] Translation: X:272.13, Y:-81.30, Z:1.70 [[ 9.93414112e-01 1.09778104e-01 -3.28202600e-02 2.72127104e+02] [-1.09716412e-01 9.93956118e-01 3.68022697e-03 -8.13023436e+01] [ 3.30259066e-02 -5.50682468e-05 9.99454494e-01 1.69740024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.16, Y:-81.31, Z:1.70 [[ 9.93019876e-01 1.13499781e-01 -3.20830960e-02 2.72159690e+02] [-1.13442349e-01 9.93538020e-01 3.61065483e-03 -8.13066159e+01] [ 3.22855842e-02 5.41297510e-05 9.99478683e-01 1.69853594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.622320588 meters Centerline goodness [0,1] 0.9999056247640619 Centerline is valid? [True, True] Translation: X:272.19, Y:-81.31, Z:1.70 [[ 9.92636630e-01 1.16668779e-01 -3.25717291e-02 2.72192098e+02] [-1.16610834e-01 9.93170869e-01 3.67946573e-03 -8.13102830e+01] [ 3.27785713e-02 1.45844041e-04 9.99462628e-01 1.69900196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.22, Y:-81.31, Z:1.70 [[ 9.92273796e-01 1.19596442e-01 -3.30061384e-02 2.72224388e+02] [-1.19538097e-01 9.92822561e-01 3.74247999e-03 -8.13138875e+01] [ 3.32168261e-02 2.31926135e-04 9.99448142e-01 1.69965120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.26, Y:-81.32, Z:1.70 [[ 9.91664476e-01 1.24574481e-01 -3.29054140e-02 2.72256198e+02] [-1.24518776e-01 9.92210185e-01 3.74472707e-03 -8.13181814e+01] [ 3.31155843e-02 3.83829064e-04 9.99451455e-01 1.69936404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71232058799995 meters Centerline goodness [0,1] 0.99995290349927 Centerline is valid? [True, True] Translation: X:272.29, Y:-81.32, Z:1.70 [[ 9.91035186e-01 1.29199223e-01 -3.40120615e-02 2.72287535e+02] [-1.29141991e-01 9.91618508e-01 3.88343485e-03 -8.13236353e+01] [ 3.42287264e-02 5.43764748e-04 9.99413878e-01 1.70303177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.32, Y:-81.33, Z:1.71 [[ 9.90818776e-01 1.30449768e-01 -3.55107126e-02 2.72319407e+02] [-1.30387702e-01 9.91454739e-01 4.06798042e-03 -8.13277976e+01] [ 3.57379314e-02 5.99528853e-04 9.99361016e-01 1.70582922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77232058799996 meters Centerline goodness [0,1] 0.9999524149417083 Centerline is valid? [True, True] Translation: X:272.35, Y:-81.33, Z:1.71 [[ 9.90546821e-01 1.32422126e-01 -3.57963245e-02 2.72350911e+02] [-1.32359871e-01 9.91193191e-01 4.11381904e-03 -8.13320854e+01] [ 3.60258338e-02 6.63066543e-04 9.99350639e-01 1.70812271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.802320588 meters Centerline goodness [0,1] 0.9999522809696507 Centerline is valid? [True, True] Translation: X:272.38, Y:-81.33, Z:1.71 [[ 9.90423367e-01 1.33902495e-01 -3.36404070e-02 2.72383363e+02] [-1.33847973e-01 9.90994290e-01 3.87769869e-03 -8.13332658e+01] [ 3.38566848e-02 6.62136898e-04 9.99426479e-01 1.70681637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83232058799996 meters Centerline goodness [0,1] 0.9999529278855206 Centerline is valid? [True, True] Translation: X:272.42, Y:-81.34, Z:1.71 [[ 9.90175822e-01 1.35597272e-01 -3.41353390e-02 2.72415183e+02] [-1.35541649e-01 9.90763779e-01 3.94906528e-03 -8.13357803e+01] [ 3.43555400e-02 7.16491166e-04 9.99409417e-01 1.70733885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.862320588 meters Centerline goodness [0,1] 0.9998570271171902 Centerline is valid? [True, True] Translation: X:272.45, Y:-81.34, Z:1.71 [[ 9.89685808e-01 1.38951149e-01 -3.48508201e-02 2.72446800e+02] [-1.38894791e-01 9.90298883e-01 4.04477693e-03 -8.13396917e+01] [ 3.50747546e-02 8.37539064e-04 9.99384341e-01 1.70999809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89232058799996 meters Centerline goodness [0,1] 0.9998576107076748 Centerline is valid? [True, True] Translation: X:272.48, Y:-81.34, Z:1.71 [[ 9.89360560e-01 1.41267849e-01 -3.47717808e-02 2.72478331e+02] [-1.41212734e-01 9.89970997e-01 4.04823111e-03 -8.13429278e+01] [ 3.49949394e-02 9.05058042e-04 9.99387080e-01 1.71074242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.922320588 meters Centerline goodness [0,1] 0.9997648165569144 Centerline is valid? [True, True] Translation: X:272.51, Y:-81.34, Z:1.71 [[ 9.89145048e-01 1.42802891e-01 -3.46324761e-02 2.72509888e+02] [-1.42748719e-01 9.89750698e-01 4.04456255e-03 -8.13447263e+01] [ 3.48550926e-02 9.43082564e-04 9.99391932e-01 1.71068293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95232058799996 meters Centerline goodness [0,1] 0.999520751461708 Centerline is valid? [True, True] Translation: X:272.54, Y:-81.34, Z:1.71 [[ 9.88610877e-01 1.46422737e-01 -3.47694743e-02 2.72541732e+02] [-1.46369926e-01 9.89221539e-01 4.07325001e-03 -8.13446646e+01] [ 3.49911293e-02 1.06234611e-03 9.99387058e-01 1.70970666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.982320588 meters Centerline goodness [0,1] 0.9993832431919537 Centerline is valid? [True, True] Translation: X:272.57, Y:-81.35, Z:1.71 [[ 9.88271881e-01 1.48436971e-01 -3.58490512e-02 2.72573454e+02] [-1.48381669e-01 9.88921195e-01 4.21310697e-03 -8.13481199e+01] [ 3.60772674e-02 1.15564689e-03 9.99348335e-01 1.71072913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01232058799997 meters Centerline goodness [0,1] 0.9996220174816914 Centerline is valid? [True, True] Translation: X:272.60, Y:-81.35, Z:1.71 [[ 9.88072079e-01 1.50509599e-01 -3.25642062e-02 2.72604666e+02] [-1.50464737e-01 9.88607927e-01 3.83787020e-03 -8.13519037e+01] [ 3.27708687e-02 1.10767232e-03 9.99462277e-01 1.71207861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04232058799994 meters Centerline goodness [0,1] 0.9994799300269491 Centerline is valid? [True, True] Translation: X:272.64, Y:-81.35, Z:1.71 [[ 9.87953115e-01 1.51459073e-01 -3.17614723e-02 2.72636821e+02] [-1.51416524e-01 9.88462918e-01 3.75456576e-03 -8.13542102e+01] [ 3.19637007e-02 1.09987681e-03 9.99488425e-01 1.71380411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.07232058799997 meters Centerline goodness [0,1] 0.9997639839509087 Centerline is valid? [True, True] Translation: X:272.67, Y:-81.35, Z:1.71 [[ 9.87851513e-01 1.52494221e-01 -2.99149023e-02 2.72669315e+02] [-1.52456643e-01 9.88303797e-01 3.54648437e-03 -8.13537992e+01] [ 3.01058299e-02 1.05732562e-03 9.99546158e-01 1.71328497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10232058799994 meters Centerline goodness [0,1] 0.9996629592180654 Centerline is valid? [True, True] Translation: X:272.70, Y:-81.36, Z:1.71 [[ 9.87824997e-01 1.52766184e-01 -2.93984265e-02 2.72702309e+02] [-1.52729704e-01 9.88261816e-01 3.49565101e-03 -8.13560626e+01] [ 2.95873596e-02 1.03692153e-03 9.99561660e-01 1.71433086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.13232058799997 meters Centerline goodness [0,1] 0.9996629592180654 Centerline is valid? [True, True] Translation: X:272.73, Y:-81.36, Z:1.72 [[ 9.87762042e-01 1.53172995e-01 -2.93969836e-02 2.72734289e+02] [-1.53136336e-01 9.88198845e-01 3.50774076e-03 -8.13595321e+01] [ 2.95873565e-02 1.03693320e-03 9.99561660e-01 1.71538169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16232058799994 meters Centerline goodness [0,1] 0.9999044068444699 Centerline is valid? [True, True] Translation: X:272.77, Y:-81.36, Z:1.72 [[ 9.87514401e-01 1.54917126e-01 -2.85655608e-02 2.72766360e+02] [-1.54882902e-01 9.87926915e-01 3.42026828e-03 -8.13622616e+01] [ 2.87505445e-02 1.04675276e-03 9.99586070e-01 1.71726151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.192320588 meters Centerline goodness [0,1] 0.9998100033249419 Centerline is valid? [True, True] Translation: X:272.80, Y:-81.36, Z:1.72 [[ 9.87402712e-01 1.55867913e-01 -2.72227357e-02 2.72798282e+02] [-1.55836935e-01 9.87777386e-01 3.26885635e-03 -8.13637896e+01] [ 2.73995125e-02 1.01463008e-03 9.99624048e-01 1.71856914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22232058799995 meters Centerline goodness [0,1] 0.9994771863117871 Centerline is valid? [True, True] Translation: X:272.83, Y:-81.37, Z:1.72 [[ 9.87190603e-01 1.57217579e-01 -2.71541202e-02 2.72830380e+02] [-1.57186997e-01 9.87563442e-01 3.27047903e-03 -8.13656518e+01] [ 2.73305932e-02 1.03968844e-03 9.99625909e-01 1.71997971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.252320588 meters Centerline goodness [0,1] 0.9994771366099439 Centerline is valid? [True, True] Translation: X:272.86, Y:-81.37, Z:1.72 [[ 9.86911947e-01 1.59075505e-01 -2.64536102e-02 2.72862325e+02] [-1.59046897e-01 9.87265858e-01 3.19547004e-03 -8.13672690e+01] [ 2.66250672e-02 1.05371706e-03 9.99644935e-01 1.72104975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28232058799995 meters Centerline goodness [0,1] 0.9996197899339385 Centerline is valid? [True, True] Translation: X:272.90, Y:-81.37, Z:1.72 [[ 9.86859010e-01 1.59356167e-01 -2.67377334e-02 2.72895461e+02] [-1.59326786e-01 9.87220584e-01 3.23937765e-03 -8.13690917e+01] [ 2.69122556e-02 1.06322812e-03 9.99637234e-01 1.72242635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.312320588 meters Centerline goodness [0,1] 0.9996206912901238 Centerline is valid? [True, True] Translation: X:272.93, Y:-81.37, Z:1.72 [[ 9.86908878e-01 1.59271773e-01 -2.53647222e-02 2.72928867e+02] [-1.59245051e-01 9.87234273e-01 3.08294050e-03 -8.13662566e+01] [ 2.55319484e-02 9.96625134e-04 9.99673510e-01 1.72175069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34232058799995 meters Centerline goodness [0,1] 0.9996627481210253 Centerline is valid? [True, True] Translation: X:272.96, Y:-81.37, Z:1.72 [[ 9.87231181e-01 1.57611727e-01 -2.30898042e-02 2.72961115e+02] [-1.57588924e-01 9.87500787e-01 2.81534932e-03 -8.13662945e+01] [ 2.32449319e-02 8.59296765e-04 9.99729431e-01 1.72090134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.372320588 meters Centerline goodness [0,1] 0.999858008330178 Centerline is valid? [True, True] Translation: X:272.99, Y:-81.37, Z:1.72 [[ 9.87309916e-01 1.57008425e-01 -2.38219403e-02 2.72992601e+02] [-1.56983759e-01 9.87596886e-01 2.91369281e-03 -8.13686662e+01] [ 2.39839483e-02 8.62939938e-04 9.99711971e-01 1.72244139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40232058799995 meters Centerline goodness [0,1] 0.999760157336787 Centerline is valid? [True, True] Translation: X:273.02, Y:-81.37, Z:1.72 [[ 9.87840467e-01 1.53729561e-01 -2.32041598e-02 2.73024466e+02] [-1.53705062e-01 9.88112672e-01 2.84635853e-03 -8.13688129e+01] [ 2.33658938e-02 7.54848674e-04 9.99726695e-01 1.72384836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.432320588 meters Centerline goodness [0,1] 0.9998580822177019 Centerline is valid? [True, True] Translation: X:273.06, Y:-81.37, Z:1.72 [[ 9.87918726e-01 1.53175926e-01 -2.35313740e-02 2.73056391e+02] [-1.53150367e-01 9.88198655e-01 2.89525114e-03 -8.13708379e+01] [ 2.36971549e-02 7.43565736e-04 9.99718906e-01 1.72402690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.09, Y:-81.37, Z:1.72 [[ 9.88236726e-01 1.50981867e-01 -2.43443918e-02 2.73088302e+02] [-1.50953616e-01 9.88536281e-01 3.00464234e-03 -8.13708686e+01] [ 2.45189610e-02 7.05576055e-04 9.99699116e-01 1.72421136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.12, Y:-81.37, Z:1.73 [[ 9.88643571e-01 1.48251728e-01 -2.46031490e-02 2.73120023e+02] [-1.48221802e-01 9.88949453e-01 3.04568806e-03 -8.13734626e+01] [ 2.47827992e-02 6.35623159e-04 9.99692657e-01 1.72516718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52232058799996 meters Centerline goodness [0,1] 0.9999520291662669 Centerline is valid? [True, True] Translation: X:273.15, Y:-81.38, Z:1.73 [[ 9.89078004e-01 1.45377811e-01 -2.42897864e-02 2.73151522e+02] [-1.45347563e-01 9.89376062e-01 3.01564150e-03 -8.13761436e+01] [ 2.44701405e-02 5.47756562e-04 9.99700411e-01 1.72775085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.18, Y:-81.38, Z:1.73 [[ 9.89231385e-01 1.44441223e-01 -2.36220216e-02 2.73183063e+02] [-1.44412150e-01 9.89513255e-01 2.94106266e-03 -8.13790341e+01] [ 2.37991142e-02 5.01915439e-04 9.99716635e-01 1.72810365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.22, Y:-81.38, Z:1.73 [[ 9.89456025e-01 1.43028850e-01 -2.27930180e-02 2.73215170e+02] [-1.43001226e-01 9.89718420e-01 2.84577009e-03 -8.13818186e+01] [ 2.29656970e-02 4.43665149e-04 9.99736155e-01 1.72937525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.25, Y:-81.38, Z:1.73 [[ 9.89903064e-01 1.39547896e-01 -2.48658079e-02 2.73247467e+02] [-1.39513634e-01 9.90215248e-01 3.11594948e-03 -8.13843467e+01] [ 2.50573263e-02 3.84631291e-04 9.99685942e-01 1.73098282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.28, Y:-81.39, Z:1.73 [[ 9.90088547e-01 1.37835583e-01 -2.69447946e-02 2.73279779e+02] [-1.37794557e-01 9.90455057e-01 3.38241098e-03 -8.13873828e+01] [ 2.71538246e-02 3.63959652e-04 9.99631201e-01 1.73205555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.31, Y:-81.39, Z:1.73 [[ 9.90367293e-01 1.35774397e-01 -2.71650151e-02 2.73311619e+02] [-1.35731794e-01 9.90739734e-01 3.41471206e-03 -8.13907999e+01] [ 2.73770903e-02 3.05337090e-04 9.99625131e-01 1.73294098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70232058799996 meters Centerline goodness [0,1] 0.9999523173755483 Centerline is valid? [True, True] Translation: X:273.34, Y:-81.40, Z:1.74 [[ 9.90545573e-01 1.34611429e-01 -2.64429594e-02 2.73344216e+02] [-1.34570405e-01 9.90898429e-01 3.33301105e-03 -8.13958947e+01] [ 2.66509483e-02 2.56940411e-04 9.99644767e-01 1.73555105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.732320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.38, Y:-81.40, Z:1.74 [[ 9.91065552e-01 1.31242115e-01 -2.37608634e-02 2.73376387e+02] [-1.31207817e-01 9.91350335e-01 3.00356249e-03 -8.14009493e+01] [ 2.39495338e-02 1.40883697e-04 9.99713159e-01 1.73561322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.41, Y:-81.40, Z:1.73 [[ 9.91453208e-01 1.28275874e-01 -2.37873323e-02 2.73409219e+02] [-1.28240406e-01 9.91738522e-01 3.01690567e-03 -8.14024717e+01] [ 2.39778100e-02 5.93763592e-05 9.99712489e-01 1.73405409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.44, Y:-81.41, Z:1.73 [[ 9.91903326e-01 1.24465963e-01 -2.52193466e-02 2.73442243e+02] [-1.24424572e-01 9.92223877e-01 3.20995981e-03 -8.14055159e+01] [ 2.54227686e-02 -4.60633998e-05 9.99676788e-01 1.73193873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.47, Y:-81.41, Z:1.73 [[ 9.92196203e-01 1.22385613e-01 -2.38423253e-02 2.73473511e+02] [-1.22347785e-01 9.92482620e-01 3.04440295e-03 -8.14107343e+01] [ 2.40356846e-02 -1.03589356e-04 9.99711096e-01 1.73234995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.51, Y:-81.42, Z:1.73 [[ 9.92414772e-01 1.20601661e-01 -2.38360968e-02 2.73506025e+02] [-1.20563141e-01 9.92700970e-01 3.05185809e-03 -8.14164638e+01] [ 2.40301756e-02 -1.54954359e-04 9.99711222e-01 1.73467734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.54, Y:-81.42, Z:1.74 [[ 9.92748507e-01 1.17830895e-01 -2.37966879e-02 2.73537559e+02] [-1.17791456e-01 9.93033648e-01 3.05718830e-03 -8.14224181e+01] [ 2.39911430e-02 -2.31972602e-04 9.99712144e-01 1.73696039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.57, Y:-81.43, Z:1.74 [[ 9.93034049e-01 1.15573600e-01 -2.29373122e-02 2.73569396e+02] [-1.15536172e-01 9.93298879e-01 2.95476936e-03 -8.14252691e+01] [ 2.31250998e-02 -2.84097337e-04 9.99732539e-01 1.73689260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.60, Y:-81.43, Z:1.74 [[ 9.93211841e-01 1.13929257e-01 -2.34598412e-02 2.73600483e+02] [-1.13889438e-01 9.93488807e-01 3.03084362e-03 -8.14323523e+01] [ 2.36523914e-02 -3.38441641e-04 9.99720186e-01 1.73808915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.63, Y:-81.44, Z:1.74 [[ 9.93311113e-01 1.12991485e-01 -2.37898423e-02 2.73632721e+02] [-1.12950072e-01 9.93595886e-01 3.08171253e-03 -8.14379784e+01] [ 2.39856967e-02 -3.74034909e-04 9.99712232e-01 1.73909594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.66, Y:-81.45, Z:1.74 [[ 9.93047843e-01 1.14932985e-01 -2.54242006e-02 2.73663397e+02] [-1.14886019e-01 9.93373182e-01 3.30518064e-03 -8.14468527e+01] [ 2.56355933e-02 -3.61317326e-04 9.99671289e-01 1.74107856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03232058799995 meters Centerline goodness [0,1] 0.9999052357261312 Centerline is valid? [True, True] Translation: X:273.70, Y:-81.45, Z:1.74 [[ 9.92869010e-01 1.16102374e-01 -2.70438138e-02 2.73695274e+02] [-1.16049381e-01 9.93237186e-01 3.52615690e-03 -8.14513033e+01] [ 2.72703167e-02 -3.62594055e-04 9.99628030e-01 1.74287700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.73, Y:-81.46, Z:1.74 [[ 9.92765393e-01 1.16992670e-01 -2.70109167e-02 2.73727881e+02] [-1.16939879e-01 9.93132718e-01 3.53128474e-03 -8.14561483e+01] [ 2.72385595e-02 -3.47083946e-04 9.99628901e-01 1.74321895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.76, Y:-81.46, Z:1.75 [[ 9.92262903e-01 1.20706614e-01 -2.90558790e-02 2.73758437e+02] [-1.20646731e-01 9.92688187e-01 3.81175919e-03 -8.14648055e+01] [ 2.93035324e-02 -2.76770425e-04 9.99570521e-01 1.74579184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.122320588 meters Centerline goodness [0,1] 0.9999528590958374 Centerline is valid? [True, True] Translation: X:273.79, Y:-81.47, Z:1.75 [[ 9.91873713e-01 1.23773724e-01 -2.94381215e-02 2.73789417e+02] [-1.23713286e-01 9.92310448e-01 3.87264965e-03 -8.14718300e+01] [ 2.96910878e-02 -1.99292654e-04 9.99559103e-01 1.74697409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.82, Y:-81.48, Z:1.75 [[ 9.91239164e-01 1.28812356e-01 -2.91941218e-02 2.73820376e+02] [-1.28754789e-01 9.91668984e-01 3.85104998e-03 -8.14799376e+01] [ 2.94469680e-02 -5.84285576e-05 9.99566342e-01 1.74727207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.182320588 meters Centerline goodness [0,1] 0.9999525323966393 Centerline is valid? [True, True] Translation: X:273.85, Y:-81.49, Z:1.75 [[ 9.90898211e-01 1.31545969e-01 -2.85726000e-02 2.73852945e+02] [-1.31491676e-01 9.91310072e-01 3.77903863e-03 -8.14859416e+01] [ 2.88214234e-02 1.24164402e-05 9.99584576e-01 1.74885030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.89, Y:-81.49, Z:1.75 [[ 9.90599095e-01 1.34056815e-01 -2.72434033e-02 2.73885441e+02] [-1.34008109e-01 9.90973645e-01 3.61405605e-03 -8.14917725e+01] [ 2.74819835e-02 7.07562969e-05 9.99622296e-01 1.74994367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.92, Y:-81.50, Z:1.75 [[ 9.90003425e-01 1.38274942e-01 -2.78075397e-02 2.73916803e+02] [-1.38225523e-01 9.90393865e-01 3.70091300e-03 -8.14996251e+01] [ 2.80521603e-02 1.79795190e-04 9.99606445e-01 1.75262948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.95, Y:-81.50, Z:1.75 [[ 9.89800064e-01 1.39906295e-01 -2.68711996e-02 2.73949288e+02] [-1.39860455e-01 9.90164727e-01 3.58712432e-03 -8.15048153e+01] [ 2.71087753e-02 2.07682324e-04 9.99632468e-01 1.75246658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.98, Y:-81.51, Z:1.75 [[ 9.89589191e-01 1.41231385e-01 -2.76935013e-02 2.73980968e+02] [-1.41182878e-01 9.89976585e-01 3.70896029e-03 -8.15110870e+01] [ 2.79397394e-02 2.39501198e-04 9.99609581e-01 1.75346335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.01, Y:-81.52, Z:1.75 [[ 9.89462266e-01 1.42031159e-01 -2.81349188e-02 2.74013461e+02] [-1.41981075e-01 9.89862155e-01 3.78012213e-03 -8.15167098e+01] [ 2.83865865e-02 2.54337803e-04 9.99596987e-01 1.75463456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.05, Y:-81.52, Z:1.76 [[ 9.89639612e-01 1.40482869e-01 -2.96311017e-02 2.74045218e+02] [-1.40426224e-01 9.90083088e-01 3.99442799e-03 -8.15215030e+01] [ 2.98984014e-02 2.07939562e-04 9.99552921e-01 1.75690692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.08, Y:-81.53, Z:1.76 [[ 9.89509317e-01 1.41322786e-01 -2.99863618e-02 2.74077825e+02] [-1.41264825e-01 9.89963545e-01 4.05337557e-03 -8.15259690e+01] [ 3.02582394e-02 2.25165251e-04 9.99542089e-01 1.75887981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.11, Y:-81.53, Z:1.76 [[ 9.89348193e-01 1.42409821e-01 -3.01595133e-02 2.74110526e+02] [-1.42351305e-01 9.89807750e-01 4.08952776e-03 -8.15285440e+01] [ 3.04345090e-02 2.47279186e-04 9.99536732e-01 1.75895849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.14, Y:-81.53, Z:1.76 [[ 9.89365213e-01 1.42388275e-01 -2.96993868e-02 2.74143228e+02] [-1.42331153e-01 9.89810854e-01 4.03939781e-03 -8.15317644e+01] [ 2.99719383e-02 2.30708304e-04 9.99550714e-01 1.75876995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.482320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.18, Y:-81.54, Z:1.76 [[ 9.89366766e-01 1.42304660e-01 -3.00463963e-02 2.74175312e+02] [-1.42245768e-01 9.89822881e-01 4.09941665e-03 -8.15358921e+01] [ 3.03239767e-02 2.18146131e-04 9.99540099e-01 1.76014869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.21, Y:-81.54, Z:1.76 [[ 9.89299083e-01 1.42525698e-01 -3.12049751e-02 2.74207862e+02] [-1.42461856e-01 9.89791077e-01 4.27112437e-03 -8.15391573e+01] [ 3.14951509e-02 2.20099261e-04 9.99503880e-01 1.76363533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54232058799994 meters Centerline goodness [0,1] 0.9999524488825488 Centerline is valid? [True, True] Translation: X:274.24, Y:-81.54, Z:1.77 [[ 9.89161356e-01 1.43416988e-01 -3.14861663e-02 2.74239815e+02] [-1.43352017e-01 9.89662322e-01 4.32296516e-03 -8.15426676e+01] [ 3.17806590e-02 2.37495370e-04 9.99494839e-01 1.76522692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.57232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.27, Y:-81.55, Z:1.77 [[ 9.88787891e-01 1.45727150e-01 -3.25899447e-02 2.74272140e+02] [-1.45658331e-01 9.89324771e-01 4.48866233e-03 -8.15472584e+01] [ 3.28961596e-02 3.08661988e-04 9.99458727e-01 1.76698662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.30, Y:-81.55, Z:1.77 [[ 9.88708595e-01 1.46277374e-01 -3.25306744e-02 2.74304408e+02] [-1.46208655e-01 9.89243566e-01 4.49415295e-03 -8.15517287e+01] [ 3.28381533e-02 3.12858494e-04 9.99460633e-01 1.76799832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.63232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.34, Y:-81.56, Z:1.77 [[ 9.88395956e-01 1.47931370e-01 -3.44926550e-02 2.74336069e+02] [-1.47854583e-01 9.88997558e-01 4.78049363e-03 -8.15571885e+01] [ 3.48203365e-02 3.74876547e-04 9.99393518e-01 1.77156345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.37, Y:-81.56, Z:1.77 [[ 9.88212641e-01 1.48888887e-01 -3.56072532e-02 2.74368440e+02] [-1.48807124e-01 9.88853849e-01 4.95033220e-03 -8.15621404e+01] [ 3.59474188e-02 4.06632089e-04 9.99353600e-01 1.77275316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.692320588 meters Centerline goodness [0,1] 0.9999526985478454 Centerline is valid? [True, True] Translation: X:274.40, Y:-81.57, Z:1.77 [[ 9.88349620e-01 1.48080807e-01 -3.51724732e-02 2.74399749e+02] [-1.48000005e-01 9.88975200e-01 4.90430231e-03 -8.15652272e+01] [ 3.55109367e-02 3.58360883e-04 9.99369224e-01 1.77481722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.43, Y:-81.57, Z:1.77 [[ 9.88668013e-01 1.46656137e-01 -3.20552103e-02 2.74432318e+02] [-1.46587932e-01 9.89187497e-01 4.48034209e-03 -8.15677232e+01] [ 3.23656829e-02 2.69336054e-04 9.99476058e-01 1.77402121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.46, Y:-81.57, Z:1.78 [[ 9.88648518e-01 1.46853555e-01 -3.17512350e-02 2.74464889e+02] [-1.46786608e-01 9.89158208e-01 4.44193794e-03 -8.15721246e+01] [ 3.20593091e-02 2.69140716e-04 9.99485932e-01 1.77570897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.50, Y:-81.58, Z:1.78 [[ 9.88625385e-01 1.47097754e-01 -3.13384654e-02 2.74497021e+02] [-1.47032248e-01 9.89121925e-01 4.39717996e-03 -8.15780849e+01] [ 3.16443786e-02 2.60601288e-04 9.99499157e-01 1.77662353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.812320588 meters Centerline goodness [0,1] 0.9999528101552546 Centerline is valid? [True, True] Translation: X:274.53, Y:-81.58, Z:1.78 [[ 9.88226925e-01 1.49306661e-01 -3.33926106e-02 2.74529004e+02] [-1.49233038e-01 9.88790881e-01 4.70040604e-03 -8.15842448e+01] [ 3.37201107e-02 3.38212911e-04 9.99431258e-01 1.77929359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.56, Y:-81.59, Z:1.78 [[ 9.88210776e-01 1.49418256e-01 -3.33713576e-02 2.74561191e+02] [-1.49344318e-01 9.88774027e-01 4.71140608e-03 -8.15877844e+01] [ 3.37007017e-02 3.27960393e-04 9.99431916e-01 1.77951785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.872320588 meters Centerline goodness [0,1] 0.9999527164404937 Centerline is valid? [True, True] Translation: X:274.59, Y:-81.59, Z:1.78 [[ 9.87989924e-01 1.51004884e-01 -3.27633177e-02 2.74594097e+02] [-1.50934040e-01 9.88532951e-01 4.63910862e-03 -8.15896714e+01] [ 3.30881472e-02 3.61707330e-04 9.99452372e-01 1.77905221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.63, Y:-81.59, Z:1.78 [[ 9.87807690e-01 1.52348889e-01 -3.20278450e-02 2.74626902e+02] [-1.52281468e-01 9.88326701e-01 4.54822258e-03 -8.15934087e+01] [ 3.23468911e-02 3.84478012e-04 9.99476628e-01 1.77907164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.932320588 meters Centerline goodness [0,1] 0.9999529588860664 Centerline is valid? [True, True] Translation: X:274.66, Y:-81.60, Z:1.78 [[ 9.87590448e-01 1.53345099e-01 -3.39173597e-02 2.74659644e+02] [-1.53269557e-01 9.88172606e-01 4.83159818e-03 -8.15973712e+01] [ 3.42571076e-02 4.26858479e-04 9.99412962e-01 1.78026561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.69, Y:-81.60, Z:1.78 [[ 9.87417941e-01 1.54266708e-01 -3.47504345e-02 2.74692230e+02] [-1.54187455e-01 9.88029137e-01 4.96520969e-03 -8.16017579e+01] [ 3.51004084e-02 4.55343944e-04 9.99383687e-01 1.78104207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.992320588 meters Centerline goodness [0,1] 0.999953000892983 Centerline is valid? [True, True] Translation: X:274.72, Y:-81.61, Z:1.78 [[ 9.86984047e-01 1.56809924e-01 -3.56810730e-02 2.74723336e+02] [-1.56727482e-01 9.87628650e-01 5.11334860e-03 -8.16073606e+01] [ 3.60414737e-02 5.45411216e-04 9.99350146e-01 1.78491245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02232058799996 meters Centerline goodness [0,1] 0.999953000892983 Centerline is valid? [True, True] Translation: X:274.76, Y:-81.61, Z:1.79 [[ 9.86919190e-01 1.57218023e-01 -3.56792009e-02 2.74755206e+02] [-1.57135376e-01 9.87563767e-01 5.12637990e-03 -8.16115792e+01] [ 3.60414453e-02 5.47141957e-04 9.99350146e-01 1.78596127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.79, Y:-81.62, Z:1.79 [[ 9.86854791e-01 1.57522403e-01 -3.61152817e-02 2.74787856e+02] [-1.57437365e-01 9.87515261e-01 5.20443542e-03 -8.16155764e+01] [ 3.64842070e-02 5.49872750e-04 9.99334078e-01 1.78726327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08232058799996 meters Centerline goodness [0,1] 0.9999059796916134 Centerline is valid? [True, True] Translation: X:274.82, Y:-81.62, Z:1.79 [[ 9.86756843e-01 1.58083639e-01 -3.63386309e-02 2.74820145e+02] [-1.57997360e-01 9.87425567e-01 5.25201910e-03 -8.16188713e+01] [ 3.67119515e-02 5.58941967e-04 9.99325733e-01 1.78775622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.85, Y:-81.62, Z:1.79 [[ 9.86798636e-01 1.57779325e-01 -3.65258310e-02 2.74852393e+02] [-1.57691378e-01 9.87474252e-01 5.29447460e-03 -8.16213194e+01] [ 3.69036762e-02 5.35228291e-04 9.99318684e-01 1.78728579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14232058799996 meters Centerline goodness [0,1] 0.9999528724256562 Centerline is valid? [True, True] Translation: X:274.89, Y:-81.63, Z:1.79 [[ 9.86798498e-01 1.58156015e-01 -3.48625712e-02 2.74885170e+02] [-1.58075637e-01 9.87414003e-01 5.06742706e-03 -8.16252578e+01] [ 3.52252351e-02 5.10393721e-04 9.99379269e-01 1.78824801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.172320588 meters Centerline goodness [0,1] 0.9999055623760507 Centerline is valid? [True, True] Translation: X:274.92, Y:-81.63, Z:1.79 [[ 9.86787165e-01 1.58205177e-01 -3.49601597e-02 2.74917755e+02] [-1.58123856e-01 9.87406134e-01 5.09636677e-03 -8.16298960e+01] [ 3.53261477e-02 4.99005948e-04 9.99375712e-01 1.79028490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20232058799996 meters Centerline goodness [0,1] 0.9999061209162599 Centerline is valid? [True, True] Translation: X:274.95, Y:-81.63, Z:1.79 [[ 9.86802992e-01 1.58179115e-01 -3.46298009e-02 2.74949892e+02] [-1.58098803e-01 9.87410319e-01 5.06264889e-03 -8.16341424e+01] [ 3.49946281e-02 4.79093011e-04 9.99387386e-01 1.79064859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23232058799994 meters Centerline goodness [0,1] 0.9999527878759266 Centerline is valid? [True, True] Translation: X:274.98, Y:-81.64, Z:1.79 [[ 9.87001284e-01 1.56815507e-01 -3.51761489e-02 2.74982023e+02] [-1.56731246e-01 9.87627824e-01 5.15738491e-03 -8.16372066e+01] [ 3.55497013e-02 4.22856117e-04 9.99367820e-01 1.79070379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26232058799997 meters Centerline goodness [0,1] 0.9999529145870609 Centerline is valid? [True, True] Translation: X:275.01, Y:-81.64, Z:1.79 [[ 9.87187407e-01 1.55976628e-01 -3.36498770e-02 2.75014202e+02] [-1.55898631e-01 9.87760679e-01 4.94545770e-03 -8.16407061e+01] [ 3.40094012e-02 3.63876218e-04 9.99421447e-01 1.79032635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.05, Y:-81.65, Z:1.79 [[ 9.87264538e-01 1.55705321e-01 -3.26279904e-02 2.75046085e+02] [-1.55631457e-01 9.87803494e-01 4.80697240e-03 -8.16457625e+01] [ 3.29785141e-02 3.32188308e-04 9.99456006e-01 1.79241416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32232058799997 meters Centerline goodness [0,1] 0.9999525481636139 Centerline is valid? [True, True] Translation: X:275.08, Y:-81.65, Z:1.80 [[ 9.87185120e-01 1.56099905e-01 -3.31414752e-02 2.75078086e+02] [-1.56023444e-01 9.87741214e-01 4.89680714e-03 -8.16515183e+01] [ 3.34995921e-02 3.36791963e-04 9.99438674e-01 1.79526693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.11, Y:-81.66, Z:1.80 [[ 9.87082014e-01 1.56537408e-01 -3.41341218e-02 2.75109999e+02] [-1.56456048e-01 9.87671969e-01 5.05825784e-03 -8.16567904e+01] [ 3.45051219e-02 3.47574474e-04 9.99404461e-01 1.79651129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.14, Y:-81.66, Z:1.80 [[ 9.86944572e-01 1.57077560e-01 -3.55956855e-02 2.75142479e+02] [-1.56988872e-01 9.87586202e-01 5.29039901e-03 -8.16612001e+01] [ 3.59848108e-02 3.66795935e-04 9.99352270e-01 1.79611106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.18, Y:-81.67, Z:1.80 [[ 9.86789302e-01 1.58022873e-01 -3.57161740e-02 2.75175404e+02] [-1.57933657e-01 9.87435376e-01 5.32341224e-03 -8.16651361e+01] [ 3.61086346e-02 3.87699713e-04 9.99347795e-01 1.79577166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.442320588 meters Centerline goodness [0,1] 0.9999528590958374 Centerline is valid? [True, True] Translation: X:275.21, Y:-81.67, Z:1.80 [[ 9.86729271e-01 1.58631699e-01 -3.46602128e-02 2.75207989e+02] [-1.58547558e-01 9.87337752e-01 5.18025528e-03 -8.16706383e+01] [ 3.50430892e-02 3.83782575e-04 9.99385729e-01 1.79699351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47232058799995 meters Centerline goodness [0,1] 0.9999522057066387 Centerline is valid? [True, True] Translation: X:275.24, Y:-81.68, Z:1.80 [[ 9.86496569e-01 1.59675865e-01 -3.64436286e-02 2.75240184e+02] [-1.59582957e-01 9.87169406e-01 5.46291982e-03 -8.16756689e+01] [ 3.68483316e-02 4.26630376e-04 9.99320779e-01 1.79981038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.502320588 meters Centerline goodness [0,1] 0.9999524172059383 Centerline is valid? [True, True] Translation: X:275.27, Y:-81.68, Z:1.80 [[ 9.86136093e-01 1.61392729e-01 -3.85745120e-02 2.75271265e+02] [-1.61289341e-01 9.86890132e-01 5.79789076e-03 -8.16807218e+01] [ 3.90045426e-02 5.04148261e-04 9.99238906e-01 1.80211725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53232058799995 meters Centerline goodness [0,1] 0.9999054999054999 Centerline is valid? [True, True] Translation: X:275.30, Y:-81.68, Z:1.80 [[ 9.86031221e-01 1.62114917e-01 -3.82254370e-02 2.75304047e+02] [-1.62013587e-01 9.86771749e-01 5.75442446e-03 -8.16846168e+01] [ 3.86526594e-02 5.18997973e-04 9.99252572e-01 1.80214134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.562320588 meters Centerline goodness [0,1] 0.9999039938556068 Centerline is valid? [True, True] Translation: X:275.34, Y:-81.69, Z:1.80 [[ 9.85809614e-01 1.63514844e-01 -3.79776304e-02 2.75336711e+02] [-1.63415251e-01 9.86540718e-01 5.73300958e-03 -8.16892029e+01] [ 3.84039109e-02 5.54468045e-04 9.99262144e-01 1.80409559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59232058799995 meters Centerline goodness [0,1] 0.9998586905322656 Centerline is valid? [True, True] Translation: X:275.37, Y:-81.69, Z:1.80 [[ 9.85512394e-01 1.66119491e-01 -3.41999456e-02 2.75369184e+02] [-1.66039844e-01 9.86105461e-01 5.17581884e-03 -8.16939650e+01] [ 3.45845575e-02 5.77720032e-04 9.99401608e-01 1.80395666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.622320588 meters Centerline goodness [0,1] 0.9998121271898924 Centerline is valid? [True, True] Translation: X:275.40, Y:-81.70, Z:1.80 [[ 9.85353582e-01 1.66998021e-01 -3.44960891e-02 2.75401438e+02] [-1.66917016e-01 9.85957049e-01 5.23525790e-03 -8.16974592e+01] [ 3.48859399e-02 5.99404142e-04 9.99391121e-01 1.80400756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65232058799995 meters Centerline goodness [0,1] 0.9997175141242938 Centerline is valid? [True, True] Translation: X:275.43, Y:-81.70, Z:1.81 [[ 9.84934153e-01 1.68907482e-01 -3.70806876e-02 2.75432860e+02] [-1.68814620e-01 9.85631661e-01 5.64383250e-03 -8.17024874e+01] [ 3.75011852e-02 7.00958812e-04 9.99296337e-01 1.80576272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.682320588 meters Centerline goodness [0,1] 0.9996217851739788 Centerline is valid? [True, True] Translation: X:275.46, Y:-81.71, Z:1.81 [[ 9.84625943e-01 1.70549749e-01 -3.77430135e-02 2.75464129e+02] [-1.70454208e-01 9.85348771e-01 5.75868912e-03 -8.17069682e+01] [ 3.81721749e-02 7.63300769e-04 9.99270885e-01 1.80693206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71232058799995 meters Centerline goodness [0,1] 0.999378763261015 Centerline is valid? [True, True] Translation: X:275.50, Y:-81.71, Z:1.81 [[ 9.84229652e-01 1.72576505e-01 -3.88502629e-02 2.75495747e+02] [-1.72476277e-01 9.84995748e-01 5.94223268e-03 -8.17111699e+01] [ 3.92928335e-02 8.52227126e-04 9.99227375e-01 1.80789899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.742320588 meters Centerline goodness [0,1] 0.9996220889035854 Centerline is valid? [True, True] Translation: X:275.53, Y:-81.71, Z:1.81 [[ 9.83969303e-01 1.74326186e-01 -3.76137238e-02 2.75527667e+02] [-1.74233004e-01 9.84687568e-01 5.76653289e-03 -8.17147959e+01] [ 3.80430239e-02 8.79460734e-04 9.99275715e-01 1.80763293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77232058799996 meters Centerline goodness [0,1] 0.9994359311836044 Centerline is valid? [True, True] Translation: X:275.56, Y:-81.72, Z:1.81 [[ 9.84066549e-01 1.73948426e-01 -3.68099571e-02 2.75558895e+02] [-1.73858425e-01 9.84754411e-01 5.65661079e-03 -8.17200464e+01] [ 3.72327261e-02 8.33239706e-04 9.99306274e-01 1.80971213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.802320588 meters Centerline goodness [0,1] 0.9994320333207118 Centerline is valid? [True, True] Translation: X:275.59, Y:-81.73, Z:1.81 [[ 9.84144791e-01 1.73335478e-01 -3.76010964e-02 2.75590510e+02] [-1.73240583e-01 9.84862503e-01 5.79226927e-03 -8.17258102e+01] [ 3.80359157e-02 8.13604224e-04 9.99276042e-01 1.81211102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83232058799996 meters Centerline goodness [0,1] 0.9995722840034217 Centerline is valid? [True, True] Translation: X:275.62, Y:-81.73, Z:1.81 [[ 9.84215571e-01 1.73006041e-01 -3.72641780e-02 2.75622277e+02] [-1.72912091e-01 9.84920454e-01 5.75395007e-03 -8.17304978e+01] [ 3.76977192e-02 7.80299677e-04 9.99288884e-01 1.81273836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.862320588 meters Centerline goodness [0,1] 0.9997637274359701 Centerline is valid? [True, True] Translation: X:275.65, Y:-81.73, Z:1.81 [[ 9.84378627e-01 1.72222033e-01 -3.65826448e-02 2.75654070e+02] [-1.72130458e-01 9.85057891e-01 5.66194672e-03 -8.17341529e+01] [ 3.70111349e-02 7.23488064e-04 9.99314591e-01 1.81239933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89232058799996 meters Centerline goodness [0,1] 0.9995243757431629 Centerline is valid? [True, True] Translation: X:275.69, Y:-81.74, Z:1.81 [[ 9.84451140e-01 1.71929004e-01 -3.60051441e-02 2.75686086e+02] [-1.71839625e-01 9.85109103e-01 5.58564659e-03 -8.17380732e+01] [ 3.64293299e-02 6.88314298e-04 9.99335995e-01 1.81260064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.922320588 meters Centerline goodness [0,1] 0.9992957085172317 Centerline is valid? [True, True] Translation: X:275.72, Y:-81.74, Z:1.81 [[ 9.84132754e-01 1.73335211e-01 -3.79160627e-02 2.75717665e+02] [-1.73236574e-01 9.84862589e-01 5.89666643e-03 -8.17443530e+01] [ 3.83642116e-02 7.65346219e-04 9.99263530e-01 1.81491039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95232058799996 meters Centerline goodness [0,1] 0.9991004213815634 Centerline is valid? [True, True] Translation: X:275.75, Y:-81.75, Z:1.82 [[ 9.83875119e-01 1.74618317e-01 -3.87065177e-02 2.75749142e+02] [-1.74515947e-01 9.84635859e-01 6.03409327e-03 -8.17500876e+01] [ 3.91654885e-02 8.18110352e-04 9.99232403e-01 1.81711527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98232058799994 meters Centerline goodness [0,1] 0.9995745284356828 Centerline is valid? [True, True] Translation: X:275.78, Y:-81.76, Z:1.82 [[ 9.83693146e-01 1.75475820e-01 -3.94465601e-02 2.75781236e+02] [-1.75369582e-01 9.84483371e-01 6.16458811e-03 -8.17559393e+01] [ 3.99162186e-02 8.53663662e-04 9.99202666e-01 1.81931274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01232058799997 meters Centerline goodness [0,1] 0.9992917847025495 Centerline is valid? [True, True] Translation: X:275.81, Y:-81.76, Z:1.82 [[ 9.83520759e-01 1.76739435e-01 -3.80800315e-02 2.75813415e+02] [-1.76640775e-01 9.84257302e-01 5.96664182e-03 -8.17599276e+01] [ 3.85350900e-02 8.58170211e-04 9.99256879e-01 1.81865791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04232058799994 meters Centerline goodness [0,1] 0.9996237595823732 Centerline is valid? [True, True] Translation: X:275.85, Y:-81.76, Z:1.82 [[ 9.83315209e-01 1.78079975e-01 -3.71311427e-02 2.75845894e+02] [-1.77986552e-01 9.84015630e-01 5.83324526e-03 -8.17642270e+01] [ 3.75764089e-02 8.72925266e-04 9.99293376e-01 1.81926693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.07232058799997 meters Centerline goodness [0,1] 0.999 Centerline is valid? [True, True] Translation: X:275.88, Y:-81.77, Z:1.82 [[ 9.82750410e-01 1.81517522e-01 -3.53980361e-02 2.75877531e+02] [-1.81434339e-01 9.83387258e-01 5.57510054e-03 -8.17684566e+01] [ 3.58219561e-02 9.43486929e-04 9.99357742e-01 1.81985792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10232058799994 meters Centerline goodness [0,1] 0.9990121830754034 Centerline is valid? [True, True] Translation: X:275.91, Y:-81.77, Z:1.82 [[ 9.82250478e-01 1.84116073e-01 -3.58506578e-02 2.75908621e+02] [-1.84031993e-01 9.82903959e-01 5.65971060e-03 -8.17733664e+01] [ 3.62797972e-02 1.03841455e-03 9.99341132e-01 1.82249944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.13232058799997 meters Centerline goodness [0,1] 0.9987665449025096 Centerline is valid? [True, True] Translation: X:275.94, Y:-81.78, Z:1.83 [[ 9.81698443e-01 1.86807553e-01 -3.70284358e-02 2.75940389e+02] [-1.86719243e-01 9.82395841e-01 5.85964745e-03 -8.17778175e+01] [ 3.74712078e-02 1.16151472e-03 9.99297033e-01 1.82546618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16232058799994 meters Centerline goodness [0,1] 0.9984395687535464 Centerline is valid? [True, True] Translation: X:275.97, Y:-81.78, Z:1.83 [[ 9.81319258e-01 1.88418575e-01 -3.88709888e-02 2.75971722e+02] [-1.88321932e-01 9.82087995e-01 6.16608513e-03 -8.17821910e+01] [ 3.93365364e-02 1.26936161e-03 9.99225213e-01 1.82691396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.192320588 meters Centerline goodness [0,1] 0.9982027148465213 Centerline is valid? [True, True] Translation: X:276.00, Y:-81.79, Z:1.83 [[ 9.80977813e-01 1.90222577e-01 -3.87027279e-02 2.76003034e+02] [-1.90127615e-01 9.81740100e-01 6.15355476e-03 -8.17864826e+01] [ 3.91665650e-02 1.32195667e-03 9.99231821e-01 1.82776219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22232058799995 meters Centerline goodness [0,1] 0.9979667108000757 Centerline is valid? [True, True] Translation: X:276.03, Y:-81.79, Z:1.83 [[ 9.80523592e-01 1.92914717e-01 -3.68428636e-02 2.76034401e+02] [-1.92830082e-01 9.81214602e-01 5.87067227e-03 -8.17897651e+01] [ 3.72832948e-02 1.34807975e-03 9.99303827e-01 1.82783453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.252320588 meters Centerline goodness [0,1] 0.9980945121951219 Centerline is valid? [True, True] Translation: X:276.07, Y:-81.79, Z:1.83 [[ 9.80261103e-01 1.94113219e-01 -3.75263663e-02 2.76065644e+02] [-1.94025790e-01 9.80978124e-01 5.99277084e-03 -8.17932060e+01] [ 3.79758204e-02 1.40660271e-03 9.99277668e-01 1.82961711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28232058799995 meters Centerline goodness [0,1] 0.9977336040417395 Centerline is valid? [True, True] Translation: X:276.10, Y:-81.80, Z:1.83 [[ 9.80278205e-01 1.94441946e-01 -3.53124727e-02 2.76098329e+02] [-1.94364295e-01 9.80913135e-01 5.65172129e-03 -8.17954077e+01] [ 3.57373999e-02 1.32322466e-03 9.99360339e-01 1.82958447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.312320588 meters Centerline goodness [0,1] 0.9977226360487735 Centerline is valid? [True, True] Translation: X:276.13, Y:-81.80, Z:1.83 [[ 9.80335728e-01 1.94307461e-01 -3.44451981e-02 2.76129718e+02] [-1.94233005e-01 9.80939851e-01 5.52697859e-03 -8.17996287e+01] [ 3.48626007e-02 1.27209977e-03 9.99391305e-01 1.83062014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34232058799995 meters Centerline goodness [0,1] 0.9984389043947206 Centerline is valid? [True, True] Translation: X:276.16, Y:-81.81, Z:1.83 [[ 9.80378231e-01 1.94234187e-01 -3.36393223e-02 2.76161107e+02] [-1.94162718e-01 9.80954419e-01 5.40980096e-03 -8.18051570e+01] [ 3.40494102e-02 1.22785116e-03 9.99419396e-01 1.83281114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.372320588 meters Centerline goodness [0,1] 0.9988244145584501 Centerline is valid? [True, True] Translation: X:276.19, Y:-81.81, Z:1.83 [[ 9.80271944e-01 1.94686831e-01 -3.41167669e-02 2.76193758e+02] [-1.94613148e-01 9.80864659e-01 5.49943336e-03 -8.18104252e+01] [ 3.45345982e-02 1.24863119e-03 9.99402723e-01 1.83426295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40232058799995 meters Centerline goodness [0,1] 0.9989986648865153 Centerline is valid? [True, True] Translation: X:276.23, Y:-81.81, Z:1.83 [[ 9.80681621e-01 1.92335679e-01 -3.56447127e-02 2.76226105e+02] [-1.92253137e-01 9.81328457e-01 5.76123621e-03 -8.18119476e+01] [ 3.60872622e-02 1.20286936e-03 9.99347919e-01 1.83373943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.432320588 meters Centerline goodness [0,1] 0.9988957173036297 Centerline is valid? [True, True] Translation: X:276.26, Y:-81.82, Z:1.83 [[ 9.80905560e-01 1.91364750e-01 -3.46960415e-02 2.76257853e+02] [-1.91285496e-01 9.81518349e-01 5.62043986e-03 -8.18155267e+01] [ 3.51303555e-02 1.12372881e-03 9.99382107e-01 1.83353041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46232058799995 meters Centerline goodness [0,1] 0.9993372467335732 Centerline is valid? [True, True] Translation: X:276.29, Y:-81.82, Z:1.84 [[ 9.80814870e-01 1.92053514e-01 -3.34311015e-02 2.76289657e+02] [-1.91979925e-01 9.81383844e-01 5.42759693e-03 -8.18210777e+01] [ 3.38511320e-02 1.09463259e-03 9.99426287e-01 1.83515524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.492320588 meters Centerline goodness [0,1] 0.9995752312629791 Centerline is valid? [True, True] Translation: X:276.32, Y:-81.83, Z:1.84 [[ 9.81129936e-01 1.90783729e-01 -3.13945272e-02 2.76320890e+02] [-1.90717788e-01 9.81631611e-01 5.10943527e-03 -8.18265758e+01] [ 3.17926575e-02 9.74474886e-04 9.99494011e-01 1.83721170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52232058799996 meters Centerline goodness [0,1] 0.9993390614672836 Centerline is valid? [True, True] Translation: X:276.35, Y:-81.83, Z:1.84 [[ 9.80911222e-01 1.91736380e-01 -3.24088689e-02 2.76353309e+02] [-1.91666219e-01 9.81445928e-01 5.28693729e-03 -8.18317869e+01] [ 3.28212506e-02 1.02566925e-03 9.99460711e-01 1.83909036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.552320588 meters Centerline goodness [0,1] 0.9988164559958339 Centerline is valid? [True, True] Translation: X:276.38, Y:-81.84, Z:1.84 [[ 9.80666686e-01 1.92689453e-01 -3.41119606e-02 2.76384840e+02] [-1.92611781e-01 9.81259175e-01 5.57976234e-03 -8.18361674e+01] [ 3.45478357e-02 1.09847845e-03 9.99402442e-01 1.83861290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58232058799996 meters Centerline goodness [0,1] 0.9990051165434907 Centerline is valid? [True, True] Translation: X:276.42, Y:-81.84, Z:1.84 [[ 9.80652195e-01 1.92832021e-01 -3.37206893e-02 2.76416784e+02] [-1.92755782e-01 9.81231190e-01 5.52815912e-03 -8.18409660e+01] [ 3.41537982e-02 1.07865646e-03 9.99416007e-01 1.83889403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.612320588 meters Centerline goodness [0,1] 0.9996649114408808 Centerline is valid? [True, True] Translation: X:276.45, Y:-81.85, Z:1.84 [[ 9.81113054e-01 1.91119370e-01 -2.98422701e-02 2.76448314e+02] [-1.91058533e-01 9.81566398e-01 4.90349634e-03 -8.18457618e+01] [ 3.02293227e-02 8.90736059e-04 9.99542593e-01 1.83908691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64232058799996 meters Centerline goodness [0,1] 0.9994312796208531 Centerline is valid? [True, True] Translation: X:276.48, Y:-81.85, Z:1.84 [[ 9.81252203e-01 1.90648548e-01 -2.82355344e-02 2.76479311e+02] [-1.90593610e-01 9.81658016e-01 4.64929190e-03 -8.18517621e+01] [ 2.86040194e-02 8.19384515e-04 9.99590485e-01 1.84041883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.672320588 meters Centerline goodness [0,1] 0.9997164461247637 Centerline is valid? [True, True] Translation: X:276.51, Y:-81.86, Z:1.84 [[ 9.81466929e-01 1.89398840e-01 -2.91675679e-02 2.76510820e+02] [-1.89339334e-01 9.81899915e-01 4.81391757e-03 -8.18577185e+01] [ 2.95513829e-02 7.97866999e-04 9.99562944e-01 1.84278229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70232058799996 meters Centerline goodness [0,1] 0.9997632351548442 Centerline is valid? [True, True] Translation: X:276.54, Y:-81.86, Z:1.84 [[ 9.82232513e-01 1.85072845e-01 -3.11019766e-02 2.76542350e+02] [-1.85002626e-01 9.82724556e-01 5.14550748e-03 -8.18624795e+01] [ 3.15169699e-02 6.99862604e-04 9.99502972e-01 1.84378963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73232058799994 meters Centerline goodness [0,1] 0.9996689054961687 Centerline is valid? [True, True] Translation: X:276.57, Y:-81.87, Z:1.84 [[ 9.82826042e-01 1.81824634e-01 -3.15083199e-02 2.76574412e+02] [-1.81750518e-01 9.83330795e-01 5.22462445e-03 -8.18668030e+01] [ 3.19330667e-02 5.91756503e-04 9.99489834e-01 1.84060787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76232058799997 meters Centerline goodness [0,1] 0.9998581761452277 Centerline is valid? [True, True] Translation: X:276.61, Y:-81.87, Z:1.84 [[ 9.83118955e-01 1.80589369e-01 -2.94040911e-02 2.76606006e+02] [-1.80523970e-01 9.83558450e-01 4.88580658e-03 -8.18725766e+01] [ 2.98029670e-02 5.04814215e-04 9.99555665e-01 1.84070640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79232058799994 meters Centerline goodness [0,1] 0.9999529123699205 Centerline is valid? [True, True] Translation: X:276.64, Y:-81.88, Z:1.84 [[ 9.83335366e-01 1.79676274e-01 -2.77127131e-02 2.76637312e+02] [-1.79617552e-01 9.83725695e-01 4.61436148e-03 -8.18783554e+01] [ 2.80907993e-02 4.40224866e-04 9.99605279e-01 1.84163129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.67, Y:-81.88, Z:1.84 [[ 9.84042307e-01 1.76130945e-01 -2.52711091e-02 2.76668236e+02] [-1.76080732e-01 9.84366700e-01 4.21616487e-03 -8.18847413e+01] [ 2.56186354e-02 3.00870781e-04 9.99671744e-01 1.84387791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85232058799994 meters Centerline goodness [0,1] 0.9999530868830925 Centerline is valid? [True, True] Translation: X:276.70, Y:-81.89, Z:1.85 [[ 9.84048628e-01 1.75779919e-01 -2.73809600e-02 2.76699360e+02] [-1.75720525e-01 9.84429442e-01 4.57930323e-03 -8.18914451e+01] [ 2.77595728e-02 3.05139614e-04 9.99614582e-01 1.84660523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.73, Y:-81.90, Z:1.85 [[ 9.84329537e-01 1.74043953e-01 -2.83560264e-02 2.76729871e+02] [-1.73979219e-01 9.84737852e-01 4.75329713e-03 -8.19010378e+01] [ 2.87505352e-02 2.54548566e-04 9.99586586e-01 1.84687450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.76, Y:-81.91, Z:1.85 [[ 9.84478194e-01 1.73265465e-01 -2.79600417e-02 2.76761757e+02] [-1.73201928e-01 9.84875135e-01 4.69695678e-03 -8.19070645e+01] [ 2.83509703e-02 2.18681604e-04 9.99598007e-01 1.84751540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.79, Y:-81.91, Z:1.85 [[ 9.84406335e-01 1.73673578e-01 -2.79580974e-02 2.76793510e+02] [-1.73609877e-01 9.84803250e-01 4.70849996e-03 -8.19120492e+01] [ 2.83509672e-02 2.18724673e-04 9.99598007e-01 1.84856560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97232058799995 meters Centerline goodness [0,1] 0.9998574889553941 Centerline is valid? [True, True] Translation: X:276.83, Y:-81.92, Z:1.85 [[ 9.84053409e-01 1.75803320e-01 -2.70570087e-02 2.76825129e+02] [-1.75744160e-01 9.84425277e-01 4.56784177e-03 -8.19184864e+01] [ 2.74386450e-02 2.60111000e-04 9.99623456e-01 1.84935029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.002320588 meters Centerline goodness [0,1] 0.9998128917578819 Centerline is valid? [True, True] Translation: X:276.86, Y:-81.93, Z:1.85 [[ 9.83507126e-01 1.79054690e-01 -2.55568271e-02 2.76856032e+02] [-1.79002735e-01 9.83839070e-01 4.32505930e-03 -8.19261775e+01] [ 2.59182272e-02 3.21015302e-04 9.99664015e-01 1.85023920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.89, Y:-81.93, Z:1.85 [[ 9.83377336e-01 1.79663876e-01 -2.62660932e-02 2.76887657e+02] [-1.79608953e-01 9.83728000e-01 4.45483373e-03 -8.19323608e+01] [ 2.66390640e-02 3.36842983e-04 9.99645060e-01 1.85256760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.062320588 meters Centerline goodness [0,1] 0.9998586172769688 Centerline is valid? [True, True] Translation: X:276.92, Y:-81.94, Z:1.85 [[ 9.82738848e-01 1.83009807e-01 -2.70512114e-02 2.76918907e+02] [-1.82952485e-01 9.83110994e-01 4.60014633e-03 -8.19388026e+01] [ 2.74362152e-02 4.28343837e-04 9.99623464e-01 1.85303212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.95, Y:-81.94, Z:1.85 [[ 9.82371224e-01 1.84806056e-01 -2.81691236e-02 2.76950999e+02] [-1.84744321e-01 9.82774890e-01 4.80124046e-03 -8.19428167e+01] [ 2.85712057e-02 4.87485143e-04 9.99591641e-01 1.85186149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.98, Y:-81.95, Z:1.85 [[ 9.82308978e-01 1.85151455e-01 -2.80715389e-02 2.76983903e+02] [-1.85089999e-01 9.82709877e-01 4.79474563e-03 -8.19463710e+01] [ 2.84739327e-02 4.85839435e-04 9.99594417e-01 1.85167390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15232058799995 meters Centerline goodness [0,1] 0.9999529123699205 Centerline is valid? [True, True] Translation: X:277.01, Y:-81.95, Z:1.85 [[ 9.82264927e-01 1.85914295e-01 -2.43205307e-02 2.77014994e+02] [-1.85868180e-01 9.82565870e-01 4.16301117e-03 -8.19517733e+01] [ 2.46704867e-02 4.31232924e-04 9.99695544e-01 1.85248155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.05, Y:-81.96, Z:1.85 [[ 9.82345775e-01 1.85498887e-01 -2.42268866e-02 2.77047445e+02] [-1.85452791e-01 9.82644389e-01 4.15549334e-03 -8.19567592e+01] [ 2.45772535e-02 4.10812401e-04 9.99697849e-01 1.85495935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.08, Y:-81.96, Z:1.86 [[ 9.82321753e-01 1.85649723e-01 -2.40448390e-02 2.77079618e+02] [-1.85604116e-01 9.82615906e-01 4.13438836e-03 -8.19618448e+01] [ 2.43943894e-02 4.01521469e-04 9.99702332e-01 1.85503965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.242320588 meters Centerline goodness [0,1] 0.9999528057010713 Centerline is valid? [True, True] Translation: X:277.11, Y:-81.97, Z:1.86 [[ 9.82008759e-01 1.87021138e-01 -2.61130472e-02 2.77111349e+02] [-1.86967506e-01 9.82355781e-01 4.50227702e-03 -8.19675897e+01] [ 2.64943238e-02 4.61015830e-04 9.99648857e-01 1.85651074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27232058799996 meters Centerline goodness [0,1] 0.999953007518797 Centerline is valid? [True, True] Translation: X:277.14, Y:-81.97, Z:1.86 [[ 9.81548242e-01 1.89517343e-01 -2.54209580e-02 2.77142686e+02] [-1.89467074e-01 9.81877244e-01 4.39372295e-03 -8.19733218e+01] [ 2.57929469e-02 5.03783487e-04 9.99667180e-01 1.85704621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.302320588 meters Centerline goodness [0,1] 0.9999050332383665 Centerline is valid? [True, True] Translation: X:277.17, Y:-81.98, Z:1.86 [[ 9.81214069e-01 1.91210307e-01 -2.56430989e-02 2.77174511e+02] [-1.91159482e-01 9.81548941e-01 4.44176605e-03 -8.19778295e+01] [ 2.60192680e-02 5.43598148e-04 9.99661294e-01 1.85908247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33232058799996 meters Centerline goodness [0,1] 0.9998588567395907 Centerline is valid? [True, True] Translation: X:277.21, Y:-81.98, Z:1.86 [[ 9.80982486e-01 1.92577309e-01 -2.42351239e-02 2.77206591e+02] [-1.92532126e-01 9.81281656e-01 4.20618771e-03 -8.19813824e+01] [ 2.45914988e-02 5.39843433e-04 9.99697438e-01 1.85944588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.362320588 meters Centerline goodness [0,1] 0.9998567608861727 Centerline is valid? [True, True] Translation: X:277.24, Y:-81.99, Z:1.86 [[ 9.80728189e-01 1.93748055e-01 -2.51775943e-02 2.77238963e+02] [-1.93699430e-01 9.81051147e-01 4.37931614e-03 -8.19863376e+01] [ 2.55489917e-02 5.81966863e-04 9.99673402e-01 1.86073738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39232058799996 meters Centerline goodness [0,1] 0.9995713469232235 Centerline is valid? [True, True] Translation: X:277.27, Y:-81.99, Z:1.86 [[ 9.80460561e-01 1.95024978e-01 -2.57361097e-02 2.77270978e+02] [-1.94974316e-01 9.80798081e-01 4.48774550e-03 -8.19921456e+01] [ 2.61171495e-02 6.17822913e-04 9.99658698e-01 1.86110981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.422320588 meters Centerline goodness [0,1] 0.999811773563597 Centerline is valid? [True, True] Translation: X:277.30, Y:-82.00, Z:1.86 [[ 9.80134773e-01 1.96704638e-01 -2.53596708e-02 2.77302144e+02] [-1.96655728e-01 9.80462581e-01 4.43301519e-03 -8.19989419e+01] [ 2.57362030e-02 6.42172186e-04 9.99668563e-01 1.86294880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45232058799996 meters Centerline goodness [0,1] 0.9999055400746233 Centerline is valid? [True, True] Translation: X:277.33, Y:-82.00, Z:1.87 [[ 9.79930085e-01 1.97612881e-01 -2.61950103e-02 2.77334126e+02] [-1.97560758e-01 9.80279903e-01 4.58887582e-03 -8.20039806e+01] [ 2.65852632e-02 6.78328635e-04 9.99646319e-01 1.86632610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48232058799994 meters Centerline goodness [0,1] 0.9992954107755179 Centerline is valid? [True, True] Translation: X:277.37, Y:-82.01, Z:1.87 [[ 9.79869101e-01 1.97912929e-01 -2.62110264e-02 2.77366275e+02] [-1.97860552e-01 9.80219371e-01 4.60284833e-03 -8.20080847e+01] [ 2.66035190e-02 6.75939302e-04 9.99645835e-01 1.86674587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51232058799997 meters Centerline goodness [0,1] 0.99985871049781 Centerline is valid? [True, True] Translation: X:277.40, Y:-82.01, Z:1.87 [[ 9.79935020e-01 1.97301223e-01 -2.82769149e-02 2.77398059e+02] [-1.97239627e-01 9.80342665e-01 4.97892136e-03 -8.20105041e+01] [ 2.87034134e-02 6.98308752e-04 9.99587728e-01 1.86611060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54232058799994 meters Centerline goodness [0,1] 0.9995777027027027 Centerline is valid? [True, True] Translation: X:277.43, Y:-82.02, Z:1.87 [[ 9.79741933e-01 1.97907302e-01 -3.06340534e-02 2.77429814e+02] [-1.97834921e-01 9.80220443e-01 5.40624155e-03 -8.20171149e+01] [ 3.10980601e-02 7.63763998e-04 9.99516047e-01 1.86876270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.57232058799997 meters Centerline goodness [0,1] 0.9997647169544963 Centerline is valid? [True, True] Translation: X:277.46, Y:-82.02, Z:1.87 [[ 9.79681413e-01 1.98136810e-01 -3.10826840e-02 2.77462194e+02] [-1.98061982e-01 9.80174073e-01 5.49890959e-03 -8.20235381e+01] [ 3.15559773e-02 7.69118488e-04 9.99501690e-01 1.87015824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60232058799994 meters Centerline goodness [0,1] 0.9994733062006225 Centerline is valid? [True, True] Translation: X:277.49, Y:-82.03, Z:1.87 [[ 9.79781505e-01 1.97761698e-01 -3.03069886e-02 2.77493656e+02] [-1.97689992e-01 9.80249858e-01 5.37429924e-03 -8.20299776e+01] [ 3.07712519e-02 7.25749338e-04 9.99526189e-01 1.87203184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.63232058799997 meters Centerline goodness [0,1] 0.9995747495747496 Centerline is valid? [True, True] Translation: X:277.53, Y:-82.04, Z:1.87 [[ 9.79703188e-01 1.98238577e-01 -2.97175068e-02 2.77525448e+02] [-1.98169530e-01 9.80153536e-01 5.28046997e-03 -8.20358810e+01] [ 3.01745122e-02 7.15811091e-04 9.99544389e-01 1.87326777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66232058799994 meters Centerline goodness [0,1] 0.9993324750870166 Centerline is valid? [True, True] Translation: X:277.56, Y:-82.04, Z:1.87 [[ 9.79706017e-01 1.98146433e-01 -3.02342761e-02 2.77557405e+02] [-1.98074514e-01 9.80172170e-01 5.38549631e-03 -8.20409936e+01] [ 3.07019129e-02 7.12436391e-04 9.99528331e-01 1.87490209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.692320588 meters Centerline goodness [0,1] 0.9996673952294973 Centerline is valid? [True, True] Translation: X:277.59, Y:-82.05, Z:1.88 [[ 9.79626716e-01 1.98397210e-01 -3.11455324e-02 2.77589124e+02] [-1.98320582e-01 9.80121429e-01 5.56150602e-03 -8.20463170e+01] [ 3.16297910e-02 7.28600236e-04 9.99499387e-01 1.87669186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72232058799995 meters Centerline goodness [0,1] 0.999665839220928 Centerline is valid? [True, True] Translation: X:277.62, Y:-82.05, Z:1.88 [[ 9.79553825e-01 1.98868824e-01 -3.04219299e-02 2.77621092e+02] [-1.98795554e-01 9.80025857e-01 5.44492009e-03 -8.20512876e+01] [ 3.08971028e-02 7.14152091e-04 9.99522315e-01 1.87626112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.752320588 meters Centerline goodness [0,1] 0.9997177931423734 Centerline is valid? [True, True] Translation: X:277.65, Y:-82.06, Z:1.88 [[ 9.79538486e-01 1.99120128e-01 -2.92494213e-02 2.77653486e+02] [-1.99052155e-01 9.79974851e-01 5.24698753e-03 -8.20567475e+01] [ 2.97084782e-02 6.82534132e-04 9.99558373e-01 1.87624378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78232058799995 meters Centerline goodness [0,1] 0.9994821823659559 Centerline is valid? [True, True] Translation: X:277.69, Y:-82.06, Z:1.88 [[ 9.79401926e-01 1.99895096e-01 -2.85274995e-02 2.77685174e+02] [-1.99830423e-01 9.79817071e-01 5.12931001e-03 -8.20630496e+01] [ 2.89770549e-02 6.77006187e-04 9.99579848e-01 1.87802066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.812320588 meters Centerline goodness [0,1] 0.9992444276539478 Centerline is valid? [True, True] Translation: X:277.72, Y:-82.07, Z:1.88 [[ 9.79177694e-01 2.00857560e-01 -2.94496861e-02 2.77717375e+02] [-2.00788683e-01 9.79620196e-01 5.30811218e-03 -8.20684342e+01] [ 2.99156817e-02 7.15578636e-04 9.99552170e-01 1.87925316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84232058799995 meters Centerline goodness [0,1] 0.9991486141330054 Centerline is valid? [True, True] Translation: X:277.75, Y:-82.07, Z:1.88 [[ 9.78991805e-01 2.01674645e-01 -3.00396848e-02 2.77749079e+02] [-2.01602966e-01 9.79452289e-01 5.42749696e-03 -8.20742838e+01] [ 3.05170266e-02 7.42614523e-04 9.99533971e-01 1.88047570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.872320588 meters Centerline goodness [0,1] 0.9990837191358025 Centerline is valid? [True, True] Translation: X:277.78, Y:-82.08, Z:1.88 [[ 9.79320524e-01 2.00157214e-01 -2.94686332e-02 2.77780650e+02] [-2.00087176e-01 9.79763564e-01 5.33678440e-03 -8.20784960e+01] [ 2.99404890e-02 6.69873079e-04 9.99551459e-01 1.88113490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90232058799995 meters Centerline goodness [0,1] 0.9993855751961433 Centerline is valid? [True, True] Translation: X:277.81, Y:-82.08, Z:1.88 [[ 9.79085399e-01 2.01368872e-01 -2.90234326e-02 2.77812107e+02] [-2.01301151e-01 9.79515241e-01 5.26681297e-03 -8.20848020e+01] [ 2.94894667e-02 6.85790711e-04 9.99564856e-01 1.88146423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.932320588 meters Centerline goodness [0,1] 0.9995283463824167 Centerline is valid? [True, True] Translation: X:277.84, Y:-82.09, Z:1.88 [[ 9.79263770e-01 2.00639908e-01 -2.80374032e-02 2.77844316e+02] [-2.00576101e-01 9.79664856e-01 5.09881763e-03 -8.20897219e+01] [ 2.84902849e-02 6.30545644e-04 9.99593871e-01 1.88207875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96232058799995 meters Centerline goodness [0,1] 0.9996711144521706 Centerline is valid? [True, True] Translation: X:277.88, Y:-82.09, Z:1.88 [[ 9.79352227e-01 2.00124824e-01 -2.86229042e-02 2.77875649e+02] [-2.00058013e-01 9.79770210e-01 5.20843694e-03 -8.20940128e+01] [ 2.90862063e-02 6.25347008e-04 9.99576711e-01 1.88341730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.992320588 meters Centerline goodness [0,1] 0.9997646615833569 Centerline is valid? [True, True] Translation: X:277.91, Y:-82.10, Z:1.89 [[ 9.79383797e-01 1.99766624e-01 -3.00112229e-02 2.77906616e+02] [-1.99692646e-01 9.79843301e-01 5.47284384e-03 -8.20998810e+01] [ 3.04995873e-02 6.33005932e-04 9.99534579e-01 1.88618411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02232058799996 meters Centerline goodness [0,1] 0.9996231570022139 Centerline is valid? [True, True] Translation: X:277.94, Y:-82.11, Z:1.89 [[ 9.79158984e-01 2.00749319e-01 -3.07797724e-02 2.77938787e+02] [-2.00671622e-01 9.79642416e-01 5.62468483e-03 -8.21058327e+01] [ 3.12823222e-02 6.69166157e-04 9.99510364e-01 1.88762343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.052320588 meters Centerline goodness [0,1] 0.9994324094220036 Centerline is valid? [True, True] Translation: X:277.97, Y:-82.11, Z:1.89 [[ 9.79031455e-01 2.01508956e-01 -2.98588368e-02 2.77970776e+02] [-2.01435818e-01 9.79486449e-01 5.46870968e-03 -8.21112373e+01] [ 3.03483201e-02 6.60600430e-04 9.99539165e-01 1.88874081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08232058799996 meters Centerline goodness [0,1] 0.9993364614436703 Centerline is valid? [True, True] Translation: X:278.00, Y:-82.12, Z:1.89 [[ 9.78606979e-01 2.03309345e-01 -3.15228762e-02 2.78002344e+02] [-2.03228304e-01 9.79114273e-01 5.78770038e-03 -8.21164647e+01] [ 3.20411916e-02 7.42456681e-04 9.99486273e-01 1.89095986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.112320588 meters Centerline goodness [0,1] 0.9994828639932303 Centerline is valid? [True, True] Translation: X:278.03, Y:-82.12, Z:1.89 [[ 9.78219980e-01 2.05086564e-01 -3.20183094e-02 2.78033501e+02] [-2.05003510e-01 9.78743510e-01 5.89079758e-03 -8.21217859e+01] [ 3.25458360e-02 8.01369940e-04 9.99469923e-01 1.89210307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14232058799996 meters Centerline goodness [0,1] 0.9990483441187666 Centerline is valid? [True, True] Translation: X:278.07, Y:-82.13, Z:1.89 [[ 9.77788392e-01 2.07085178e-01 -3.23355892e-02 2.78065021e+02] [-2.07001163e-01 9.78322535e-01 5.96129347e-03 -8.21264162e+01] [ 3.28691311e-02 8.64621006e-04 9.99459290e-01 1.89325081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.172320588 meters Centerline goodness [0,1] 0.999244499008405 Centerline is valid? [True, True] Translation: X:278.10, Y:-82.13, Z:1.89 [[ 9.77712613e-01 2.07598974e-01 -3.13163380e-02 2.78097056e+02] [-2.07520079e-01 9.78213655e-01 5.78461946e-03 -8.21315927e+01] [ 3.18349506e-02 8.43073526e-04 9.99492784e-01 1.89369430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20232058799996 meters Centerline goodness [0,1] 0.9990976443768997 Centerline is valid? [True, True] Translation: X:278.13, Y:-82.14, Z:1.89 [[ 9.77769316e-01 2.07826906e-01 -2.78413689e-02 2.78129473e+02] [-2.07764349e-01 9.78165334e-01 5.15312293e-03 -8.21364045e+01] [ 2.83044195e-02 7.45878411e-04 9.99599071e-01 1.89365504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23232058799994 meters Centerline goodness [0,1] 0.9991514637250742 Centerline is valid? [True, True] Translation: X:278.16, Y:-82.14, Z:1.89 [[ 9.77596387e-01 2.08676345e-01 -2.75588016e-02 2.78161943e+02] [-2.08615062e-01 9.77984468e-01 5.11242935e-03 -8.21423707e+01] [ 2.80189230e-02 7.51288651e-04 9.99607111e-01 1.89496253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26232058799997 meters Centerline goodness [0,1] 0.9992008273787139 Centerline is valid? [True, True] Translation: X:278.19, Y:-82.15, Z:1.90 [[ 9.77579671e-01 2.08320517e-01 -3.06683795e-02 2.78193718e+02] [-2.08243991e-01 9.78060277e-01 5.70394299e-03 -8.21463232e+01] [ 3.11837721e-02 8.10447032e-04 9.99513339e-01 1.89672626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29232058799994 meters Centerline goodness [0,1] 0.9989625577666698 Centerline is valid? [True, True] Translation: X:278.23, Y:-82.15, Z:1.90 [[ 9.77545490e-01 2.08437106e-01 -3.09642848e-02 2.78226323e+02] [-2.08358789e-01 9.78035437e-01 5.77057231e-03 -8.21503743e+01] [ 3.14869692e-02 8.10683931e-04 9.99503834e-01 1.89716941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32232058799997 meters Centerline goodness [0,1] 0.999290176036343 Centerline is valid? [True, True] Translation: X:278.26, Y:-82.16, Z:1.90 [[ 9.77400290e-01 2.09093218e-01 -3.11239269e-02 2.78258785e+02] [-2.09014001e-01 9.77895367e-01 5.81367001e-03 -8.21553308e+01] [ 3.16515429e-02 8.23053725e-04 9.99498626e-01 1.89738470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35232058799994 meters Centerline goodness [0,1] 0.9992920855160696 Centerline is valid? [True, True] Translation: X:278.29, Y:-82.16, Z:1.90 [[ 9.77323235e-01 2.09501478e-01 -3.07965105e-02 2.78290293e+02] [-2.09423711e-01 9.77807991e-01 5.76560543e-03 -8.21625970e+01] [ 3.13209769e-02 8.14659364e-04 9.99509046e-01 1.90029289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38232058799997 meters Centerline goodness [0,1] 0.9993306879571641 Centerline is valid? [True, True] Translation: X:278.32, Y:-82.17, Z:1.90 [[ 9.77616865e-01 2.08278357e-01 -2.97555214e-02 2.78321230e+02] [-2.08204818e-01 9.78069314e-01 5.58309702e-03 -8.21688372e+01] [ 3.02658007e-02 7.37113109e-04 9.99541614e-01 1.90205800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41232058799994 meters Centerline goodness [0,1] 0.9994814256081463 Centerline is valid? [True, True] Translation: X:278.35, Y:-82.17, Z:1.90 [[ 9.77422052e-01 2.08860811e-01 -3.19889714e-02 2.78353692e+02] [-2.08775711e-01 9.77945051e-01 6.01497678e-03 -8.21747318e+01] [ 3.25397492e-02 7.99349295e-04 9.99470122e-01 1.90356659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.442320588 meters Centerline goodness [0,1] 0.9991970147843748 Centerline is valid? [True, True] Translation: X:278.39, Y:-82.18, Z:1.90 [[ 9.77183007e-01 2.09756692e-01 -3.33991012e-02 2.78385742e+02] [-2.09663940e-01 9.77753244e-01 6.29497668e-03 -8.21799815e+01] [ 3.39764930e-02 8.51242921e-04 9.99422270e-01 1.90396130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47232058799995 meters Centerline goodness [0,1] 0.9991041538969305 Centerline is valid? [True, True] Translation: X:278.42, Y:-82.19, Z:1.91 [[ 9.76987105e-01 2.10592840e-01 -3.38652209e-02 2.78418094e+02] [-2.10497478e-01 9.77573467e-01 6.39746242e-03 -8.21852692e+01] [ 3.44530012e-02 8.78305303e-04 9.99405933e-01 1.90622692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.502320588 meters Centerline goodness [0,1] 0.9989606953892668 Centerline is valid? [True, True] Translation: X:278.45, Y:-82.19, Z:1.91 [[ 9.76614809e-01 2.12418325e-01 -3.31959443e-02 2.78449099e+02] [-2.12327283e-01 9.77178400e-01 6.28480912e-03 -8.21904013e+01] [ 3.37733684e-02 9.10567000e-04 9.99429102e-01 1.90729324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53232058799995 meters Centerline goodness [0,1] 0.9992954107755179 Centerline is valid? [True, True] Translation: X:278.48, Y:-82.20, Z:1.91 [[ 9.76404757e-01 2.13518241e-01 -3.23065097e-02 2.78480925e+02] [-2.13432256e-01 9.76938651e-01 6.12731782e-03 -8.21950409e+01] [ 3.28697722e-02 9.12508974e-04 9.99459226e-01 1.90756868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.562320588 meters Centerline goodness [0,1] 0.9988207547169812 Centerline is valid? [True, True] Translation: X:278.51, Y:-82.20, Z:1.91 [[ 9.75586092e-01 2.17184078e-01 -3.26014409e-02 2.78511879e+02] [-2.17098151e-01 9.76130118e-01 6.19554280e-03 -8.22021467e+01] [ 3.31688216e-02 1.03342714e-03 9.99449229e-01 1.90902444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59232058799995 meters Centerline goodness [0,1] 0.998908504176158 Centerline is valid? [True, True] Translation: X:278.54, Y:-82.21, Z:1.91 [[ 9.75213876e-01 2.18790641e-01 -3.29932083e-02 2.78542591e+02] [-2.18703136e-01 9.75771218e-01 6.28242935e-03 -8.22099330e+01] [ 3.35683598e-02 1.08900585e-03 9.99435831e-01 1.91070368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.622320588 meters Centerline goodness [0,1] 0.9987798010137038 Centerline is valid? [True, True] Translation: X:278.57, Y:-82.22, Z:1.91 [[ 9.74904328e-01 2.20271683e-01 -3.22790414e-02 2.78574402e+02] [-2.20188348e-01 9.75437936e-01 6.15823981e-03 -8.22153938e+01] [ 3.28426874e-02 1.10377416e-03 9.99459924e-01 1.91166919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65232058799995 meters Centerline goodness [0,1] 0.9990549544015499 Centerline is valid? [True, True] Translation: X:278.61, Y:-82.22, Z:1.91 [[ 9.74494953e-01 2.22080286e-01 -3.22479954e-02 2.78605928e+02] [-2.21997705e-01 9.75027702e-01 6.16435797e-03 -8.22197590e+01] [ 3.28116713e-02 1.15184525e-03 9.99460888e-01 1.91333823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.682320588 meters Centerline goodness [0,1] 0.9992446060148246 Centerline is valid? [True, True] Translation: X:278.64, Y:-82.22, Z:1.91 [[ 9.73812907e-01 2.25343990e-01 -3.01414639e-02 2.78637930e+02] [-2.25273073e-01 9.74278564e-01 5.77253123e-03 -8.22228343e+01] [ 3.06669874e-02 1.16869480e-03 9.99528974e-01 1.91267859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71232058799995 meters Centerline goodness [0,1] 0.9984482272171541 Centerline is valid? [True, True] Translation: X:278.67, Y:-82.23, Z:1.92 [[ 9.73484185e-01 2.26494843e-01 -3.20722193e-02 2.78668969e+02] [-2.26415036e-01 9.74011526e-01 6.14646995e-03 -8.22281004e+01] [ 3.26308550e-02 1.27814140e-03 9.99466655e-01 1.91558410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.742320588 meters Centerline goodness [0,1] 0.9978214539426947 Centerline is valid? [True, True] Translation: X:278.70, Y:-82.23, Z:1.92 [[ 9.73093238e-01 2.27862745e-01 -3.41777769e-02 2.78700269e+02] [-2.27772485e-01 9.73692259e-01 6.56350429e-03 -8.22339419e+01] [ 3.47742149e-02 1.39785554e-03 9.99394217e-01 1.91948576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77232058799996 meters Centerline goodness [0,1] 0.9979130104823791 Centerline is valid? [True, True] Translation: X:278.73, Y:-82.24, Z:1.92 [[ 9.72893059e-01 2.28712441e-01 -3.42011086e-02 2.78732079e+02] [-2.28622138e-01 9.73492995e-01 6.58071593e-03 -8.22390541e+01] [ 3.47996312e-02 1.41679771e-03 9.99393305e-01 1.92057339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.802320588 meters Centerline goodness [0,1] 0.9984276729559748 Centerline is valid? [True, True] Translation: X:278.76, Y:-82.24, Z:1.92 [[ 9.72667869e-01 2.29321536e-01 -3.64534031e-02 2.78763500e+02] [-2.29218840e-01 9.73349539e-01 7.02842649e-03 -8.22437246e+01] [ 3.70936726e-02 1.51948216e-03 9.99310638e-01 1.92235666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83232058799996 meters Centerline goodness [0,1] 0.9984276729559748 Centerline is valid? [True, True] Translation: X:278.80, Y:-82.25, Z:1.92 [[ 9.72573477e-01 2.29721936e-01 -3.64508320e-02 2.78795152e+02] [-2.29619024e-01 9.73255115e-01 7.04173728e-03 -8.22494908e+01] [ 3.70936002e-02 1.52119753e-03 9.99310638e-01 1.92340622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.862320588 meters Centerline goodness [0,1] 0.9974442709072838 Centerline is valid? [True, True] Translation: X:278.83, Y:-82.25, Z:1.92 [[ 9.72875294e-01 2.28510980e-01 -3.60054878e-02 2.78827333e+02] [-2.28409190e-01 9.73540267e-01 6.97067701e-03 -8.22529051e+01] [ 3.66456684e-02 1.44238486e-03 9.99327281e-01 1.92316229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89232058799996 meters Centerline goodness [0,1] 0.9979925437338687 Centerline is valid? [True, True] Translation: X:278.86, Y:-82.26, Z:1.92 [[ 9.73158398e-01 2.27454547e-01 -3.50308572e-02 2.78858374e+02] [-2.27357055e-01 9.73787760e-01 6.79474124e-03 -8.22579553e+01] [ 3.56581147e-02 1.35215303e-03 9.99363132e-01 1.92450750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.922320588 meters Centerline goodness [0,1] 0.998722619103941 Centerline is valid? [True, True] Translation: X:278.89, Y:-82.26, Z:1.92 [[ 9.73702509e-01 2.25526966e-01 -3.22647205e-02 2.78889908e+02] [-2.25442844e-01 9.74236224e-01 6.26928841e-03 -8.22618240e+01] [ 3.28473531e-02 1.16942850e-03 9.99459696e-01 1.92485972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95232058799996 meters Centerline goodness [0,1] 0.9982835073666142 Centerline is valid? [True, True] Translation: X:278.92, Y:-82.27, Z:1.93 [[ 9.73781328e-01 2.25282623e-01 -3.15858504e-02 2.78922103e+02] [-2.25201504e-01 9.74292807e-01 6.14893992e-03 -8.22668512e+01] [ 3.21591162e-02 1.12545814e-03 9.99482128e-01 1.92566593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98232058799994 meters Centerline goodness [0,1] 0.9989129407316382 Centerline is valid? [True, True] Translation: X:278.95, Y:-82.27, Z:1.93 [[ 9.73533146e-01 2.26269477e-01 -3.21766503e-02 2.78953896e+02] [-2.26185686e-01 9.74064034e-01 6.26844400e-03 -8.22712901e+01] [ 3.27604753e-02 1.17535970e-03 9.99462540e-01 1.92591697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01232058799997 meters Centerline goodness [0,1] 0.9987206216830933 Centerline is valid? [True, True] Translation: X:278.99, Y:-82.28, Z:1.93 [[ 9.73299212e-01 2.27032583e-01 -3.38356327e-02 2.78986185e+02] [-2.26939927e-01 9.73886361e-01 6.60498464e-03 -8.22772951e+01] [ 3.44516080e-02 1.25002969e-03 9.99405585e-01 1.92833347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04232058799994 meters Centerline goodness [0,1] 0.9978665908121178 Centerline is valid? [True, True] Translation: X:279.02, Y:-82.28, Z:1.93 [[ 9.72960423e-01 2.28456242e-01 -3.39964710e-02 2.79017658e+02] [-2.28363070e-01 9.73553324e-01 6.65082313e-03 -8.22831998e+01] [ 3.46167995e-02 1.29255079e-03 9.99399823e-01 1.93192659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.07232058799997 meters Centerline goodness [0,1] 0.9982910851609228 Centerline is valid? [True, True] Translation: X:279.05, Y:-82.29, Z:1.93 [[ 9.72632915e-01 2.30001271e-01 -3.29337056e-02 2.79048975e+02] [-2.29914318e-01 9.73189469e-01 6.45480957e-03 -8.22883540e+01] [ 3.35353499e-02 1.29377024e-03 9.99436695e-01 1.93234608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10232058799994 meters Centerline goodness [0,1] 0.9979937903033198 Centerline is valid? [True, True] Translation: X:279.08, Y:-82.29, Z:1.93 [[ 9.72298687e-01 2.31520115e-01 -3.21512109e-02 2.79080389e+02] [-2.31437691e-01 9.72829245e-01 6.31313230e-03 -8.22937696e+01] [ 3.27392553e-02 1.30275177e-03 9.99463078e-01 1.93262275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.13232058799997 meters Centerline goodness [0,1] 0.9975195573363862 Centerline is valid? [True, True] Translation: X:279.11, Y:-82.30, Z:1.93 [[ 9.71592504e-01 2.34508508e-01 -3.18397052e-02 2.79111111e+02] [-2.34428891e-01 9.72113090e-01 6.26378005e-03 -8.23000285e+01] [ 3.24207039e-02 1.37830504e-03 9.99473360e-01 1.93297226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16232058799994 meters Centerline goodness [0,1] 0.9975271067148563 Centerline is valid? [True, True] Translation: X:279.14, Y:-82.31, Z:1.93 [[ 9.71157653e-01 2.36208656e-01 -3.25312888e-02 2.79141868e+02] [-2.36126112e-01 9.71701268e-01 6.41136459e-03 -8.23060437e+01] [ 3.31251144e-02 1.45504096e-03 9.99450154e-01 1.93365961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.192320588 meters Centerline goodness [0,1] 0.9962505932605601 Centerline is valid? [True, True] Translation: X:279.17, Y:-82.31, Z:1.94 [[ 9.70470785e-01 2.38753026e-01 -3.44012715e-02 2.79173835e+02] [-2.38661869e-01 9.71078974e-01 6.79255158e-03 -8.23099386e+01] [ 3.50280937e-02 1.61829888e-03 9.99385018e-01 1.93672221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22232058799995 meters Centerline goodness [0,1] 0.9974837392584153 Centerline is valid? [True, True] Translation: X:279.21, Y:-82.31, Z:1.94 [[ 9.70621060e-01 2.38370339e-01 -3.27771100e-02 2.79205395e+02] [-2.38286981e-01 9.71173146e-01 6.48345948e-03 -8.23136027e+01] [ 3.33777134e-02 1.51737628e-03 9.99441657e-01 1.93602774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.252320588 meters Centerline goodness [0,1] 0.9967289276571537 Centerline is valid? [True, True] Translation: X:279.24, Y:-82.32, Z:1.94 [[ 9.70581793e-01 2.38542205e-01 -3.26894519e-02 2.79237738e+02] [-2.38458983e-01 9.71130961e-01 6.47836136e-03 -8.23193275e+01] [ 3.32911015e-02 1.50731387e-03 9.99444561e-01 1.93817939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28232058799995 meters Centerline goodness [0,1] 0.9963503649635036 Centerline is valid? [True, True] Translation: X:279.27, Y:-82.33, Z:1.94 [[ 9.70428899e-01 2.38973616e-01 -3.40494329e-02 2.79269629e+02] [-2.38883064e-01 9.71024790e-01 6.76299564e-03 -8.23261534e+01] [ 3.46790210e-02 1.57082646e-03 9.99397267e-01 1.94012197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.312320588 meters Centerline goodness [0,1] 0.9958162974232195 Centerline is valid? [True, True] Translation: X:279.30, Y:-82.33, Z:1.94 [[ 9.70347835e-01 2.39221687e-01 -3.46130563e-02 2.79301744e+02] [-2.39127740e-01 9.70963672e-01 6.88996254e-03 -8.23318723e+01] [ 3.52562487e-02 1.59128170e-03 9.99377038e-01 1.94159124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34232058799995 meters Centerline goodness [0,1] 0.9971573411664377 Centerline is valid? [True, True] Translation: X:279.33, Y:-82.34, Z:1.94 [[ 9.70174811e-01 2.39980047e-01 -3.42113071e-02 2.79333615e+02] [-2.39888235e-01 9.70776525e-01 6.82445336e-03 -8.23371297e+01] [ 3.48492665e-02 1.58597732e-03 9.99391321e-01 1.94391454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.372320588 meters Centerline goodness [0,1] 0.9970093990316149 Centerline is valid? [True, True] Translation: X:279.37, Y:-82.34, Z:1.94 [[ 9.70407465e-01 2.39333469e-01 -3.20755745e-02 2.79365255e+02] [-2.39251991e-01 9.70936342e-01 6.41124570e-03 -8.23422131e+01] [ 3.26777667e-02 1.45262439e-03 9.99464884e-01 1.94467483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40232058799995 meters Centerline goodness [0,1] 0.996643343419062 Centerline is valid? [True, True] Translation: X:279.40, Y:-82.35, Z:1.95 [[ 9.70311446e-01 2.39647789e-01 -3.26287365e-02 2.79396903e+02] [-2.39563240e-01 9.70858773e-01 6.53427627e-03 -8.23481225e+01] [ 3.32438199e-02 1.47636276e-03 9.99446181e-01 1.94605547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.432320588 meters Centerline goodness [0,1] 0.9976363808263212 Centerline is valid? [True, True] Translation: X:279.43, Y:-82.35, Z:1.94 [[ 9.70370159e-01 2.39811978e-01 -2.95291426e-02 2.79429553e+02] [-2.39742465e-01 9.70818441e-01 5.92487157e-03 -8.23525025e+01] [ 3.00882913e-02 1.33007087e-03 9.99546360e-01 1.94488336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46232058799995 meters Centerline goodness [0,1] 0.9973328253000572 Centerline is valid? [True, True] Translation: X:279.46, Y:-82.36, Z:1.95 [[ 9.70222545e-01 2.40538295e-01 -2.84524384e-02 2.79460929e+02] [-2.40473726e-01 9.70638790e-01 5.72073854e-03 -8.23566198e+01] [ 2.89930971e-02 1.29167437e-03 9.99578777e-01 1.94515317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.492320588 meters Centerline goodness [0,1] 0.9972460946773658 Centerline is valid? [True, True] Translation: X:279.49, Y:-82.36, Z:1.95 [[ 9.70287756e-01 2.40498057e-01 -2.65019929e-02 2.79493642e+02] [-2.40441785e-01 9.70648886e-01 5.33738841e-03 -8.23606715e+01] [ 2.70077614e-02 1.19338384e-03 9.99634512e-01 1.94523384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52232058799996 meters Centerline goodness [0,1] 0.9969573072168869 Centerline is valid? [True, True] Translation: X:279.53, Y:-82.36, Z:1.95 [[ 9.70140191e-01 2.41001528e-01 -2.73180173e-02 2.79526204e+02] [-2.40941599e-01 9.70523953e-01 5.51384875e-03 -8.23647076e+01] [ 2.78416361e-02 1.23284049e-03 9.99611586e-01 1.94800400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.552320588 meters Centerline goodness [0,1] 0.9980069282968728 Centerline is valid? [True, True] Translation: X:279.56, Y:-82.37, Z:1.95 [[ 9.69988180e-01 2.41699896e-01 -2.65347179e-02 2.79558056e+02] [-2.41643310e-01 9.70350301e-01 5.36704081e-03 -8.23691386e+01] [ 2.70451847e-02 1.20597091e-03 9.99633485e-01 1.94826894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58232058799996 meters Centerline goodness [0,1] 0.997249432997153 Centerline is valid? [True, True] Translation: X:279.59, Y:-82.37, Z:1.95 [[ 9.69689290e-01 2.42839032e-01 -2.70533819e-02 2.79590203e+02] [-2.42780367e-01 9.70065790e-01 5.48232014e-03 -8.23716678e+01] [ 2.75748816e-02 1.25188286e-03 9.99618957e-01 1.94911649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.612320588 meters Centerline goodness [0,1] 0.9981258109471863 Centerline is valid? [True, True] Translation: X:279.62, Y:-82.38, Z:1.95 [[ 9.69244130e-01 2.44599364e-01 -2.71471318e-02 2.79621362e+02] [-2.44540699e-01 9.69623365e-01 5.51150508e-03 -8.23775594e+01] [ 2.76706039e-02 1.29658463e-03 9.99616255e-01 1.95095136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64232058799996 meters Centerline goodness [0,1] 0.9971614144815973 Centerline is valid? [True, True] Translation: X:279.65, Y:-82.38, Z:1.95 [[ 9.69045891e-01 2.45378321e-01 -2.71944911e-02 2.79653610e+02] [-2.45319480e-01 9.69426511e-01 5.53109325e-03 -8.23812546e+01] [ 2.77202710e-02 1.31145522e-03 9.99614859e-01 1.95333687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.672320588 meters Centerline goodness [0,1] 0.9978090021433674 Centerline is valid? [True, True] Translation: X:279.69, Y:-82.38, Z:1.95 [[ 9.69054248e-01 2.45252309e-01 -2.80208619e-02 2.79685480e+02] [-2.45189424e-01 9.69458365e-01 5.71178924e-03 -8.23841935e+01] [ 2.85658884e-02 1.33538536e-03 9.99591020e-01 1.95381829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70232058799996 meters Centerline goodness [0,1] 0.9981927997336757 Centerline is valid? [True, True] Translation: X:279.72, Y:-82.38, Z:1.95 [[ 9.69374720e-01 2.44084790e-01 -2.71158137e-02 2.79718021e+02] [-2.44025177e-01 9.69753089e-01 5.53706970e-03 -8.23838981e+01] [ 2.76471586e-02 1.24944584e-03 9.99616963e-01 1.95166917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73232058799994 meters Centerline goodness [0,1] 0.9981009352893699 Centerline is valid? [True, True] Translation: X:279.75, Y:-82.39, Z:1.95 [[ 9.69228546e-01 2.44684846e-01 -2.69323596e-02 2.79750025e+02] [-2.44625999e-01 9.69601860e-01 5.50937944e-03 -8.23900171e+01] [ 2.74617276e-02 1.24850754e-03 9.99622076e-01 1.95380170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76232058799997 meters Centerline goodness [0,1] 0.9983797950917321 Centerline is valid? [True, True] Translation: X:279.78, Y:-82.39, Z:1.96 [[ 9.69278234e-01 2.44671876e-01 -2.52066883e-02 2.79782679e+02] [-2.44620069e-01 9.69605245e-01 5.16633636e-03 -8.23939094e+01] [ 2.57045944e-02 1.15844444e-03 9.99668911e-01 1.95715685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79232058799994 meters Centerline goodness [0,1] 0.9979014642056565 Centerline is valid? [True, True] Translation: X:279.81, Y:-82.40, Z:1.96 [[ 9.69043913e-01 2.45526284e-01 -2.58986144e-02 2.79814686e+02] [-2.45471585e-01 9.69389189e-01 5.31997222e-03 -8.23968268e+01] [ 2.64120298e-02 1.20208721e-03 9.99650419e-01 1.95812860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82232058799997 meters Centerline goodness [0,1] 0.997898959029701 Centerline is valid? [True, True] Translation: X:279.85, Y:-82.40, Z:1.96 [[ 9.68941650e-01 2.46002108e-01 -2.52000400e-02 2.79847247e+02] [-2.45950254e-01 9.69268583e-01 5.18528093e-03 -8.23996977e+01] [ 2.57011970e-02 1.17372157e-03 9.99668981e-01 1.95792339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85232058799994 meters Centerline goodness [0,1] 0.9986743679575798 Centerline is valid? [True, True] Translation: X:279.88, Y:-82.40, Z:1.96 [[ 9.68365844e-01 2.48232434e-01 -2.54607874e-02 2.79879403e+02] [-2.48179972e-01 9.68699713e-01 5.25040819e-03 -8.24033118e+01] [ 2.59671791e-02 1.23454154e-03 9.99662034e-01 1.95893968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88232058799997 meters Centerline goodness [0,1] 0.9970957912778519 Centerline is valid? [True, True] Translation: X:279.91, Y:-82.41, Z:1.96 [[ 9.67989091e-01 2.49667202e-01 -2.57567021e-02 2.79910339e+02] [-2.49613763e-01 9.68330860e-01 5.32120908e-03 -8.24087745e+01] [ 2.62695409e-02 1.27835501e-03 9.99654079e-01 1.96160945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91232058799994 meters Centerline goodness [0,1] 0.9972454407294833 Centerline is valid? [True, True] Translation: X:279.94, Y:-82.41, Z:1.96 [[ 9.67097778e-01 2.53349666e-01 -2.31481121e-02 2.79942315e+02] [-2.53307372e-01 9.67373987e-01 4.79002030e-03 -8.24104408e+01] [ 2.36064315e-02 1.23116945e-03 9.99720571e-01 1.96209189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.942320588 meters Centerline goodness [0,1] 0.996565540927304 Centerline is valid? [True, True] Translation: X:279.97, Y:-82.41, Z:1.96 [[ 9.66783471e-01 2.54558052e-01 -2.30199485e-02 2.79974267e+02] [-2.54516388e-01 9.67056692e-01 4.77110627e-03 -8.24140933e+01] [ 2.34761188e-02 1.24632746e-03 9.99723621e-01 1.96355249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97232058799995 meters Centerline goodness [0,1] 0.997952478453407 Centerline is valid? [True, True] Translation: X:280.01, Y:-82.42, Z:1.97 [[ 9.66520048e-01 2.55503105e-01 -2.36042416e-02 2.80006065e+02] [-2.55459359e-01 9.66807371e-01 4.90136824e-03 -8.24175392e+01] [ 2.40730695e-02 1.29265377e-03 9.99709366e-01 1.96573363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.002320588 meters Centerline goodness [0,1] 0.9972828677662313 Centerline is valid? [True, True] Translation: X:280.04, Y:-82.42, Z:1.97 [[ 9.66316490e-01 2.56249612e-01 -2.38448474e-02 2.80038634e+02] [-2.56204986e-01 9.66609748e-01 4.95997118e-03 -8.24220257e+01] [ 2.43196527e-02 1.31626686e-03 9.99703367e-01 1.96720355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03232058799995 meters Centerline goodness [0,1] 0.9982431983286644 Centerline is valid? [True, True] Translation: X:280.07, Y:-82.43, Z:1.97 [[ 9.66377096e-01 2.56029867e-01 -2.37490111e-02 2.80070397e+02] [-2.55985277e-01 9.66668004e-01 4.95061455e-03 -8.24255703e+01] [ 2.42249144e-02 1.29523667e-03 9.99705695e-01 1.96784886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.062320588 meters Centerline goodness [0,1] 0.99761882084008 Centerline is valid? [True, True] Translation: X:280.10, Y:-82.42, Z:1.97 [[ 9.66623504e-01 2.55154150e-01 -2.31378578e-02 2.80103589e+02] [-2.55111378e-01 9.66899602e-01 4.83159293e-03 -8.24245477e+01] [ 2.36047865e-02 1.23239949e-03 9.99720609e-01 1.96692655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09232058799995 meters Centerline goodness [0,1] 0.99813200498132 Centerline is valid? [True, True] Translation: X:280.14, Y:-82.43, Z:1.97 [[ 9.66779715e-01 2.54351993e-01 -2.53386343e-02 2.80135734e+02] [-2.54300146e-01 9.67110814e-01 5.30179044e-03 -8.24281086e+01] [ 2.58537882e-02 1.31795496e-03 9.99664866e-01 1.96856334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.122320588 meters Centerline goodness [0,1] 0.9981708784596871 Centerline is valid? [True, True] Translation: X:280.17, Y:-82.43, Z:1.97 [[ 9.67911928e-01 2.50178250e-01 -2.36080951e-02 2.80167722e+02] [-2.50131754e-01 9.68199154e-01 4.95010513e-03 -8.24290928e+01] [ 2.40957464e-02 1.11386843e-03 9.99709035e-01 1.96967917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15232058799995 meters Centerline goodness [0,1] 0.9988454322413046 Centerline is valid? [True, True] Translation: X:280.20, Y:-82.43, Z:1.97 [[ 9.68242100e-01 2.48959523e-01 -2.29432189e-02 2.80199520e+02] [-2.48915285e-01 9.68513317e-01 4.80992241e-03 -8.24325986e+01] [ 2.34182891e-02 1.05374850e-03 9.99725199e-01 1.97037412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.182320588 meters Centerline goodness [0,1] 0.9987601926469887 Centerline is valid? [True, True] Translation: X:280.23, Y:-82.43, Z:1.97 [[ 9.68750972e-01 2.46991103e-01 -2.27365168e-02 2.80232383e+02] [-2.46946871e-01 9.69017245e-01 4.77719238e-03 -8.24340996e+01] [ 2.32120009e-02 9.86801913e-04 9.99730078e-01 1.97208415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21232058799995 meters Centerline goodness [0,1] 0.9990888164204872 Centerline is valid? [True, True] Translation: X:280.26, Y:-82.44, Z:1.97 [[ 9.68979195e-01 2.45931711e-01 -2.44317929e-02 2.80263838e+02] [-2.45880254e-01 9.69286609e-01 5.13526875e-03 -8.24383341e+01] [ 2.49443351e-02 1.03132685e-03 9.99688310e-01 1.97369355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.242320588 meters Centerline goodness [0,1] 0.9989963678073026 Centerline is valid? [True, True] Translation: X:280.30, Y:-82.44, Z:1.98 [[ 9.69283808e-01 2.44560829e-01 -2.60557201e-02 2.80295286e+02] [-2.44501526e-01 9.69633381e-01 5.48720750e-03 -8.24422707e+01] [ 2.66064520e-02 1.05200196e-03 9.99645432e-01 1.97525702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27232058799996 meters Centerline goodness [0,1] 0.9993814236771983 Centerline is valid? [True, True] Translation: X:280.33, Y:-82.44, Z:1.98 [[ 9.69981312e-01 2.41884851e-01 -2.50594030e-02 2.80327588e+02] [-2.41828875e-01 9.70304514e-01 5.28633924e-03 -8.24430179e+01] [ 2.55939372e-02 9.32436972e-04 9.99671987e-01 1.97533517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.302320588 meters Centerline goodness [0,1] 0.999569645674939 Centerline is valid? [True, True] Translation: X:280.36, Y:-82.45, Z:1.98 [[ 9.70173529e-01 2.41231666e-01 -2.38873862e-02 2.80360050e+02] [-2.41180355e-01 9.70467176e-01 5.04941725e-03 -8.24468745e+01] [ 2.44000036e-02 8.62357333e-04 9.99701904e-01 1.97687759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33232058799996 meters Centerline goodness [0,1] 0.9997116909326799 Centerline is valid? [True, True] Translation: X:280.39, Y:-82.45, Z:1.98 [[ 9.71156961e-01 2.37672769e-01 -1.91261976e-02 2.80392348e+02] [-2.37639211e-01 9.71345083e-01 4.04166033e-03 -8.24487028e+01] [ 1.95387306e-02 6.20047936e-04 9.99808909e-01 1.97717761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.362320588 meters Centerline goodness [0,1] 0.9999040214991842 Centerline is valid? [True, True] Translation: X:280.42, Y:-82.45, Z:1.98 [[ 9.71536623e-01 2.36185397e-01 -1.82495946e-02 2.80423817e+02] [-2.36154463e-01 9.71707851e-01 3.86282783e-03 -8.24526966e+01] [ 1.86456179e-02 5.56844504e-04 9.99826000e-01 1.97822444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39232058799996 meters Centerline goodness [0,1] 0.9999520636594602 Centerline is valid? [True, True] Translation: X:280.46, Y:-82.46, Z:1.98 [[ 9.71886510e-01 2.34605393e-01 -1.99228694e-02 2.80455606e+02] [-2.34568019e-01 9.72090525e-01 4.22559427e-03 -8.24575839e+01] [ 2.03581798e-02 5.66469946e-04 9.99792590e-01 1.98089985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.422320588 meters Centerline goodness [0,1] 0.9999522581877208 Centerline is valid? [True, True] Translation: X:280.49, Y:-82.46, Z:1.98 [[ 9.72192516e-01 2.33358230e-01 -1.96379479e-02 2.80487719e+02] [-2.33321460e-01 9.72390695e-01 4.17529525e-03 -8.24632769e+01] [ 2.00700974e-02 5.22763901e-04 9.99798439e-01 1.98142772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45232058799996 meters Centerline goodness [0,1] 0.999951862905555 Centerline is valid? [True, True] Translation: X:280.52, Y:-82.47, Z:1.98 [[ 9.72340975e-01 2.32705071e-01 -2.00344108e-02 2.80519198e+02] [-2.32666663e-01 9.72547212e-01 4.25957227e-03 -8.24690789e+01] [ 2.04756344e-02 5.19582856e-04 9.99790217e-01 1.98255687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48232058799994 meters Centerline goodness [0,1] 0.9999521508206134 Centerline is valid? [True, True] Translation: X:280.55, Y:-82.47, Z:1.98 [[ 9.72320417e-01 2.32788305e-01 -2.00651736e-02 2.80551189e+02] [-2.32749654e-01 9.72527295e-01 4.27306691e-03 -8.24742688e+01] [ 2.05086490e-02 5.15372033e-04 9.99789543e-01 1.98115199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.58, Y:-82.48, Z:1.98 [[ 9.72432083e-01 2.32331725e-01 -1.99452420e-02 2.80582286e+02] [-2.32293250e-01 9.72636482e-01 4.25679942e-03 -8.24793317e+01] [ 2.03884596e-02 4.93696761e-04 9.99792012e-01 1.98170862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54232058799994 meters Centerline goodness [0,1] 0.9998560598790903 Centerline is valid? [True, True] Translation: X:280.61, Y:-82.49, Z:1.98 [[ 9.72229920e-01 2.33111491e-01 -2.06885382e-02 2.80613588e+02] [-2.33070109e-01 9.72449876e-01 4.42307630e-03 -8.24872963e+01] [ 2.11496363e-02 5.21632723e-04 9.99776185e-01 1.98329988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.57232058799997 meters Centerline goodness [0,1] 0.9999523151018073 Centerline is valid? [True, True] Translation: X:280.65, Y:-82.49, Z:1.98 [[ 9.72383392e-01 2.32598969e-01 -1.91900496e-02 2.80645683e+02] [-2.32563121e-01 9.72572620e-01 4.11007134e-03 -8.24948469e+01] [ 1.96197152e-02 4.66332707e-04 9.99807406e-01 1.98373522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60232058799994 meters Centerline goodness [0,1] 0.9998570543669891 Centerline is valid? [True, True] Translation: X:280.68, Y:-82.50, Z:1.98 [[ 9.72503901e-01 2.32138867e-01 -1.86469423e-02 2.80677199e+02] [-2.32104788e-01 9.72682557e-01 4.00143123e-03 -8.25021746e+01] [ 1.90664432e-02 4.36637110e-04 9.99818124e-01 1.98432286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.63232058799997 meters Centerline goodness [0,1] 0.9998561565017261 Centerline is valid? [True, True] Translation: X:280.71, Y:-82.51, Z:1.99 [[ 9.72568519e-01 2.31896798e-01 -1.82852860e-02 2.80708933e+02] [-2.31863843e-01 9.72740306e-01 3.93146719e-03 -8.25090348e+01] [ 1.86985293e-02 4.16075451e-04 9.99825081e-01 1.98573372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66232058799994 meters Centerline goodness [0,1] 0.9999048027036033 Centerline is valid? [True, True] Translation: X:280.74, Y:-82.52, Z:1.99 [[ 9.72804860e-01 2.30844210e-01 -1.90172166e-02 2.80740467e+02] [-2.30808119e-01 9.72990643e-01 4.10135631e-03 -8.25170219e+01] [ 1.94503482e-02 3.99508638e-04 9.99810744e-01 1.98688116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.77, Y:-82.53, Z:1.99 [[ 9.73326122e-01 2.28499367e-01 -2.05985319e-02 2.80771282e+02] [-2.28456488e-01 9.73543987e-01 4.44288355e-03 -8.25262820e+01] [ 2.10687730e-02 3.81493652e-04 9.99777956e-01 1.98915601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72232058799995 meters Centerline goodness [0,1] 0.9999521919969403 Centerline is valid? [True, True] Translation: X:280.80, Y:-82.53, Z:1.99 [[ 9.73709871e-01 2.26830166e-01 -2.09084507e-02 2.80802519e+02] [-2.26785430e-01 9.73934268e-01 4.51778756e-03 -8.25336291e+01] [ 2.13882272e-02 3.42717639e-04 9.99771187e-01 1.98971898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.752320588 meters Centerline goodness [0,1] 0.9999521919969403 Centerline is valid? [True, True] Translation: X:280.83, Y:-82.54, Z:1.99 [[ 9.73616217e-01 2.27231956e-01 -2.09069255e-02 2.80834057e+02] [-2.27187161e-01 9.73840603e-01 4.52483216e-03 -8.25400958e+01] [ 2.13881994e-02 3.44335076e-04 9.99771187e-01 1.99076812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78232058799995 meters Centerline goodness [0,1] 0.9999047755082607 Centerline is valid? [True, True] Translation: X:280.86, Y:-82.55, Z:1.99 [[ 9.74347864e-01 2.24137255e-01 -2.02171094e-02 2.80864646e+02] [-2.24094518e-01 9.74557553e-01 4.38443541e-03 -8.25488095e+01] [ 2.06854520e-02 2.58578095e-04 9.99786000e-01 1.99165164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.812320588 meters Centerline goodness [0,1] 0.9999521416606844 Centerline is valid? [True, True] Translation: X:280.90, Y:-82.56, Z:1.99 [[ 9.74537680e-01 2.23269102e-01 -2.06692743e-02 2.80895707e+02] [-2.23224065e-01 9.74756817e-01 4.49056704e-03 -8.25572021e+01] [ 2.11501209e-02 2.37652646e-04 9.99776283e-01 1.99394153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.93, Y:-82.57, Z:2.00 [[ 9.74616053e-01 2.22886681e-01 -2.10968617e-02 2.80926986e+02] [-2.22839505e-01 9.74844334e-01 4.59114871e-03 -8.25660452e+01] [ 2.15894620e-02 2.26606985e-04 9.99766895e-01 1.99634585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.872320588 meters Centerline goodness [0,1] 0.999952052167242 Centerline is valid? [True, True] Translation: X:280.96, Y:-82.58, Z:2.00 [[ 9.74579178e-01 2.23094543e-01 -2.05973708e-02 2.80958569e+02] [-2.23049410e-01 9.74796788e-01 4.49246560e-03 -8.25768168e+01] [ 2.10804954e-02 2.15967980e-04 9.99777758e-01 1.99673037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.99, Y:-82.59, Z:2.00 [[ 9.74371420e-01 2.24055737e-01 -1.99840828e-02 2.80989802e+02] [-2.24013370e-01 9.74576306e-01 4.36281892e-03 -8.25853722e+01] [ 2.04535282e-02 2.25695658e-04 9.99790779e-01 1.99604550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.932320588 meters Centerline goodness [0,1] 0.9996648953994925 Centerline is valid? [True, True] Translation: X:281.02, Y:-82.60, Z:2.00 [[ 9.73921283e-01 2.25903461e-01 -2.10940972e-02 2.81020270e+02] [-2.25856472e-01 9.74149657e-01 4.61519541e-03 -8.25980923e+01] [ 2.15913961e-02 2.69401340e-04 9.99766842e-01 1.99743189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96232058799995 meters Centerline goodness [0,1] 0.9998091329865916 Centerline is valid? [True, True] Translation: X:281.05, Y:-82.61, Z:2.00 [[ 9.73674699e-01 2.26992346e-01 -2.07859596e-02 2.81051836e+02] [-2.26946780e-01 9.73896502e-01 4.55663393e-03 -8.26078200e+01] [ 2.12776944e-02 2.80627439e-04 9.99773565e-01 1.99850618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.992320588 meters Centerline goodness [0,1] 0.9992408786829245 Centerline is valid? [True, True] Translation: X:281.08, Y:-82.62, Z:2.00 [[ 9.72944968e-01 2.30002728e-01 -2.18365556e-02 2.81081958e+02] [-2.29952957e-01 9.73189920e-01 4.79767135e-03 -8.26193456e+01] [ 2.23545933e-02 3.53510318e-04 9.99750042e-01 2.00194769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02232058799996 meters Centerline goodness [0,1] 0.999714923742101 Centerline is valid? [True, True] Translation: X:281.11, Y:-82.63, Z:2.00 [[ 9.72570000e-01 2.31600162e-01 -2.16554851e-02 2.81112927e+02] [-2.31551429e-01 9.72810989e-01 4.76598701e-03 -8.26276049e+01] [ 2.21704973e-02 3.79102540e-04 9.99754132e-01 2.00286799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.052320588 meters Centerline goodness [0,1] 0.9994775587746378 Centerline is valid? [True, True] Translation: X:281.14, Y:-82.64, Z:2.00 [[ 9.72007155e-01 2.33973429e-01 -2.14132199e-02 2.81143921e+02] [-2.33926179e-01 9.72242901e-01 4.72067890e-03 -8.26369670e+01] [ 2.19233644e-02 4.20579055e-04 9.99759566e-01 2.00428755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08232058799996 meters Centerline goodness [0,1] 0.9994211008731728 Centerline is valid? [True, True] Translation: X:281.17, Y:-82.65, Z:2.01 [[ 9.71125400e-01 2.37540339e-01 -2.21369498e-02 2.81173943e+02] [-2.37490569e-01 9.71377541e-01 4.88899508e-03 -8.26492722e+01] [ 2.26646694e-02 5.09489486e-04 9.99742994e-01 2.00515696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.112320588 meters Centerline goodness [0,1] 0.998905231091437 Centerline is valid? [True, True] Translation: X:281.20, Y:-82.66, Z:2.01 [[ 9.70642238e-01 2.39478132e-01 -2.24470467e-02 2.81204432e+02] [-2.39427275e-01 9.70901600e-01 4.96613508e-03 -8.26587485e+01] [ 2.29831543e-02 5.54094758e-04 9.99735699e-01 2.00596140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14232058799996 meters Centerline goodness [0,1] 0.9986218695052986 Centerline is valid? [True, True] Translation: X:281.23, Y:-82.67, Z:2.01 [[ 9.69960336e-01 2.42220878e-01 -2.24942682e-02 2.81234351e+02] [-2.42170348e-01 9.70220940e-01 4.98510290e-03 -8.26698270e+01] [ 2.30319060e-02 6.12092663e-04 9.99734543e-01 2.00775707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.172320588 meters Centerline goodness [0,1] 0.9985744155103592 Centerline is valid? [True, True] Translation: X:281.27, Y:-82.68, Z:2.01 [[ 9.69868075e-01 2.42491427e-01 -2.35334938e-02 2.81266368e+02] [-2.42435982e-01 9.70153338e-01 5.22441283e-03 -8.26777315e+01] [ 2.40979729e-02 6.38374472e-04 9.99709398e-01 2.00920681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20232058799996 meters Centerline goodness [0,1] 0.9984340893992597 Centerline is valid? [True, True] Translation: X:281.30, Y:-82.69, Z:2.01 [[ 9.69742628e-01 2.42887348e-01 -2.45961597e-02 2.81298218e+02] [-2.42826623e-01 9.70054273e-01 5.47165279e-03 -8.26855334e+01] [ 2.51886050e-02 6.66507437e-04 9.99682495e-01 2.01111080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23232058799994 meters Centerline goodness [0,1] 0.9982801452321803 Centerline is valid? [True, True] Translation: X:281.33, Y:-82.69, Z:2.01 [[ 9.69666481e-01 2.43134986e-01 -2.51454634e-02 2.81329099e+02] [-2.43071313e-01 9.69992227e-01 5.60504474e-03 -8.26948646e+01] [ 2.57536865e-02 6.77116805e-04 9.99668089e-01 2.01301492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26232058799997 meters Centerline goodness [0,1] 0.9984206748025843 Centerline is valid? [True, True] Translation: X:281.36, Y:-82.70, Z:2.02 [[ 9.69513088e-01 2.43781897e-01 -2.47943345e-02 2.81360456e+02] [-2.43719933e-01 9.69829847e-01 5.53734123e-03 -8.27047638e+01] [ 2.53961891e-02 6.74348740e-04 9.99677237e-01 2.01519338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29232058799994 meters Centerline goodness [0,1] 0.9984649333205411 Centerline is valid? [True, True] Translation: X:281.39, Y:-82.71, Z:2.02 [[ 9.69364415e-01 2.44325727e-01 -2.52501340e-02 2.81391989e+02] [-2.44261360e-01 9.69692973e-01 5.65027756e-03 -8.27133190e+01] [ 2.58653857e-02 6.90454068e-04 9.99665197e-01 2.01749648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32232058799997 meters Centerline goodness [0,1] 0.9987036058961924 Centerline is valid? [True, True] Translation: X:281.42, Y:-82.72, Z:2.02 [[ 9.69435857e-01 2.44180691e-01 -2.38727884e-02 2.81423972e+02] [-2.44122828e-01 9.69729541e-01 5.35363377e-03 -8.27208218e+01] [ 2.44574021e-02 6.37888081e-04 9.99700669e-01 2.01772378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35232058799994 meters Centerline goodness [0,1] 0.998437055981813 Centerline is valid? [True, True] Translation: X:281.45, Y:-82.73, Z:2.02 [[ 9.69559334e-01 2.43550602e-01 -2.52547473e-02 2.81453909e+02] [-2.43485528e-01 9.69887971e-01 5.66754735e-03 -8.27312099e+01] [ 2.58746102e-02 6.54142053e-04 9.99664982e-01 2.02023954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38232058799997 meters Centerline goodness [0,1] 0.9983342058921517 Centerline is valid? [True, True] Translation: X:281.48, Y:-82.74, Z:2.02 [[ 9.69576741e-01 2.43345742e-01 -2.65290967e-02 2.81484522e+02] [-2.43273561e-01 9.69939379e-01 5.96446691e-03 -8.27389936e+01] [ 2.71830432e-02 6.70819430e-04 9.99630248e-01 2.02122391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41232058799994 meters Centerline goodness [0,1] 0.9983746833022611 Centerline is valid? [True, True] Translation: X:281.51, Y:-82.75, Z:2.02 [[ 9.69724239e-01 2.42745025e-01 -2.66412052e-02 2.81514894e+02] [-2.42671728e-01 9.70089911e-01 5.99981986e-03 -8.27482912e+01] [ 2.73007908e-02 6.46896553e-04 9.99627055e-01 2.02063047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.442320588 meters Centerline goodness [0,1] 0.9987909855885482 Centerline is valid? [True, True] Translation: X:281.55, Y:-82.76, Z:2.02 [[ 9.69613227e-01 2.43246042e-01 -2.61065578e-02 2.81546336e+02] [-2.43175588e-01 9.69964409e-01 5.88882751e-03 -8.27567883e+01] [ 2.67548659e-02 6.38592488e-04 9.99641821e-01 2.02209214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47232058799995 meters Centerline goodness [0,1] 0.9985308056872038 Centerline is valid? [True, True] Translation: X:281.58, Y:-82.77, Z:2.02 [[ 9.69580709e-01 2.43312701e-01 -2.66866511e-02 2.81578009e+02] [-2.43238782e-01 9.69947687e-01 6.03152555e-03 -8.27652088e+01] [ 2.73522023e-02 6.43177686e-04 9.99625652e-01 2.02350927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.502320588 meters Centerline goodness [0,1] 0.9994296306858691 Centerline is valid? [True, True] Translation: X:281.61, Y:-82.78, Z:2.02 [[ 9.69714164e-01 2.42832117e-01 -2.62107309e-02 2.81608807e+02] [-2.42760326e-01 9.70068139e-01 5.93548378e-03 -8.27752345e+01] [ 2.68675210e-02 6.07202873e-04 9.99638819e-01 2.02478064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53232058799995 meters Centerline goodness [0,1] 0.9991920536096193 Centerline is valid? [True, True] Translation: X:281.64, Y:-82.78, Z:2.03 [[ 9.69537343e-01 2.43579819e-01 -2.58110992e-02 2.81640134e+02] [-2.43510217e-01 9.69880663e-01 5.85433710e-03 -8.27840523e+01] [ 2.64596843e-02 6.09267935e-04 9.99649696e-01 2.02661925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.562320588 meters Centerline goodness [0,1] 0.9997079865673821 Centerline is valid? [True, True] Translation: X:281.67, Y:-82.79, Z:2.03 [[ 9.69929568e-01 2.42008422e-01 -2.58564828e-02 2.81670218e+02] [-2.41937711e-01 9.70273989e-01 5.87616316e-03 -8.27944071e+01] [ 2.65099537e-02 5.56193870e-04 9.99648395e-01 2.02912284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59232058799995 meters Centerline goodness [0,1] 0.9993852265203821 Centerline is valid? [True, True] Translation: X:281.70, Y:-82.80, Z:2.03 [[ 9.70073090e-01 2.41167608e-01 -2.82202824e-02 2.81701216e+02] [-2.41082679e-01 9.70483312e-01 6.42516641e-03 -8.28026170e+01] [ 2.89368551e-02 5.70540244e-04 9.99581079e-01 2.03084808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.622320588 meters Centerline goodness [0,1] 0.9996692496692496 Centerline is valid? [True, True] Translation: X:281.73, Y:-82.81, Z:2.03 [[ 9.70109906e-01 2.40738397e-01 -3.05252947e-02 2.81731532e+02] [-2.40638416e-01 9.70589859e-01 6.96261052e-03 -8.28108993e+01] [ 3.13037092e-02 5.91061130e-04 9.99509744e-01 2.03257231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65232058799995 meters Centerline goodness [0,1] 0.9993161057105173 Centerline is valid? [True, True] Translation: X:281.76, Y:-82.82, Z:2.03 [[ 9.70342261e-01 2.39852371e-01 -3.01120833e-02 2.81762171e+02] [-2.39754305e-01 9.70809221e-01 6.87961453e-03 -8.28191680e+01] [ 3.08831800e-02 5.43920877e-04 9.99522853e-01 2.03251725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.682320588 meters Centerline goodness [0,1] 0.9994310099573257 Centerline is valid? [True, True] Translation: X:281.79, Y:-82.83, Z:2.03 [[ 9.70311697e-01 2.39923086e-01 -3.05307101e-02 2.81793615e+02] [-2.39821941e-01 9.70791748e-01 6.98697810e-03 -8.28267476e+01] [ 3.13152988e-02 5.42387582e-04 9.99509409e-01 2.03350014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71232058799995 meters Centerline goodness [0,1] 0.9996636394214599 Centerline is valid? [True, True] Translation: X:281.82, Y:-82.84, Z:2.03 [[ 9.70490647e-01 2.39222408e-01 -3.03404580e-02 2.81823845e+02] [-2.39121765e-01 9.70964668e-01 6.95667966e-03 -8.28368431e+01] [ 3.11237064e-02 5.03671324e-04 9.99515413e-01 2.03461957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.742320588 meters Centerline goodness [0,1] 0.9998103905953736 Centerline is valid? [True, True] Translation: X:281.86, Y:-82.85, Z:2.03 [[ 9.70537287e-01 2.39099095e-01 -2.98160467e-02 2.81855421e+02] [-2.39001508e-01 9.70995052e-01 6.84743132e-03 -8.28462679e+01] [ 3.05884484e-02 4.80392689e-04 9.99531948e-01 2.03439813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77232058799996 meters Centerline goodness [0,1] 0.9999527119686007 Centerline is valid? [True, True] Translation: X:281.89, Y:-82.86, Z:2.04 [[ 9.71109652e-01 2.36707054e-01 -3.02624306e-02 2.81885549e+02] [-2.36604943e-01 9.71580986e-01 6.96340145e-03 -8.28572252e+01] [ 3.10506884e-02 3.98014308e-04 9.99517732e-01 2.03700332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.802320588 meters Centerline goodness [0,1] 0.9999052312357847 Centerline is valid? [True, True] Translation: X:281.92, Y:-82.87, Z:2.04 [[ 9.71094182e-01 2.36599340e-01 -3.15728137e-02 2.81917101e+02] [-2.36487729e-01 9.71607221e-01 7.27745893e-03 -8.28661056e+01] [ 3.23982158e-02 3.99484993e-04 9.99474960e-01 2.03977214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83232058799996 meters Centerline goodness [0,1] 0.9997625492710263 Centerline is valid? [True, True] Translation: X:281.95, Y:-82.87, Z:2.04 [[ 9.71464647e-01 2.35113168e-01 -3.12768112e-02 2.81947424e+02] [-2.35002436e-01 9.71967946e-01 7.22272083e-03 -8.28745841e+01] [ 3.20982147e-02 3.33508883e-04 9.99484664e-01 2.04055494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.862320588 meters Centerline goodness [0,1] 0.999716486320465 Centerline is valid? [True, True] Translation: X:281.98, Y:-82.88, Z:2.04 [[ 9.71955596e-01 2.32960136e-01 -3.21231133e-02 2.81977884e+02] [-2.32841737e-01 9.72486251e-01 7.43078177e-03 -8.28843216e+01] [ 3.29703620e-02 2.57211579e-04 9.99456297e-01 2.04190086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89232058799996 meters Centerline goodness [0,1] 0.999952590906936 Centerline is valid? [True, True] Translation: X:282.01, Y:-82.89, Z:2.04 [[ 9.72040203e-01 2.32832820e-01 -3.04421161e-02 2.82009006e+02] [-2.32726087e-01 9.72516748e-01 7.05287067e-03 -8.28935653e+01] [ 3.12476075e-02 2.29000708e-04 9.99511648e-01 2.04112975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.04, Y:-82.91, Z:2.04 [[ 9.72389814e-01 2.31339626e-01 -3.06598631e-02 2.82039520e+02] [-2.31230194e-01 9.72873038e-01 7.11677079e-03 -8.29058754e+01] [ 3.14745453e-02 1.69210673e-04 9.99504539e-01 2.04189877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.07, Y:-82.92, Z:2.04 [[ 9.72510943e-01 2.30779214e-01 -3.10390194e-02 2.82071092e+02] [-2.30666337e-01 9.73006133e-01 7.21845971e-03 -8.29152494e+01] [ 3.18670267e-02 1.39625871e-04 9.99492108e-01 2.04259638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98232058799994 meters Centerline goodness [0,1] 0.999952505343149 Centerline is valid? [True, True] Translation: X:282.10, Y:-82.92, Z:2.04 [[ 9.72829424e-01 2.29278115e-01 -3.21629949e-02 2.82102322e+02] [-2.29155613e-01 9.73360950e-01 7.49433466e-03 -8.29239604e+01] [ 3.30244902e-02 7.96215384e-05 9.99454540e-01 2.04403950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.13, Y:-82.94, Z:2.04 [[ 9.73579394e-01 2.26356115e-01 -3.01010340e-02 2.82132867e+02] [-2.26247045e-01 9.74044613e-01 7.02611269e-03 -8.29356953e+01] [ 3.09101536e-02 -3.02085337e-05 9.99522167e-01 2.04477833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.16, Y:-82.95, Z:2.05 [[ 9.73759013e-01 2.25634216e-01 -2.97083340e-02 2.82163743e+02] [-2.25527247e-01 9.74212090e-01 6.94725369e-03 -8.29456074e+01] [ 3.05097563e-02 -6.49120959e-05 9.99534467e-01 2.04706054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.07232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.19, Y:-82.96, Z:2.05 [[ 9.73902623e-01 2.24876452e-01 -3.07288410e-02 2.82194658e+02] [-2.24761189e-01 9.74387279e-01 7.19981926e-03 -8.29560498e+01] [ 3.15608616e-02 -1.05272009e-04 9.99501826e-01 2.04854953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.23, Y:-82.96, Z:2.05 [[ 9.73032432e-01 2.28443907e-01 -3.19572612e-02 2.82226976e+02] [-2.28320685e-01 9.73557077e-01 7.50223711e-03 -8.29617003e+01] [ 3.28260582e-02 -3.41625435e-06 9.99461080e-01 2.04726800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.13232058799997 meters Centerline goodness [0,1] 0.999952505343149 Centerline is valid? [True, True] Translation: X:282.26, Y:-82.97, Z:2.05 [[ 9.72532707e-01 2.30466829e-01 -3.26369976e-02 2.82258986e+02] [-2.30338958e-01 9.73080181e-01 7.67635721e-03 -8.29690509e+01] [ 3.35275612e-02 5.20635465e-05 9.99437792e-01 2.04795428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16232058799994 meters Centerline goodness [0,1] 0.9999526537569244 Centerline is valid? [True, True] Translation: X:282.29, Y:-82.98, Z:2.05 [[ 9.71447250e-01 2.34882045e-01 -3.34763473e-02 2.82289906e+02] [-2.34749614e-01 9.72023861e-01 7.88873000e-03 -8.29784418e+01] [ 3.43927294e-02 1.95074544e-04 9.99408376e-01 2.05184349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.192320588 meters Centerline goodness [0,1] 0.9999042604116802 Centerline is valid? [True, True] Translation: X:282.32, Y:-82.99, Z:2.05 [[ 9.70926809e-01 2.37013701e-01 -3.35505176e-02 2.82321695e+02] [-2.36881448e-01 9.71506274e-01 7.92084867e-03 -8.29864039e+01] [ 3.44718880e-02 2.56930892e-04 9.99405635e-01 2.05344065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22232058799995 meters Centerline goodness [0,1] 0.9999527097323371 Centerline is valid? [True, True] Translation: X:282.35, Y:-82.99, Z:2.05 [[ 9.70401439e-01 2.39095013e-01 -3.39797206e-02 2.82353966e+02] [-2.38960106e-01 9.70996123e-01 8.03715487e-03 -8.29927162e+01] [ 3.49158206e-02 3.20530995e-04 9.99390205e-01 2.05346033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.39, Y:-83.00, Z:2.05 [[ 9.70098650e-01 2.40507771e-01 -3.26285241e-02 2.82386401e+02] [-2.40383723e-01 9.70647152e-01 7.73119466e-03 -8.29990403e+01] [ 3.35301964e-02 3.43344602e-04 9.99437646e-01 2.05416127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28232058799995 meters Centerline goodness [0,1] 0.9998552891804544 Centerline is valid? [True, True] Translation: X:282.42, Y:-83.00, Z:2.06 [[ 9.70055205e-01 2.40915596e-01 -3.08638029e-02 2.82418806e+02] [-2.40804411e-01 9.70546016e-01 7.32573260e-03 -8.30041486e+01] [ 3.17196242e-02 3.25774852e-04 9.99496753e-01 2.05525396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.312320588 meters Centerline goodness [0,1] 0.9999524579252639 Centerline is valid? [True, True] Translation: X:282.45, Y:-83.01, Z:2.06 [[ 9.69805381e-01 2.41872314e-01 -3.12298876e-02 2.82450387e+02] [-2.41758528e-01 9.70308025e-01 7.42641249e-03 -8.30111689e+01] [ 3.20988542e-02 3.47916870e-04 9.99484638e-01 2.05669572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.48, Y:-83.02, Z:2.06 [[ 9.69723264e-01 2.42020176e-01 -3.26040748e-02 2.82482531e+02] [-2.41895741e-01 9.70271152e-01 7.76798811e-03 -8.30183321e+01] [ 3.35148030e-02 3.53988033e-04 9.99438159e-01 2.05820460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.372320588 meters Centerline goodness [0,1] 0.9996228727666997 Centerline is valid? [True, True] Translation: X:282.51, Y:-83.03, Z:2.06 [[ 9.69750754e-01 2.41929209e-01 -3.24612552e-02 2.82514033e+02] [-2.41805340e-01 9.70293845e-01 7.74805719e-03 -8.30256117e+01] [ 3.33714374e-02 3.35620539e-04 9.99442962e-01 2.05713808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.55, Y:-83.03, Z:2.06 [[ 9.69908965e-01 2.41422872e-01 -3.14896318e-02 2.82546143e+02] [-2.41305611e-01 9.70419966e-01 7.52944372e-03 -8.30328155e+01] [ 3.23759473e-02 2.95749876e-04 9.99475718e-01 2.05920390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.432320588 meters Centerline goodness [0,1] 0.9999061385395157 Centerline is valid? [True, True] Translation: X:282.58, Y:-83.04, Z:2.06 [[ 9.69515506e-01 2.43139151e-01 -3.03815201e-02 2.82578065e+02] [-2.43030443e-01 9.69991364e-01 7.27725167e-03 -8.30409709e+01] [ 3.12391969e-02 3.28225961e-04 9.99511883e-01 2.06078353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46232058799995 meters Centerline goodness [0,1] 0.9999053881451346 Centerline is valid? [True, True] Translation: X:282.61, Y:-83.05, Z:2.06 [[ 9.69242395e-01 2.44252779e-01 -3.01622359e-02 2.82609509e+02] [-2.44145767e-01 9.69711534e-01 7.23782664e-03 -8.30487812e+01] [ 3.10165273e-02 3.48773785e-04 9.99518811e-01 2.06140086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.492320588 meters Centerline goodness [0,1] 0.9998588102409639 Centerline is valid? [True, True] Translation: X:282.64, Y:-83.06, Z:2.06 [[ 9.68938881e-01 2.45312962e-01 -3.12888999e-02 2.82641759e+02] [-2.45197901e-01 9.69443863e-01 7.52235286e-03 -8.30560290e+01] [ 3.21781627e-02 3.83272410e-04 9.99482075e-01 2.06235029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52232058799996 meters Centerline goodness [0,1] 0.9999058247398408 Centerline is valid? [True, True] Translation: X:282.67, Y:-83.06, Z:2.06 [[ 9.68685997e-01 2.46419123e-01 -3.04147114e-02 2.82673623e+02] [-2.46310543e-01 9.69163278e-01 7.32511019e-03 -8.30629408e+01] [ 3.12818686e-02 3.95732401e-04 9.99510524e-01 2.06285426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.552320588 meters Centerline goodness [0,1] 0.9997607884412975 Centerline is valid? [True, True] Translation: X:282.71, Y:-83.07, Z:2.06 [[ 9.68519929e-01 2.47140053e-01 -2.98486348e-02 2.82705722e+02] [-2.47035428e-01 9.68979688e-01 7.20153745e-03 -8.30700696e+01] [ 3.07025092e-02 3.98837748e-04 9.99528487e-01 2.06357821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58232058799996 meters Centerline goodness [0,1] 0.9997182701788985 Centerline is valid? [True, True] Translation: X:282.74, Y:-83.08, Z:2.07 [[ 9.68478491e-01 2.47180288e-01 -3.08434392e-02 2.82737359e+02] [-2.47068150e-01 9.68969424e-01 7.45546593e-03 -8.30786584e+01] [ 3.17291937e-02 3.99973074e-04 9.99496422e-01 2.06510854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.612320588 meters Centerline goodness [0,1] 0.9997171145685997 Centerline is valid? [True, True] Translation: X:282.77, Y:-83.09, Z:2.07 [[ 9.68469946e-01 2.47161452e-01 -3.12598966e-02 2.82768728e+02] [-2.47045808e-01 9.68974233e-01 7.57002664e-03 -8.30877834e+01] [ 3.21610531e-02 3.91283116e-04 9.99482623e-01 2.06693428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64232058799996 meters Centerline goodness [0,1] 0.9997171145685997 Centerline is valid? [True, True] Translation: X:282.80, Y:-83.10, Z:2.07 [[ 9.68368166e-01 2.47560317e-01 -3.12567655e-02 2.82800046e+02] [-2.47444464e-01 9.68872405e-01 7.58293312e-03 -8.30950126e+01] [ 3.21610508e-02 3.91242538e-04 9.99482623e-01 2.06798458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.672320588 meters Centerline goodness [0,1] 0.9998116583482437 Centerline is valid? [True, True] Translation: X:282.83, Y:-83.10, Z:2.07 [[ 9.68331106e-01 2.47610760e-01 -3.19965799e-02 2.82831668e+02] [-2.47488914e-01 9.68859515e-01 7.77668668e-03 -8.31042342e+01] [ 3.29257822e-02 3.88391201e-04 9.99457724e-01 2.07074730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70232058799996 meters Centerline goodness [0,1] 0.9998575836695941 Centerline is valid? [True, True] Translation: X:282.86, Y:-83.11, Z:2.07 [[ 9.68561436e-01 2.46880119e-01 -3.06423294e-02 2.82863412e+02] [-2.46767602e-01 9.69045971e-01 7.46032657e-03 -8.31110165e+01] [ 3.15356322e-02 3.35749540e-04 9.99502572e-01 2.07173614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.90, Y:-83.12, Z:2.07 [[ 9.68518918e-01 2.47338007e-01 -2.81960351e-02 2.82895256e+02] [-2.47242610e-01 9.68929210e-01 6.87596143e-03 -8.31186531e+01] [ 2.90206486e-02 3.11762595e-04 9.99578764e-01 2.07079779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.93, Y:-83.13, Z:2.07 [[ 9.68595047e-01 2.47191120e-01 -2.68362829e-02 2.82926322e+02] [-2.47104342e-01 9.68966703e-01 6.55542420e-03 -8.31271070e+01] [ 2.76239072e-02 2.81810617e-04 9.99618347e-01 2.07046062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.96, Y:-83.14, Z:2.07 [[ 9.68715127e-01 2.46871446e-01 -2.54065318e-02 2.82958177e+02] [-2.46793287e-01 9.69048207e-01 6.21658467e-03 -8.31357971e+01] [ 2.61548513e-02 2.48061881e-04 9.99657873e-01 2.07077631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82232058799997 meters Centerline goodness [0,1] 0.9999528190610993 Centerline is valid? [True, True] Translation: X:282.99, Y:-83.14, Z:2.07 [[ 9.69124588e-01 2.45399049e-01 -2.40174793e-02 2.82990086e+02] [-2.45328511e-01 9.69422133e-01 5.88645037e-03 -8.31435082e+01] [ 2.47276053e-02 1.87468630e-04 9.99694208e-01 2.07071773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.02, Y:-83.15, Z:2.07 [[ 9.69177273e-01 2.45154609e-01 -2.43850681e-02 2.83021718e+02] [-2.45081542e-01 9.69483980e-01 5.98752195e-03 -8.31508787e+01] [ 2.51088015e-02 1.73359886e-04 9.99684709e-01 2.07221687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.05, Y:-83.16, Z:2.07 [[ 9.69134666e-01 2.45335563e-01 -2.42582174e-02 2.83052890e+02] [-2.45263047e-01 9.69438205e-01 5.96693971e-03 -8.31593990e+01] [ 2.49807452e-02 1.66876175e-04 9.99687919e-01 2.07245121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.08, Y:-83.17, Z:2.07 [[ 9.68588178e-01 2.47351387e-01 -2.55779599e-02 2.83084579e+02] [-2.47271152e-01 9.68925819e-01 6.30350748e-03 -8.31684680e+01] [ 2.63423271e-02 2.19188791e-04 9.99652957e-01 2.07440774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.942320588 meters Centerline goodness [0,1] 0.9999530516431925 Centerline is valid? [True, True] Translation: X:283.12, Y:-83.18, Z:2.07 [[ 9.67920077e-01 2.50102307e-01 -2.40740491e-02 2.83115672e+02] [-2.50031829e-01 9.68219378e-01 5.94303664e-03 -8.31765645e+01] [ 2.47953281e-02 2.66894052e-04 9.99692513e-01 2.07422936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97232058799995 meters Centerline goodness [0,1] 0.9999531593985667 Centerline is valid? [True, True] Translation: X:283.15, Y:-83.18, Z:2.07 [[ 9.67770623e-01 2.50821421e-01 -2.25529740e-02 2.83147882e+02] [-2.50759593e-01 9.68033340e-01 5.57491348e-03 -8.31840887e+01] [ 2.32303385e-02 2.60137090e-04 9.99730105e-01 2.07429728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.002320588 meters Centerline goodness [0,1] 0.99995274995275 Centerline is valid? [True, True] Translation: X:283.18, Y:-83.19, Z:2.08 [[ 9.67775770e-01 2.50827415e-01 -2.22635872e-02 2.83179920e+02] [-2.50766945e-01 9.68031790e-01 5.51294697e-03 -8.31913551e+01] [ 2.29346585e-02 2.47675269e-04 9.99736935e-01 2.07582454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.21, Y:-83.20, Z:2.08 [[ 9.68124402e-01 2.49485436e-01 -2.21846814e-02 2.83210745e+02] [-2.49424809e-01 9.68378529e-01 5.50358304e-03 -8.32004291e+01] [ 2.28562329e-02 2.05256874e-04 9.99738741e-01 2.07867849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.062320588 meters Centerline goodness [0,1] 0.9998581426139588 Centerline is valid? [True, True] Translation: X:283.24, Y:-83.21, Z:2.08 [[ 9.67802224e-01 2.50638093e-01 -2.32250355e-02 2.83242668e+02] [-2.50571762e-01 9.68080829e-01 5.77067380e-03 -8.32089775e+01] [ 2.39300623e-02 2.34667122e-04 9.99713608e-01 2.08108013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09232058799995 meters Centerline goodness [0,1] 0.9999526828806662 Centerline is valid? [True, True] Translation: X:283.28, Y:-83.21, Z:2.08 [[ 9.67633160e-01 2.51367280e-01 -2.23731615e-02 2.83275131e+02] [-2.51305705e-01 9.67891748e-01 5.56838206e-03 -8.32149804e+01] [ 2.30545075e-02 2.34352016e-04 9.99734182e-01 2.07882458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.31, Y:-83.22, Z:2.08 [[ 9.67318190e-01 2.52547477e-01 -2.27000078e-02 2.83307264e+02] [-2.52484176e-01 9.67584470e-01 5.65993344e-03 -8.32219452e+01] [ 2.33935769e-02 2.56436195e-04 9.99726300e-01 2.07858550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15232058799995 meters Centerline goodness [0,1] 0.9998123035052321 Centerline is valid? [True, True] Translation: X:283.34, Y:-83.23, Z:2.08 [[ 9.66942647e-01 2.54092516e-01 -2.14222165e-02 2.83338644e+02] [-2.54036318e-01 9.67179881e-01 5.35052031e-03 -8.32295604e+01] [ 2.20786640e-02 2.68374735e-04 9.99756201e-01 2.07824155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.182320588 meters Centerline goodness [0,1] 0.9997627408180697 Centerline is valid? [True, True] Translation: X:283.37, Y:-83.24, Z:2.08 [[ 9.66628980e-01 2.55179509e-01 -2.26237175e-02 2.83370149e+02] [-2.55116920e-01 9.66893648e-01 5.65947546e-03 -8.32369234e+01] [ 2.33189109e-02 3.01080144e-04 9.99728032e-01 2.08140391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21232058799995 meters Centerline goodness [0,1] 0.9998591615417116 Centerline is valid? [True, True] Translation: X:283.40, Y:-83.24, Z:2.08 [[ 9.66551119e-01 2.55533019e-01 -2.19501854e-02 2.83402015e+02] [-2.55473985e-01 9.66800285e-01 5.50018300e-03 -8.32436102e+01] [ 2.26269238e-02 2.91493287e-04 9.99743936e-01 2.08231930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.242320588 meters Centerline goodness [0,1] 0.9998583301851153 Centerline is valid? [True, True] Translation: X:283.43, Y:-83.25, Z:2.08 [[ 9.66698418e-01 2.55101686e-01 -2.04278956e-02 2.83434561e+02] [-2.55050291e-01 9.66914198e-01 5.12676055e-03 -8.32496921e+01] [ 2.10598675e-02 2.54109405e-04 9.99778184e-01 2.08057751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27232058799996 meters Centerline goodness [0,1] 0.9999530141427431 Centerline is valid? [True, True] Translation: X:283.47, Y:-83.26, Z:2.08 [[ 9.67005982e-01 2.53968332e-01 -1.99879101e-02 2.83466302e+02] [-2.53918709e-01 9.67212510e-01 5.02489554e-03 -8.32568328e+01] [ 2.06087211e-02 2.16200286e-04 9.99787594e-01 2.08184953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.302320588 meters Centerline goodness [0,1] 0.9998592606492775 Centerline is valid? [True, True] Translation: X:283.50, Y:-83.27, Z:2.08 [[ 9.67117330e-01 2.53566325e-01 -1.97025299e-02 2.83497424e+02] [-2.53517854e-01 9.67317983e-01 4.96161788e-03 -8.32659940e+01] [ 2.03167107e-02 1.96476463e-04 9.99793575e-01 2.08488273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33232058799996 meters Centerline goodness [0,1] 0.9999528857479387 Centerline is valid? [True, True] Translation: X:283.53, Y:-83.27, Z:2.09 [[ 9.67264837e-01 2.52991789e-01 -1.98466506e-02 2.83529208e+02] [-2.52942305e-01 9.67468409e-01 5.00671934e-03 -8.32730383e+01] [ 2.04676664e-02 1.77234001e-04 9.99790500e-01 2.08528798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.362320588 meters Centerline goodness [0,1] 0.9999527521852114 Centerline is valid? [True, True] Translation: X:283.56, Y:-83.28, Z:2.09 [[ 9.67171635e-01 2.53380154e-01 -1.94300095e-02 2.83560937e+02] [-2.53332639e-01 9.67366770e-01 4.90984383e-03 -8.32800037e+01] [ 2.00400025e-02 1.73593896e-04 9.99799164e-01 2.08572774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.59, Y:-83.29, Z:2.09 [[ 9.67191258e-01 2.53253490e-01 -2.00933102e-02 2.83593694e+02] [-2.53202455e-01 9.67399939e-01 5.08675945e-03 -8.32856351e+01] [ 2.07265066e-02 1.67806194e-04 9.99785169e-01 2.08512516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.63, Y:-83.29, Z:2.08 [[ 9.67058309e-01 2.53785928e-01 -1.97719282e-02 2.83625448e+02] [-2.53736451e-01 9.67260397e-01 5.01387452e-03 -8.32929257e+01] [ 2.03970539e-02 1.68149876e-04 9.99791944e-01 2.08462314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45232058799996 meters Centerline goodness [0,1] 0.999905877923667 Centerline is valid? [True, True] Translation: X:283.66, Y:-83.30, Z:2.09 [[ 9.67097775e-01 2.53572165e-01 -2.05681908e-02 2.83656244e+02] [-2.53518358e-01 9.67316459e-01 5.22598094e-03 -8.33000599e+01] [ 2.12211128e-02 1.60379413e-04 9.99774794e-01 2.08546921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48232058799994 meters Centerline goodness [0,1] 0.9998579007199697 Centerline is valid? [True, True] Translation: X:283.69, Y:-83.31, Z:2.09 [[ 9.67132240e-01 2.53448211e-01 -2.04752332e-02 2.83688163e+02] [-2.53394710e-01 9.67348945e-01 5.20953570e-03 -8.33080102e+01] [ 2.11270428e-02 1.50005853e-04 9.99776788e-01 2.08706902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51232058799997 meters Centerline goodness [0,1] 0.9997651038241098 Centerline is valid? [True, True] Translation: X:283.72, Y:-83.32, Z:2.09 [[ 9.66989504e-01 2.53957800e-01 -2.08982091e-02 2.83719346e+02] [-2.53901979e-01 9.67215287e-01 5.32664935e-03 -8.33181566e+01] [ 2.15658115e-02 1.55282639e-04 9.99767419e-01 2.08950402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54232058799994 meters Centerline goodness [0,1] 0.9999055757518531 Centerline is valid? [True, True] Translation: X:283.75, Y:-83.33, Z:2.09 [[ 9.66998242e-01 2.54039257e-01 -1.94539613e-02 2.83750424e+02] [-2.53990750e-01 9.67193898e-01 4.96613751e-03 -8.33264951e+01] [ 2.00773465e-02 1.38879969e-04 9.99798420e-01 2.09020061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.57232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.78, Y:-83.33, Z:2.09 [[ 9.67257607e-01 2.53129340e-01 -1.83918010e-02 2.83781944e+02] [-2.53085681e-01 9.67432440e-01 4.70234664e-03 -8.33331783e+01] [ 1.89831268e-02 1.06320933e-04 9.99819799e-01 2.09191703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.81, Y:-83.34, Z:2.09 [[ 9.67204655e-01 2.53321510e-01 -1.85301635e-02 2.83814487e+02] [-2.53277069e-01 9.67382139e-01 4.74597706e-03 -8.33391110e+01] [ 1.91280073e-02 1.02934403e-04 9.99817038e-01 2.08985242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.63232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.85, Y:-83.35, Z:2.09 [[ 9.67042395e-01 2.53915998e-01 -1.88592933e-02 2.83846526e+02] [-2.53869852e-01 9.67226269e-01 4.84186200e-03 -8.33474129e+01] [ 1.94706302e-02 1.05520180e-04 9.99810424e-01 2.09048412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66232058799994 meters Centerline goodness [0,1] 0.9999057626160298 Centerline is valid? [True, True] Translation: X:283.88, Y:-83.36, Z:2.09 [[ 9.66722045e-01 2.55048165e-01 -1.99730385e-02 2.83878023e+02] [-2.54996619e-01 9.66928340e-01 5.12918404e-03 -8.33566490e+01] [ 2.06206859e-02 1.34562008e-04 9.99787362e-01 2.09208736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.692320588 meters Centerline goodness [0,1] 0.9999531308586427 Centerline is valid? [True, True] Translation: X:283.91, Y:-83.36, Z:2.09 [[ 9.66365264e-01 2.56392867e-01 -2.00218407e-02 2.83909321e+02] [-2.56341171e-01 9.66572643e-01 5.15072566e-03 -8.33641276e+01] [ 2.06731728e-02 1.54939751e-04 9.99786275e-01 2.09217420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.94, Y:-83.37, Z:2.09 [[ 9.66407385e-01 2.56446243e-01 -1.70906668e-02 2.83940024e+02] [-2.56408471e-01 9.66558487e-01 4.40312138e-03 -8.33714979e+01] [ 1.76482929e-02 1.26982726e-04 9.99844249e-01 2.09204644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.752320588 meters Centerline goodness [0,1] 0.9999052447055479 Centerline is valid? [True, True] Translation: X:283.97, Y:-83.38, Z:2.09 [[ 9.66598690e-01 2.55689073e-01 -1.76088188e-02 2.83971116e+02] [-2.55648719e-01 9.66759063e-01 4.54387891e-03 -8.33795755e+01] [ 1.81853053e-02 1.09564557e-04 9.99834628e-01 2.09460148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.00, Y:-83.39, Z:2.10 [[ 9.66520920e-01 2.56000739e-01 -1.73474201e-02 2.84002481e+02] [-2.55961520e-01 9.66676580e-01 4.48221088e-03 -8.33888984e+01] [ 1.79167941e-02 1.08121452e-04 9.99839476e-01 2.09708143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.03, Y:-83.40, Z:2.10 [[ 9.66686195e-01 2.55403129e-01 -1.69423023e-02 2.84034035e+02] [-2.55365503e-01 9.66834647e-01 4.38468478e-03 -8.33977287e+01] [ 1.75002671e-02 8.78653063e-05 9.99846855e-01 2.09926826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.07, Y:-83.40, Z:2.10 [[ 9.66668483e-01 2.55436249e-01 -1.74461161e-02 2.84066018e+02] [-2.55396212e-01 9.66825897e-01 4.52315803e-03 -8.34048990e+01] [ 1.80227354e-02 8.32776609e-05 9.99837574e-01 2.09897238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.872320588 meters Centerline goodness [0,1] 0.9999055668350725 Centerline is valid? [True, True] Translation: X:284.10, Y:-83.41, Z:2.10 [[ 9.66872079e-01 2.54585629e-01 -1.85617831e-02 2.84097733e+02] [-2.54539963e-01 9.67050233e-01 4.82219439e-03 -8.34117464e+01] [ 1.91778381e-02 6.22704799e-05 9.99816086e-01 2.09676143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.13, Y:-83.42, Z:2.10 [[ 9.66886931e-01 2.54555636e-01 -1.81958981e-02 2.84129133e+02] [-2.54511635e-01 9.67058129e-01 4.73313669e-03 -8.34200088e+01] [ 1.88013378e-02 5.46597585e-05 9.99823238e-01 2.09779379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.16, Y:-83.43, Z:2.10 [[ 9.66657076e-01 2.55546313e-01 -1.64371430e-02 2.84160215e+02] [-2.55510435e-01 9.66796813e-01 4.28246343e-03 -8.34283044e+01] [ 1.69857452e-02 6.01879972e-05 9.99855730e-01 2.10054920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.19, Y:-83.44, Z:2.10 [[ 9.66566715e-01 2.55925646e-01 -1.58382295e-02 2.84191976e+02] [-2.55892308e-01 9.66696467e-01 4.13118384e-03 -8.34357469e+01] [ 1.63680364e-02 5.98163069e-05 9.99866033e-01 2.10107896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.22, Y:-83.44, Z:2.10 [[ 9.66721877e-01 2.55275422e-01 -1.68306992e-02 2.84223676e+02] [-2.55237517e-01 9.66868376e-01 4.39917717e-03 -8.34420757e+01] [ 1.73960727e-02 4.30450818e-05 9.99848676e-01 2.10167398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.26, Y:-83.45, Z:2.10 [[ 9.66858975e-01 2.54781461e-01 -1.64356520e-02 2.84255919e+02] [-2.54745154e-01 9.66998659e-01 4.30116638e-03 -8.34497748e+01] [ 1.69891109e-02 2.82813896e-05 9.99855674e-01 2.10032256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.29, Y:-83.46, Z:2.10 [[ 9.66772402e-01 2.55029062e-01 -1.76436998e-02 2.84286231e+02] [-2.54987088e-01 9.66933388e-01 4.62688766e-03 -8.34582737e+01] [ 1.82402732e-02 2.57683327e-05 9.99833632e-01 2.10340392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.32, Y:-83.47, Z:2.11 [[ 9.66851690e-01 2.54746181e-01 -1.73837199e-02 2.84317568e+02] [-2.54705285e-01 9.67007954e-01 4.56446202e-03 -8.34658389e+01] [ 1.79729747e-02 1.45675175e-05 9.99838473e-01 2.10626779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.35, Y:-83.47, Z:2.11 [[ 9.67046136e-01 2.53982758e-01 -1.77349907e-02 2.84349932e+02] [-2.53939917e-01 9.67208746e-01 4.66478227e-03 -8.34720330e+01] [ 1.83382124e-02 -7.43759376e-06 9.99831841e-01 2.10672482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.38, Y:-83.48, Z:2.11 [[ 9.67043396e-01 2.53938633e-01 -1.84997300e-02 2.84381566e+02] [-2.53891840e-01 9.67220332e-01 4.87474592e-03 -8.34790417e+01] [ 1.91312013e-02 -1.71603754e-05 9.99816982e-01 2.10581403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.41, Y:-83.49, Z:2.11 [[ 9.66450743e-01 2.56158285e-01 -1.88651464e-02 2.84413296e+02] [-2.56109880e-01 9.66634850e-01 4.97962682e-03 -8.34885042e+01] [ 1.95112806e-02 1.89863376e-05 9.99809637e-01 2.10614832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.44, Y:-83.50, Z:2.11 [[ 9.66085435e-01 2.57530912e-01 -1.88881503e-02 2.84444356e+02] [-2.57482488e-01 9.66270060e-01 4.99402559e-03 -8.34978270e+01] [ 1.95371701e-02 3.87125467e-05 9.99809131e-01 2.10780324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.48, Y:-83.51, Z:2.11 [[ 9.65956806e-01 2.58055545e-01 -1.82970963e-02 2.84475762e+02] [-2.58010055e-01 9.66130081e-01 4.84539302e-03 -8.35064339e+01] [ 1.89277557e-02 4.03944523e-05 9.99820853e-01 2.10933308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.51, Y:-83.51, Z:2.11 [[ 9.65847863e-01 2.58431610e-01 -1.87352184e-02 2.84508005e+02] [-2.58383818e-01 9.66029555e-01 4.97003352e-03 -8.35135809e+01] [ 1.93831885e-02 4.05809941e-05 9.99812128e-01 2.10951961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.54, Y:-83.52, Z:2.11 [[ 9.65931939e-01 2.58132521e-01 -1.85227372e-02 2.84540048e+02] [-2.58085598e-01 9.66109518e-01 4.92172439e-03 -8.35194553e+01] [ 1.91654499e-02 2.64009211e-05 9.99816326e-01 2.11008258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.57, Y:-83.53, Z:2.11 [[ 9.65830173e-01 2.58428850e-01 -1.96623094e-02 2.84570967e+02] [-2.58375829e-01 9.66030294e-01 5.23472002e-03 -8.35276735e+01] [ 2.03471892e-02 2.44149386e-05 9.99792974e-01 2.11241158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.60, Y:-83.54, Z:2.11 [[ 9.66013526e-01 2.57741058e-01 -1.96828530e-02 2.84601955e+02] [-2.57687641e-01 9.66214028e-01 5.24715862e-03 -8.35361794e+01] [ 2.03702569e-02 3.20175230e-06 9.99792505e-01 2.11413455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.63, Y:-83.54, Z:2.12 [[ 9.65757594e-01 2.58566401e-01 -2.13468163e-02 2.84632345e+02] [-2.58503525e-01 9.65993487e-01 5.70186057e-03 -8.35447202e+01] [ 2.20951951e-02 1.16121195e-05 9.99755871e-01 2.11566036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.66, Y:-83.55, Z:2.11 [[ 9.65863496e-01 2.58219252e-01 -2.07491165e-02 2.84664560e+02] [-2.58159613e-01 9.66086341e-01 5.54942979e-03 -8.35523118e+01] [ 2.14784076e-02 -3.40777518e-06 9.99769312e-01 2.11490876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.70, Y:-83.56, Z:2.12 [[ 9.65539115e-01 2.59485994e-01 -2.00308875e-02 2.84696025e+02] [-2.59430512e-01 9.65746871e-01 5.36570439e-03 -8.35597764e+01] [ 2.07370920e-02 1.58259200e-05 9.99784963e-01 2.11531039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.73, Y:-83.57, Z:2.12 [[ 9.65279944e-01 2.60349034e-01 -2.12840322e-02 2.84726603e+02] [-2.60286363e-01 9.65514567e-01 5.71221051e-03 -8.35674955e+01] [ 2.20372116e-02 2.60610814e-05 9.99757151e-01 2.11802647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.76, Y:-83.58, Z:2.12 [[ 9.65148181e-01 2.60786638e-01 -2.18933525e-02 2.84757699e+02] [-2.60720250e-01 9.65396462e-01 5.88406583e-03 -8.35760840e+01] [ 2.26702508e-02 2.90449019e-05 9.99742996e-01 2.12135919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.79, Y:-83.58, Z:2.12 [[ 9.65226288e-01 2.60488776e-01 -2.19957010e-02 2.84789697e+02] [-2.60421466e-01 9.65476876e-01 5.92136693e-03 -8.35842934e+01] [ 2.27787903e-02 1.26937009e-05 9.99740530e-01 2.12176076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.82, Y:-83.59, Z:2.12 [[ 9.65118847e-01 2.60886773e-01 -2.19932399e-02 2.84820819e+02] [-2.60819359e-01 9.65369407e-01 5.93049104e-03 -8.35923128e+01] [ 2.27787876e-02 1.26340454e-05 9.99740530e-01 2.12281103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.85, Y:-83.60, Z:2.12 [[ 9.65224583e-01 2.60538807e-01 -2.14717308e-02 2.84852459e+02] [-2.60474262e-01 9.65463376e-01 5.79903825e-03 -8.36010102e+01] [ 2.22410442e-02 -4.54104435e-06 9.99752637e-01 2.12325802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.88, Y:-83.61, Z:2.12 [[ 9.64940506e-01 2.61579144e-01 -2.15909786e-02 2.84883962e+02] [-2.61513925e-01 9.65182030e-01 5.84086498e-03 -8.36094696e+01] [ 2.23670730e-02 1.02543418e-05 9.99749826e-01 2.12448361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.92, Y:-83.62, Z:2.13 [[ 9.64769536e-01 2.62194244e-01 -2.17697126e-02 2.84915603e+02] [-2.62127877e-01 9.65015118e-01 5.89895706e-03 -8.36176142e+01] [ 2.25547744e-02 1.53144956e-05 9.99745609e-01 2.12576243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.95, Y:-83.62, Z:2.13 [[ 9.64621765e-01 2.62677539e-01 -2.24802202e-02 2.84947714e+02] [-2.62606657e-01 9.64883677e-01 6.10194274e-03 -8.36244913e+01] [ 2.32936408e-02 1.73886990e-05 9.99728666e-01 2.12625349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.98, Y:-83.63, Z:2.13 [[ 9.64577827e-01 2.62670157e-01 -2.43721865e-02 2.84978907e+02] [-2.62586525e-01 9.64885687e-01 6.62786353e-03 -8.36323533e+01] [ 2.52573159e-02 6.71755932e-06 9.99680983e-01 2.12773768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.01, Y:-83.64, Z:2.13 [[ 9.63765693e-01 2.65686065e-01 -2.38034308e-02 2.85010537e+02] [-2.65607000e-01 9.64059598e-01 6.48172143e-03 -8.36418783e+01] [ 2.46700290e-02 7.54970798e-05 9.99695646e-01 2.12789581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.04, Y:-83.65, Z:2.13 [[ 9.63137078e-01 2.67879528e-01 -2.46480957e-02 2.85042345e+02] [-2.67795177e-01 9.63452408e-01 6.72310365e-03 -8.36502041e+01] [ 2.55482490e-02 1.25370748e-04 9.99673582e-01 2.13018863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.07, Y:-83.66, Z:2.13 [[ 9.62913599e-01 2.68731508e-01 -2.40993056e-02 2.85074208e+02] [-2.68650879e-01 9.63215115e-01 6.58382188e-03 -8.36586430e+01] [ 2.49820958e-02 1.34648028e-04 9.99687890e-01 2.13175838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.11, Y:-83.67, Z:2.14 [[ 9.62991116e-01 2.68409602e-01 -2.45844575e-02 2.85105750e+02] [-2.68325304e-01 9.63304870e-01 6.72753261e-03 -8.36666991e+01] [ 2.54880620e-02 1.18077880e-04 9.99675120e-01 2.13529630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.862320588 meters Centerline goodness [0,1] 0.9999527722678757 Centerline is valid? [True, True] Translation: X:285.14, Y:-83.67, Z:2.13 [[ 9.63143004e-01 2.67825899e-01 -2.49968399e-02 2.85137812e+02] [-2.67738259e-01 9.63467321e-01 6.85169469e-03 -8.36732532e+01] [ 2.59186997e-02 9.34485927e-05 9.99664050e-01 2.13470120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.17, Y:-83.68, Z:2.13 [[ 9.63305267e-01 2.67189962e-01 -2.55438190e-02 2.85170153e+02] [-2.67097911e-01 9.63643876e-01 7.01329708e-03 -8.36794512e+01] [ 2.64890274e-02 6.67546717e-05 9.99649102e-01 2.13357732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.20, Y:-83.69, Z:2.13 [[ 9.63695695e-01 2.65941403e-01 -2.37860942e-02 2.85201433e+02] [-2.65860969e-01 9.63989196e-01 6.54030901e-03 -8.36874698e+01] [ 2.46688767e-02 2.09264082e-05 9.99695677e-01 2.13452723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95232058799996 meters Centerline goodness [0,1] 0.9999060415296439 Centerline is valid? [True, True] Translation: X:285.23, Y:-83.70, Z:2.14 [[ 9.63635795e-01 2.66187491e-01 -2.34579213e-02 2.85232698e+02] [-2.66109086e-01 9.63921272e-01 6.46028353e-03 -8.36968176e+01] [ 2.43312360e-02 1.70055424e-05 9.99703952e-01 2.13710705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98232058799994 meters Centerline goodness [0,1] 0.9999525864112655 Centerline is valid? [True, True] Translation: X:285.26, Y:-83.70, Z:2.14 [[ 9.63922055e-01 2.65062545e-01 -2.44155440e-02 2.85264571e+02] [-2.64976956e-01 9.64231220e-01 6.73544157e-03 -8.37041090e+01] [ 2.53275431e-02 -2.28841519e-05 9.99679206e-01 2.13873381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01232058799997 meters Centerline goodness [0,1] 0.9999522536287242 Centerline is valid? [True, True] Translation: X:285.30, Y:-83.71, Z:2.14 [[ 9.64269839e-01 2.63790763e-01 -2.44562855e-02 2.85296602e+02] [-2.63704202e-01 9.64579923e-01 6.75761069e-03 -8.37107453e+01] [ 2.53726373e-02 -6.69349353e-05 9.99678061e-01 2.13856863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04232058799994 meters Centerline goodness [0,1] 0.999952419469953 Centerline is valid? [True, True] Translation: X:285.33, Y:-83.72, Z:2.14 [[ 9.64299658e-01 2.63847586e-01 -2.25969196e-02 2.85328028e+02] [-2.63773494e-01 9.64564382e-01 6.25281052e-03 -8.37194394e+01] [ 2.34459727e-02 -6.91146292e-05 9.99725103e-01 2.13829524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.07232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.36, Y:-83.73, Z:2.14 [[ 9.64631081e-01 2.62649874e-01 -2.24035836e-02 2.85359987e+02] [-2.62576491e-01 9.64891202e-01 6.20919571e-03 -8.37275917e+01] [ 2.32478652e-02 -1.06928803e-04 9.99729726e-01 2.14027005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.39, Y:-83.74, Z:2.14 [[ 9.64676874e-01 2.62459484e-01 -2.26616151e-02 2.85391434e+02] [-2.62384109e-01 9.64943006e-01 6.29089494e-03 -8.37356065e+01] [ 2.35182721e-02 -1.22633177e-04 9.99723400e-01 2.14134286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.13232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.42, Y:-83.74, Z:2.14 [[ 9.64659086e-01 2.62567575e-01 -2.21611628e-02 2.85423130e+02] [-2.62495303e-01 9.64913599e-01 6.16145454e-03 -8.37436702e+01] [ 2.30014055e-02 -1.26501972e-04 9.99735425e-01 2.14110594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.45, Y:-83.75, Z:2.14 [[ 9.64472385e-01 2.63276398e-01 -2.18759256e-02 2.85454594e+02] [-2.63205942e-01 9.64720439e-01 6.09160106e-03 -8.37518123e+01] [ 2.27079274e-02 -1.17307391e-04 9.99742135e-01 2.14259935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.49, Y:-83.76, Z:2.14 [[ 9.64196402e-01 2.64366530e-01 -2.08719131e-02 2.85485814e+02] [-2.64302463e-01 9.64422277e-01 5.82061120e-03 -8.37598047e+01] [ 2.16681128e-02 -9.57143244e-05 9.99765214e-01 2.14265251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.52, Y:-83.77, Z:2.14 [[ 9.64029662e-01 2.64999847e-01 -2.05399941e-02 2.85517107e+02] [-2.64937756e-01 9.64248450e-01 5.73692215e-03 -8.37678808e+01] [ 2.13259410e-02 -8.87431761e-05 9.99772572e-01 2.14363905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.55, Y:-83.78, Z:2.15 [[ 9.63465039e-01 2.66911992e-01 -2.22060289e-02 2.85547359e+02] [-2.66839662e-01 9.63720906e-01 6.21368763e-03 -8.37769873e+01] [ 2.30589220e-02 -6.12215532e-05 9.99734106e-01 2.14505963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28232058799995 meters Centerline goodness [0,1] 0.9999528034736643 Centerline is valid? [True, True] Translation: X:285.58, Y:-83.79, Z:2.15 [[ 9.63291549e-01 2.67447183e-01 -2.32679339e-02 2.85578793e+02] [-2.67367705e-01 9.63572520e-01 6.51993450e-03 -8.37851081e+01] [ 2.41640798e-02 -5.95037094e-05 9.99708004e-01 2.14656753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.312320588 meters Centerline goodness [0,1] 0.9999528568734678 Centerline is valid? [True, True] Translation: X:285.61, Y:-83.79, Z:2.15 [[ 9.62629096e-01 2.69802663e-01 -2.34892784e-02 2.85610077e+02] [-2.69722107e-01 9.62915636e-01 6.59258835e-03 -8.37934789e+01] [ 2.43968914e-02 -1.06397079e-05 9.99702351e-01 2.14681859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.64, Y:-83.80, Z:2.15 [[ 9.62353661e-01 2.70785790e-01 -2.34624829e-02 2.85641660e+02] [-2.70705455e-01 9.62639629e-01 6.59548045e-03 -8.38024011e+01] [ 2.43718782e-02 4.23736409e-06 9.99702962e-01 2.14866971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.372320588 meters Centerline goodness [0,1] 0.9998590424282291 Centerline is valid? [True, True] Translation: X:285.67, Y:-83.81, Z:2.15 [[ 9.61567172e-01 2.73693185e-01 -2.19229212e-02 2.85673254e+02] [-2.73623603e-01 9.61817049e-01 6.17152435e-03 -8.38122677e+01] [ 2.27749435e-02 6.42934581e-05 9.99740615e-01 2.14853999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40232058799995 meters Centerline goodness [0,1] 0.999953119872486 Centerline is valid? [True, True] Translation: X:285.70, Y:-83.82, Z:2.15 [[ 9.61071390e-01 2.75340301e-01 -2.30109205e-02 2.85704609e+02] [-2.75263849e-01 9.61346820e-01 6.48878605e-03 -8.38217538e+01] [ 2.39080995e-02 9.78879177e-05 9.99714156e-01 2.15006675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.432320588 meters Centerline goodness [0,1] 0.9999058203051422 Centerline is valid? [True, True] Translation: X:285.74, Y:-83.83, Z:2.15 [[ 9.60574656e-01 2.77001737e-01 -2.37984744e-02 2.85735638e+02] [-2.76920197e-01 9.60869408e-01 6.72195895e-03 -8.38306020e+01] [ 2.47292203e-02 1.33334802e-04 9.99694177e-01 2.15207780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46232058799995 meters Centerline goodness [0,1] 0.9998573330797033 Centerline is valid? [True, True] Translation: X:285.77, Y:-83.84, Z:2.15 [[ 9.59841010e-01 2.79553770e-01 -2.35568651e-02 2.85767264e+02] [-2.79474391e-01 9.60130020e-01 6.66405420e-03 -8.38394758e+01] [ 2.44806149e-02 1.87108043e-04 9.99700287e-01 2.15320563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.80, Y:-83.85, Z:2.15 [[ 9.59356470e-01 2.81267615e-01 -2.28843410e-02 2.85798649e+02] [-2.81192959e-01 9.59629346e-01 6.48359458e-03 -8.38482959e+01] [ 2.37841104e-02 2.14837170e-04 9.99717095e-01 2.15433268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52232058799996 meters Centerline goodness [0,1] 0.9997636269087127 Centerline is valid? [True, True] Translation: X:285.83, Y:-83.86, Z:2.16 [[ 9.58411553e-01 2.84464604e-01 -2.29604832e-02 2.85829262e+02] [-2.84390111e-01 9.58686501e-01 6.51589445e-03 -8.38579897e+01] [ 2.38654466e-02 2.84825835e-04 9.99715139e-01 2.15638188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.552320588 meters Centerline goodness [0,1] 0.9993867345976035 Centerline is valid? [True, True] Translation: X:285.86, Y:-83.87, Z:2.16 [[ 9.58009301e-01 2.85836676e-01 -2.27062396e-02 2.85860197e+02] [-2.85764013e-01 9.58278300e-01 6.45203715e-03 -8.38668966e+01] [ 2.36031255e-02 3.07514528e-04 9.99721360e-01 2.15746031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58232058799996 meters Centerline goodness [0,1] 0.9998109730163981 Centerline is valid? [True, True] Translation: X:285.89, Y:-83.88, Z:2.16 [[ 9.57771969e-01 2.86654872e-01 -2.24017978e-02 2.85891505e+02] [-2.86584139e-01 9.58033865e-01 6.37537470e-03 -8.38750085e+01] [ 2.32892131e-02 3.13844739e-04 9.99728720e-01 2.15756445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.612320588 meters Centerline goodness [0,1] 0.9998107673384427 Centerline is valid? [True, True] Translation: X:285.92, Y:-83.88, Z:2.16 [[ 9.57495445e-01 2.87529080e-01 -2.30108938e-02 2.85923578e+02] [-2.87454444e-01 9.57771850e-01 6.55941426e-03 -8.38817100e+01] [ 2.39252086e-02 3.33974398e-04 9.99713695e-01 2.15756292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64232058799996 meters Centerline goodness [0,1] 0.9998571428571429 Centerline is valid? [True, True] Translation: X:285.96, Y:-83.89, Z:2.16 [[ 9.57183957e-01 2.88569342e-01 -2.29479171e-02 2.85955769e+02] [-2.88495169e-01 9.57458935e-01 6.55168348e-03 -8.38894328e+01] [ 2.38623033e-02 3.49196913e-04 9.99715194e-01 2.15770876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.672320588 meters Centerline goodness [0,1] 0.9995234464353794 Centerline is valid? [True, True] Translation: X:285.99, Y:-83.90, Z:2.16 [[ 9.56633879e-01 2.90428972e-01 -2.24195094e-02 2.85985922e+02] [-2.90358449e-01 9.56896478e-01 6.41098821e-03 -8.38982131e+01] [ 2.33150863e-02 3.76725465e-04 9.99728095e-01 2.16072805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70232058799996 meters Centerline goodness [0,1] 0.9995778215592457 Centerline is valid? [True, True] Translation: X:286.02, Y:-83.91, Z:2.16 [[ 9.56267892e-01 2.91670682e-01 -2.19073532e-02 2.86016956e+02] [-2.91603486e-01 9.56518720e-01 6.27261952e-03 -8.39074898e+01] [ 2.27843326e-02 3.89955915e-04 9.99740327e-01 2.16205649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73232058799994 meters Centerline goodness [0,1] 0.9997643510227165 Centerline is valid? [True, True] Translation: X:286.05, Y:-83.92, Z:2.16 [[ 9.56101664e-01 2.92288485e-01 -2.09057083e-02 2.86048570e+02] [-2.92227277e-01 9.56330120e-01 5.99341008e-03 -8.39162681e+01] [ 2.17445633e-02 3.78908850e-04 9.99763487e-01 2.16288228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76232058799997 meters Centerline goodness [0,1] 0.9993839738425816 Centerline is valid? [True, True] Translation: X:286.08, Y:-83.93, Z:2.16 [[ 9.55905262e-01 2.92931093e-01 -2.08926985e-02 2.86080252e+02] [-2.92869911e-01 9.56133478e-01 5.99899875e-03 -8.39252800e+01] [ 2.17335018e-02 3.84368290e-04 9.99763726e-01 2.16425198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79232058799994 meters Centerline goodness [0,1] 0.9994282174679564 Centerline is valid? [True, True] Translation: X:286.11, Y:-83.93, Z:2.17 [[ 9.56076698e-01 2.92338574e-01 -2.13425869e-02 2.86111586e+02] [-2.92274350e-01 9.56314813e-01 6.13857676e-03 -8.39328838e+01] [ 2.22047748e-02 3.68940516e-04 9.99753376e-01 2.16527548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82232058799997 meters Centerline goodness [0,1] 0.9994835680751174 Centerline is valid? [True, True] Translation: X:286.14, Y:-83.94, Z:2.16 [[ 9.56532277e-01 2.91066420e-01 -1.80649265e-02 2.86143567e+02] [-2.91020099e-01 9.56702806e-01 5.20027993e-03 -8.39392348e+01] [ 1.87963927e-02 2.83021075e-04 9.99823292e-01 2.16345422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85232058799994 meters Centerline goodness [0,1] 0.9997154779969651 Centerline is valid? [True, True] Translation: X:286.17, Y:-83.95, Z:2.16 [[ 9.56649041e-01 2.90682813e-01 -1.80586480e-02 2.86174970e+02] [-2.90636304e-01 9.56819435e-01 5.20658251e-03 -8.39470556e+01] [ 1.87923294e-02 2.67626545e-04 9.99823373e-01 2.16467907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88232058799997 meters Centerline goodness [0,1] 0.9998577794633545 Centerline is valid? [True, True] Translation: X:286.21, Y:-83.96, Z:2.17 [[ 9.56876117e-01 2.89900488e-01 -1.85957763e-02 2.86205739e+02] [-2.89850840e-01 9.57056761e-01 5.37089298e-03 -8.39557454e+01] [ 1.93542379e-02 2.50722165e-04 9.99812658e-01 2.16632590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91232058799994 meters Centerline goodness [0,1] 0.9996236179722419 Centerline is valid? [True, True] Translation: X:286.24, Y:-83.96, Z:2.17 [[ 9.57139304e-01 2.88958892e-01 -1.96751374e-02 2.86236416e+02] [-2.88902942e-01 9.57341476e-01 5.69104090e-03 -8.39644674e+01] [ 2.04803019e-02 2.37086134e-04 9.99790229e-01 2.16772661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.942320588 meters Centerline goodness [0,1] 0.9998577929465301 Centerline is valid? [True, True] Translation: X:286.27, Y:-83.97, Z:2.17 [[ 9.57585981e-01 2.87415916e-01 -2.05226850e-02 2.86267444e+02] [-2.87354503e-01 9.57805852e-01 5.94475893e-03 -8.39715093e+01] [ 2.13653661e-02 2.04668139e-04 9.99771714e-01 2.16868490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97232058799995 meters Centerline goodness [0,1] 0.9999527097323371 Centerline is valid? [True, True] Translation: X:286.30, Y:-83.98, Z:2.17 [[ 9.57891618e-01 2.86465409e-01 -1.95247787e-02 2.86299170e+02] [-2.86409497e-01 9.58090571e-01 5.66206375e-03 -8.39798255e+01] [ 2.03284918e-02 1.68438626e-04 9.99793341e-01 2.16903395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.002320588 meters Centerline goodness [0,1] 0.9999060944689642 Centerline is valid? [True, True] Translation: X:286.33, Y:-83.99, Z:2.17 [[ 9.57796453e-01 2.86762345e-01 -1.98320717e-02 2.86329833e+02] [-2.86704534e-01 9.58001737e-01 5.76031167e-03 -8.39899661e+01] [ 2.06509997e-02 1.68738804e-04 9.99786731e-01 2.17127530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.36, Y:-84.00, Z:2.17 [[ 9.58285468e-01 2.85139040e-01 -1.96135246e-02 2.86361231e+02] [-2.85081980e-01 9.58486157e-01 5.70547568e-03 -8.40000785e+01] [ 2.04261456e-02 1.23987980e-04 9.99791357e-01 2.17232193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.39, Y:-84.01, Z:2.17 [[ 9.58597155e-01 2.84127184e-01 -1.90588002e-02 2.86392763e+02] [-2.84072944e-01 9.58786595e-01 5.55226332e-03 -8.40081305e+01] [ 1.98508711e-02 9.17056739e-05 9.99802948e-01 2.17186937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.42, Y:-84.02, Z:2.17 [[ 9.58611068e-01 2.84036449e-01 -1.97006453e-02 2.86424852e+02] [-2.83978242e-01 9.58813480e-01 5.75057949e-03 -8.40170362e+01] [ 2.05226185e-02 8.19854675e-05 9.99789386e-01 2.17220273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.46, Y:-84.03, Z:2.17 [[ 9.58379384e-01 2.84855249e-01 -1.91427148e-02 2.86456480e+02] [-2.84800402e-01 9.58570539e-01 5.59044494e-03 -8.40266632e+01] [ 1.99421100e-02 9.40856816e-05 9.99801132e-01 2.17296370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.49, Y:-84.04, Z:2.17 [[ 9.58086077e-01 2.85855853e-01 -1.89076837e-02 2.86487642e+02] [-2.85802374e-01 9.58272623e-01 5.53012577e-03 -8.40363295e+01] [ 1.96995345e-02 1.05524397e-04 9.99805940e-01 2.17447753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.52, Y:-84.04, Z:2.17 [[ 9.57916541e-01 2.86494090e-01 -1.78055477e-02 2.86519521e+02] [-2.86446642e-01 9.58082003e-01 5.21495336e-03 -8.40443135e+01] [ 1.85532281e-02 1.04849268e-04 9.99827869e-01 2.17445458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21232058799995 meters Centerline goodness [0,1] 0.9999529544599172 Centerline is valid? [True, True] Translation: X:286.55, Y:-84.05, Z:2.17 [[ 9.57658102e-01 2.87328403e-01 -1.82578484e-02 2.86550660e+02] [-2.87278504e-01 9.57832123e-01 5.35592886e-03 -8.40537898e+01] [ 1.90268642e-02 1.15938707e-04 9.99818966e-01 2.17486744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.242320588 meters Centerline goodness [0,1] 0.999951690821256 Centerline is valid? [True, True] Translation: X:286.58, Y:-84.06, Z:2.18 [[ 9.57712137e-01 2.87099807e-01 -1.90042829e-02 2.86582298e+02] [-2.87045518e-01 9.57900668e-01 5.58401616e-03 -8.40632778e+01] [ 1.98073852e-02 1.07214173e-04 9.99803809e-01 2.17791106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27232058799996 meters Centerline goodness [0,1] 0.999952421733752 Centerline is valid? [True, True] Translation: X:286.61, Y:-84.07, Z:2.18 [[ 9.56943655e-01 2.89643708e-01 -1.91144876e-02 2.86612901e+02] [-2.89589122e-01 9.57134525e-01 5.62505547e-03 -8.40738522e+01] [ 1.99243980e-02 1.52486561e-04 9.99801478e-01 2.17880182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.64, Y:-84.08, Z:2.18 [[ 9.55717677e-01 2.93669791e-01 -1.90204174e-02 2.86643767e+02] [-2.93616356e-01 9.55906901e-01 5.60649275e-03 -8.40832696e+01] [ 1.98282058e-02 2.26481425e-04 9.99803376e-01 2.18002023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33232058799996 meters Centerline goodness [0,1] 0.9999058203051422 Centerline is valid? [True, True] Translation: X:286.68, Y:-84.09, Z:2.18 [[ 9.55051910e-01 2.95853980e-01 -1.86084062e-02 2.86675148e+02] [-2.95803113e-01 9.55233142e-01 5.49207768e-03 -8.40911872e+01] [ 1.94002194e-02 2.59205199e-04 9.99811764e-01 2.18011674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.362320588 meters Centerline goodness [0,1] 0.9996699669966996 Centerline is valid? [True, True] Translation: X:286.71, Y:-84.10, Z:2.18 [[ 9.54249319e-01 2.98487628e-01 -1.77023199e-02 2.86706512e+02] [-2.98441931e-01 9.54413459e-01 5.23099855e-03 -8.40987168e+01] [ 1.84567208e-02 2.91437732e-04 9.99829618e-01 2.17928789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39232058799996 meters Centerline goodness [0,1] 0.9994816943881638 Centerline is valid? [True, True] Translation: X:286.74, Y:-84.11, Z:2.18 [[ 9.53879064e-01 2.99673681e-01 -1.76186554e-02 2.86738138e+02] [-2.99628504e-01 9.54041713e-01 5.21233999e-03 -8.41076346e+01] [ 1.83709333e-02 3.07109396e-04 9.99831193e-01 2.18100213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.422320588 meters Centerline goodness [0,1] 0.9997133438440591 Centerline is valid? [True, True] Translation: X:286.77, Y:-84.12, Z:2.18 [[ 9.53837559e-01 2.99684255e-01 -1.95770069e-02 2.86769170e+02] [-2.99628255e-01 9.54038384e-01 5.80266943e-03 -8.41153966e+01] [ 2.04161847e-02 3.31020384e-04 9.99791513e-01 2.18374904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45232058799996 meters Centerline goodness [0,1] 0.9997133438440591 Centerline is valid? [True, True] Translation: X:286.80, Y:-84.12, Z:2.18 [[ 9.53713363e-01 3.00079384e-01 -1.95750896e-02 2.86800084e+02] [-3.00023334e-01 9.53914175e-01 5.80912833e-03 -8.41242054e+01] [ 2.04161551e-02 3.32740325e-04 9.99791513e-01 2.18479790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48232058799994 meters Centerline goodness [0,1] 0.999671052631579 Centerline is valid? [True, True] Translation: X:286.83, Y:-84.13, Z:2.19 [[ 9.53565682e-01 3.00582012e-01 -1.90510872e-02 2.86832498e+02] [-3.00528861e-01 9.53755916e-01 5.66184077e-03 -8.41310609e+01] [ 1.98719346e-02 3.26464464e-04 9.99802480e-01 2.18538125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51232058799997 meters Centerline goodness [0,1] 0.9996202771976457 Centerline is valid? [True, True] Translation: X:286.86, Y:-84.14, Z:2.19 [[ 9.53941025e-01 2.99382611e-01 -1.91460815e-02 2.86863689e+02] [-2.99328499e-01 9.54133096e-01 5.69946600e-03 -8.41380853e+01] [ 1.99742310e-02 2.94013396e-04 9.99800452e-01 2.18787993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54232058799994 meters Centerline goodness [0,1] 0.9997611084567606 Centerline is valid? [True, True] Translation: X:286.90, Y:-84.15, Z:2.19 [[ 9.53876213e-01 2.99601628e-01 -1.89482097e-02 2.86895728e+02] [-2.99548541e-01 9.54064348e-01 5.64719395e-03 -8.41465324e+01] [ 1.97697198e-02 2.89184594e-04 9.99804518e-01 2.18936054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.57232058799997 meters Centerline goodness [0,1] 0.9997635039258348 Centerline is valid? [True, True] Translation: X:286.93, Y:-84.15, Z:2.19 [[ 9.53713359e-01 3.00129463e-01 -1.87918896e-02 2.86927286e+02] [-3.00077187e-01 9.53898433e-01 5.60894788e-03 -8.41542794e+01] [ 1.96089646e-02 2.89688860e-04 9.99807684e-01 2.18997403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60232058799994 meters Centerline goodness [0,1] 0.9998577996871593 Centerline is valid? [True, True] Translation: X:286.96, Y:-84.16, Z:2.19 [[ 9.54266092e-01 2.98388439e-01 -1.84544216e-02 2.86959294e+02] [-2.98337530e-01 9.54444488e-01 5.51697323e-03 -8.41582151e+01] [ 1.92599220e-02 2.40986074e-04 9.99814481e-01 2.18832116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.63232058799997 meters Centerline goodness [0,1] 0.9998114008204064 Centerline is valid? [True, True] Translation: X:286.99, Y:-84.17, Z:2.19 [[ 9.54588363e-01 2.97317694e-01 -1.90590141e-02 2.86990555e+02] [-2.97263024e-01 9.54778582e-01 5.70558826e-03 -8.41655873e+01] [ 1.98935108e-02 2.19052026e-04 9.99802081e-01 2.18846329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66232058799994 meters Centerline goodness [0,1] 0.9999527186761229 Centerline is valid? [True, True] Translation: X:287.02, Y:-84.17, Z:2.19 [[ 9.55618045e-01 2.94081138e-01 -1.76191975e-02 2.87022848e+02] [-2.94033769e-01 9.55780449e-01 5.27979848e-03 -8.41728145e+01] [ 1.83927736e-02 1.35168355e-04 9.99830829e-01 2.18890518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.692320588 meters Centerline goodness [0,1] 0.9999528524281 Centerline is valid? [True, True] Translation: X:287.05, Y:-84.18, Z:2.19 [[ 9.55854089e-01 2.93290486e-01 -1.79903304e-02 2.87054427e+02] [-2.93240803e-01 9.56023367e-01 5.39943531e-03 -8.41810737e+01] [ 1.87827793e-02 1.14426621e-04 9.99823581e-01 2.19073334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72232058799995 meters Centerline goodness [0,1] 0.9999527588813303 Centerline is valid? [True, True] Translation: X:287.09, Y:-84.19, Z:2.19 [[ 9.56505896e-01 2.91244592e-01 -1.65244747e-02 2.87086586e+02] [-2.91202260e-01 9.56648621e-01 4.96585858e-03 -8.41874742e+01] [ 1.72543954e-02 6.20913616e-05 9.99851130e-01 2.19168889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.12, Y:-84.19, Z:2.19 [[ 9.57280609e-01 2.88758997e-01 -1.52341028e-02 2.87118939e+02] [-2.88722612e-01 9.57401818e-01 4.58383040e-03 -8.41945589e+01] [ 1.59087800e-02 1.04179992e-05 9.99873447e-01 2.19198172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.15, Y:-84.20, Z:2.19 [[ 9.57892071e-01 2.86748108e-01 -1.47751045e-02 2.87150524e+02] [-2.86713546e-01 9.58006014e-01 4.45201438e-03 -8.42032200e+01] [ 1.54312456e-02 -2.83266766e-05 9.99880931e-01 2.19280084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.18, Y:-84.21, Z:2.19 [[ 9.58624123e-01 2.84205998e-01 -1.63321972e-02 2.87181920e+02] [-2.84163247e-01 9.58763236e-01 4.93006366e-03 -8.42128360e+01] [ 1.70598639e-02 -8.50677551e-05 9.99854466e-01 2.19414698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.21, Y:-84.22, Z:2.20 [[ 9.59004689e-01 2.82908052e-01 -1.65239356e-02 2.87213698e+02] [-2.82863968e-01 9.59147028e-01 4.99553384e-03 -8.42213504e+01] [ 1.72621605e-02 -1.16714389e-04 9.99850991e-01 2.19509419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.24, Y:-84.23, Z:2.19 [[ 9.59052249e-01 2.82831978e-01 -1.49951661e-02 2.87244327e+02] [-2.82795566e-01 9.59169463e-01 4.53968694e-03 -8.42297399e+01] [ 1.56668741e-02 -1.13230476e-04 9.99877261e-01 2.19456695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.28, Y:-84.24, Z:2.19 [[ 9.59419147e-01 2.81683518e-01 -1.30114102e-02 2.87275005e+02] [-2.81655950e-01 9.59507364e-01 3.94259113e-03 -8.42377417e+01] [ 1.35951068e-02 -1.17856322e-04 9.99907575e-01 2.19388885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.31, Y:-84.25, Z:2.20 [[ 9.59348652e-01 2.81896932e-01 -1.35751214e-02 2.87306363e+02] [-2.81866877e-01 9.59444685e-01 4.11820023e-03 -8.42475993e+01] [ 1.41854861e-02 -1.24412757e-04 9.99899373e-01 2.19508739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.34, Y:-84.26, Z:2.20 [[ 9.59448861e-01 2.81579928e-01 -1.30624226e-02 2.87337531e+02] [-2.81551999e-01 9.59537768e-01 3.96796621e-03 -8.42585700e+01] [ 1.36511875e-02 -1.29309458e-04 9.99906810e-01 2.19550746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.37, Y:-84.27, Z:2.20 [[ 9.59733694e-01 2.80611817e-01 -1.29708868e-02 2.87369066e+02] [-2.80584112e-01 9.59821330e-01 3.94583078e-03 -8.42685313e+01] [ 1.35569806e-02 -1.47521999e-04 9.99908089e-01 2.19768244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.40, Y:-84.28, Z:2.20 [[ 9.59790768e-01 2.80498510e-01 -1.10574896e-02 2.87399059e+02] [-2.80478322e-01 9.59854452e-01 3.36777246e-03 -8.42790201e+01] [ 1.15582358e-02 -1.30970787e-04 9.99933193e-01 2.19890970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.43, Y:-84.29, Z:2.20 [[ 9.60219838e-01 2.79046340e-01 -1.05358035e-02 2.87429262e+02] [-2.79027886e-01 9.60277626e-01 3.21241731e-03 -8.42887477e+01] [ 1.10137096e-02 -1.44843861e-04 9.99939337e-01 2.20115658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.46, Y:-84.30, Z:2.20 [[ 9.60057553e-01 2.79563230e-01 -1.15712669e-02 2.87459806e+02] [-2.79540940e-01 9.60127270e-01 3.53379784e-03 -8.42980594e+01] [ 1.20978089e-02 -1.58006473e-04 9.99926806e-01 2.20144796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.49, Y:-84.31, Z:2.20 [[ 9.60155474e-01 2.79091501e-01 -1.44706832e-02 2.87490510e+02] [-2.79056456e-01 9.60264489e-01 4.42784182e-03 -8.43073878e+01] [ 1.51314562e-02 -2.13279000e-04 9.99885490e-01 2.20192524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.52, Y:-84.32, Z:2.20 [[ 9.59916309e-01 2.79884923e-01 -1.50036434e-02 2.87520154e+02] [-2.79847248e-01 9.60033533e-01 4.59712749e-03 -8.43177888e+01] [ 1.56906675e-02 -2.14129324e-04 9.99876871e-01 2.20403261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.55, Y:-84.33, Z:2.20 [[ 9.59576234e-01 2.81125950e-01 -1.34778173e-02 2.87550589e+02] [-2.81095630e-01 9.59670865e-01 4.13254006e-03 -8.43289812e+01] [ 1.40960328e-02 -1.76931701e-04 9.99900630e-01 2.20489127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.58, Y:-84.34, Z:2.21 [[ 9.59358756e-01 2.81839566e-01 -1.40440523e-02 2.87581429e+02] [-2.81806606e-01 9.59461529e-01 4.31401886e-03 -8.43385241e+01] [ 1.46905891e-02 -1.80985049e-04 9.99892071e-01 2.20570763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.61, Y:-84.35, Z:2.21 [[ 9.59294749e-01 2.82013590e-01 -1.48969584e-02 2.87612456e+02] [-2.81976438e-01 9.59410390e-01 4.58163144e-03 -8.43478849e+01] [ 1.55843790e-02 -1.94543718e-04 9.99878537e-01 2.20695766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.64, Y:-84.36, Z:2.21 [[ 9.58766862e-01 2.83856336e-01 -1.38450581e-02 2.87643123e+02] [-2.83824363e-01 9.58866808e-01 4.26326465e-03 -8.43585371e+01] [ 1.44857214e-02 -1.57912072e-04 9.99895064e-01 2.20618446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.67, Y:-84.37, Z:2.21 [[ 9.58397004e-01 2.85055215e-01 -1.47887751e-02 2.87673235e+02] [-2.85018747e-01 9.58511085e-01 4.56224380e-03 -8.43687390e+01] [ 1.54756962e-02 -1.57362632e-04 9.99880232e-01 2.20902635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.70, Y:-84.38, Z:2.21 [[ 9.58239302e-01 2.85614766e-01 -1.42001625e-02 2.87704150e+02] [-2.85581145e-01 9.58344502e-01 4.38469894e-03 -8.43793784e+01] [ 1.48609824e-02 -1.46292200e-04 9.99889559e-01 2.21057390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.73, Y:-84.39, Z:2.21 [[ 9.58147977e-01 2.85932201e-01 -1.39724690e-02 2.87734876e+02] [-2.85899594e-01 9.58249840e-01 4.32049181e-03 -8.43892786e+01] [ 1.46244839e-02 -1.44947283e-04 9.99893046e-01 2.21162317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.77, Y:-84.40, Z:2.21 [[ 9.58128765e-01 2.85968500e-01 -1.45357226e-02 2.87766204e+02] [-2.85933109e-01 9.58239006e-01 4.50163941e-03 -8.43993501e+01] [ 1.52160234e-02 -1.56905857e-04 9.99884217e-01 2.21315121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.80, Y:-84.41, Z:2.21 [[ 9.58181868e-01 2.85772496e-01 -1.48858383e-02 2.87796751e+02] [-2.85735245e-01 9.58297476e-01 4.61713611e-03 -8.44093966e+01] [ 1.55845118e-02 -1.70647433e-04 9.99878540e-01 2.21436082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.83, Y:-84.42, Z:2.21 [[ 9.58329045e-01 2.85364563e-01 -1.31342011e-02 2.87827403e+02] [-2.85335454e-01 9.58419031e-01 4.07907796e-03 -8.44190931e+01] [ 1.37520926e-02 -1.61445662e-04 9.99905422e-01 2.21471868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.86, Y:-84.43, Z:2.22 [[ 9.58412899e-01 2.85111532e-01 -1.24951402e-02 2.87857378e+02] [-2.85085109e-01 9.58494334e-01 3.88487223e-03 -8.44289697e+01] [ 1.30841430e-02 -1.61133236e-04 9.99914386e-01 2.21548199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.89, Y:-84.44, Z:2.22 [[ 9.58285545e-01 2.85538314e-01 -1.25173778e-02 2.87888053e+02] [-2.85511782e-01 9.58367281e-01 3.89567383e-03 -8.44399842e+01] [ 1.31086094e-02 -1.59309085e-04 9.99914066e-01 2.21727287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.92, Y:-84.45, Z:2.22 [[ 9.58177757e-01 2.85866059e-01 -1.32658645e-02 2.87917836e+02] [-2.85836185e-01 9.58269569e-01 4.13623891e-03 -8.44513661e+01] [ 1.38946846e-02 -1.71388011e-04 9.99903450e-01 2.21908816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.95, Y:-84.46, Z:2.22 [[ 9.57466156e-01 2.88283338e-01 -1.22994723e-02 2.87948849e+02] [-2.88257820e-01 9.57545143e-01 3.83781428e-03 -8.44623273e+01] [ 1.28836779e-02 -1.29158213e-04 9.99916994e-01 2.21993654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.98, Y:-84.47, Z:2.22 [[ 9.56875733e-01 2.90236706e-01 -1.23079666e-02 2.87978518e+02] [-2.90211231e-01 9.56954880e-01 3.84690471e-03 -8.44729947e+01] [ 1.28946817e-02 -1.09099619e-04 9.99916854e-01 2.22149579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.01, Y:-84.48, Z:2.22 [[ 9.56637040e-01 2.91012137e-01 -1.25502749e-02 2.88009610e+02] [-2.90985661e-01 9.56719356e-01 3.92681667e-03 -8.44833711e+01] [ 1.31498422e-02 -1.04588247e-04 9.99913532e-01 2.22245734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.04, Y:-84.49, Z:2.22 [[ 9.56046277e-01 2.92920630e-01 -1.31537586e-02 2.88040229e+02] [-2.92891579e-01 9.56136756e-01 4.12639490e-03 -8.44942924e+01] [ 1.37854983e-02 -9.23993489e-05 9.99904971e-01 2.22446094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.07, Y:-84.51, Z:2.23 [[ 9.54829574e-01 2.96878907e-01 -1.27827556e-02 2.88070595e+02] [-2.96851849e-01 9.54915134e-01 4.00822381e-03 -8.45073789e+01] [ 1.33964039e-02 -3.25859861e-05 9.99910264e-01 2.22629235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.10, Y:-84.52, Z:2.23 [[ 9.53951230e-01 2.99614730e-01 -1.44244302e-02 2.88100820e+02] [-2.99580450e-01 9.54060278e-01 4.53217894e-03 -8.45172179e+01] [ 1.51196835e-02 -2.20036932e-06 9.99885691e-01 2.22670896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.13, Y:-84.53, Z:2.23 [[ 9.53690453e-01 3.00361454e-01 -1.60473156e-02 2.88131732e+02] [-3.00319002e-01 9.53825454e-01 5.04980454e-03 -8.45254745e+01] [ 1.68231047e-02 3.36342087e-06 9.99858482e-01 2.22672594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.16, Y:-84.53, Z:2.23 [[ 9.53664757e-01 3.00417568e-01 -1.65171378e-02 2.88163453e+02] [-3.00372496e-01 9.53807782e-01 5.20373688e-03 -8.45339599e+01] [ 1.73174686e-02 -1.32654979e-06 9.99850041e-01 2.22661424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.802320588 meters Centerline goodness [0,1] 0.9999530141427431 Centerline is valid? [True, True] Translation: X:288.19, Y:-84.54, Z:2.23 [[ 9.53589738e-01 3.00837556e-01 -1.27819114e-02 2.88194302e+02] [-3.00810563e-01 9.53675398e-01 4.02993158e-03 -8.45442614e+01] [ 1.34021492e-02 2.03256690e-06 9.99910187e-01 2.22713160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.23, Y:-84.55, Z:2.23 [[ 9.53756961e-01 3.00347760e-01 -1.17848549e-02 2.88225474e+02] [-3.00324729e-01 9.53829766e-01 3.71943605e-03 -8.45548992e+01] [ 1.23578697e-02 -8.15465499e-06 9.99923639e-01 2.22940887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.26, Y:-84.57, Z:2.23 [[ 9.53592001e-01 3.00898287e-01 -1.10687116e-02 2.88256282e+02] [-3.00877961e-01 9.53656238e-01 3.49740583e-03 -8.45653424e+01] [ 1.16081093e-02 -4.76683556e-06 9.99932624e-01 2.23031867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.29, Y:-84.57, Z:2.23 [[ 9.53654185e-01 3.00599784e-01 -1.35449214e-02 2.88287667e+02] [-3.00569176e-01 9.53750371e-01 4.28959868e-03 -8.45723877e+01] [ 1.42079262e-02 -1.96078728e-05 9.99899062e-01 2.23006417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.32, Y:-84.58, Z:2.23 [[ 9.53238565e-01 3.01831844e-01 -1.52897408e-02 2.88318815e+02] [-3.01792870e-01 9.53361179e-01 4.85036426e-03 -8.45813354e+01] [ 1.60406397e-02 -9.21950431e-06 9.99871341e-01 2.22960754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.35, Y:-84.59, Z:2.23 [[ 9.52839481e-01 3.03134454e-01 -1.43675415e-02 2.88349990e+02] [-3.03100111e-01 9.52947796e-01 4.56293808e-03 -8.45916306e+01] [ 1.50747007e-02 7.05585698e-06 9.99886370e-01 2.22995602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.38, Y:-84.60, Z:2.23 [[ 9.52596735e-01 3.03915052e-01 -1.39678583e-02 2.88380763e+02] [-3.03882589e-01 9.52699135e-01 4.44197411e-03 -8.46023595e+01] [ 1.46571494e-02 1.31789159e-05 9.99892578e-01 2.23240960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.41, Y:-84.61, Z:2.23 [[ 9.52502296e-01 3.04220391e-01 -1.37597053e-02 2.88411502e+02] [-3.04188834e-01 9.52601676e-01 4.38177322e-03 -8.46120872e+01] [ 1.44405431e-02 1.18996640e-05 9.99895730e-01 2.23376894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.44, Y:-84.62, Z:2.23 [[ 9.52612941e-01 3.03916456e-01 -1.27817494e-02 2.88443559e+02] [-3.03889132e-01 9.52698687e-01 4.07525483e-03 -8.46206052e+01] [ 1.34156929e-02 2.09423699e-06 9.99910006e-01 2.23336254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.07232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.48, Y:-84.63, Z:2.23 [[ 9.52842436e-01 3.03133445e-01 -1.41917443e-02 2.88475307e+02] [-3.03099551e-01 9.52948117e-01 4.53298820e-03 -8.46286873e+01] [ 1.48980964e-02 -1.77121839e-05 9.99889017e-01 2.23398379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.51, Y:-84.64, Z:2.23 [[ 9.52721700e-01 3.03535335e-01 -1.36989824e-02 2.88506650e+02] [-3.03503719e-01 9.52820182e-01 4.38092952e-03 -8.46382982e+01] [ 1.43824338e-02 -1.61145285e-05 9.99896567e-01 2.23462355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.13232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.54, Y:-84.65, Z:2.24 [[ 9.52609451e-01 3.03917540e-01 -1.30139435e-02 2.88537506e+02] [-3.03888971e-01 9.52698341e-01 4.16706784e-03 -8.46475432e+01] [ 1.36648074e-02 -1.47943011e-05 9.99906632e-01 2.23508602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16232058799994 meters Centerline goodness [0,1] 0.9999528212870353 Centerline is valid? [True, True] Translation: X:288.57, Y:-84.66, Z:2.24 [[ 9.51833052e-01 3.06373320e-01 -1.22159389e-02 2.88568470e+02] [-3.06348290e-01 9.51911439e-01 3.91621366e-03 -8.46581883e+01] [ 1.28283153e-02 1.47503828e-05 9.99917714e-01 2.23543049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.60, Y:-84.67, Z:2.24 [[ 9.51265715e-01 3.08090135e-01 -1.31912432e-02 2.88599144e+02] [-3.08061012e-01 9.51357171e-01 4.23617775e-03 -8.46689641e+01] [ 1.38547084e-02 3.39770779e-05 9.99904018e-01 2.23726645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.63, Y:-84.68, Z:2.24 [[ 9.51067482e-01 3.08711508e-01 -1.29556677e-02 2.88630860e+02] [-3.08683400e-01 9.51155720e-01 4.16589215e-03 -8.46782979e+01] [ 1.36089163e-02 3.71550066e-05 9.99907394e-01 2.23868299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.66, Y:-84.69, Z:2.24 [[ 9.51022817e-01 3.08820202e-01 -1.36265979e-02 2.88662512e+02] [-3.08789020e-01 9.51120435e-01 4.38857256e-03 -8.46877421e+01] [ 1.43158156e-02 3.41111729e-05 9.99897523e-01 2.23973143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.69, Y:-84.70, Z:2.24 [[ 9.51158049e-01 3.08408863e-01 -1.35032866e-02 2.88693417e+02] [-3.08378115e-01 9.51253895e-01 4.35493214e-03 -8.46974868e+01] [ 1.41881537e-02 2.18893203e-05 9.99899343e-01 2.24128226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.73, Y:-84.71, Z:2.24 [[ 9.51639541e-01 3.06920202e-01 -1.34972076e-02 2.88725251e+02] [-3.06889246e-01 9.51735252e-01 4.35902465e-03 -8.47059865e+01] [ 1.41836410e-02 -6.07235233e-06 9.99899407e-01 2.24201608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.76, Y:-84.71, Z:2.24 [[ 9.51679714e-01 3.06691875e-01 -1.56784922e-02 2.88756469e+02] [-3.06649909e-01 9.51808853e-01 5.07341577e-03 -8.47147511e+01] [ 1.64789031e-02 -2.04586600e-05 9.99864213e-01 2.24242912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.79, Y:-84.72, Z:2.24 [[ 9.51552469e-01 3.07086540e-01 -1.56765960e-02 2.88787150e+02] [-3.07044531e-01 9.51681594e-01 5.07926454e-03 -8.47243215e+01] [ 1.64789017e-02 -1.97736367e-05 9.99864213e-01 2.24347880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.82, Y:-84.73, Z:2.24 [[ 9.51469532e-01 3.07351434e-01 -1.55185827e-02 2.88818485e+02] [-3.07310189e-01 9.51596078e-01 5.03504986e-03 -8.47338501e+01] [ 1.63149523e-02 -2.16779294e-05 9.99866902e-01 2.24436669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.85, Y:-84.74, Z:2.25 [[ 9.51652883e-01 3.06762076e-01 -1.59317274e-02 2.88849084e+02] [-3.06718394e-01 9.51786230e-01 5.17681071e-03 -8.47437046e+01] [ 1.67516480e-02 -3.99729896e-05 9.99859681e-01 2.24765791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.88, Y:-84.75, Z:2.25 [[ 9.51848060e-01 3.06156108e-01 -1.59282272e-02 2.88880655e+02] [-3.06112240e-01 9.51981320e-01 5.18293157e-03 -8.47526171e+01] [ 1.67501610e-02 -5.75380468e-05 9.99859705e-01 2.24987837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.91, Y:-84.76, Z:2.25 [[ 9.51781292e-01 3.06341622e-01 -1.63457078e-02 2.88912164e+02] [-3.06295317e-01 9.51921639e-01 5.32653439e-03 -8.47614092e+01] [ 1.71915721e-02 -6.30820369e-05 9.99852212e-01 2.25101402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.94, Y:-84.77, Z:2.25 [[ 9.51857769e-01 3.06061914e-01 -1.71140979e-02 2.88943770e+02] [-3.06010956e-01 9.52011606e-01 5.58540703e-03 -8.47702547e+01] [ 1.80023002e-02 -7.94116121e-05 9.99837942e-01 2.25127097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.97, Y:-84.78, Z:2.25 [[ 9.52294216e-01 3.04704251e-01 -1.70600473e-02 2.88974812e+02] [-3.04653257e-01 9.52447010e-01 5.57551386e-03 -8.47788792e+01] [ 1.79476738e-02 -1.12130628e-04 9.99838921e-01 2.25243579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.01, Y:-84.79, Z:2.25 [[ 9.52397007e-01 3.04343899e-01 -1.77406710e-02 2.89006423e+02] [-3.04288532e-01 9.52562215e-01 5.80650982e-03 -8.47884701e+01] [ 1.86662687e-02 -1.31819836e-04 9.99825761e-01 2.25480188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.04, Y:-84.80, Z:2.26 [[ 9.53292832e-01 3.01583208e-01 -1.67435039e-02 2.89037840e+02] [-3.01533330e-01 9.53439844e-01 5.48773443e-03 -8.47960942e+01] [ 1.76189323e-02 -1.82693412e-04 9.99844758e-01 2.25521911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.07, Y:-84.80, Z:2.26 [[ 9.53999011e-01 2.99395713e-01 -1.57509904e-02 2.89068398e+02] [-2.99351181e-01 9.54129006e-01 5.16815016e-03 -8.48044600e+01] [ 1.65757989e-02 -2.15332556e-04 9.99862589e-01 2.25677616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.672320588 meters Centerline goodness [0,1] 0.9999531857122794 Centerline is valid? [True, True] Translation: X:289.10, Y:-84.81, Z:2.26 [[ 9.54055265e-01 2.99157011e-01 -1.68414466e-02 2.89099436e+02] [-2.99105942e-01 9.54203870e-01 5.53266911e-03 -8.48135551e+01] [ 1.77253103e-02 -2.41095329e-04 9.99842865e-01 2.25893050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.13, Y:-84.82, Z:2.26 [[ 9.54657108e-01 2.97262639e-01 -1.62705111e-02 2.89129795e+02] [-2.97214563e-01 9.54795710e-01 5.35311349e-03 -8.48218752e+01] [ 1.71262948e-02 -2.74555009e-04 9.99853297e-01 2.26002061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.16, Y:-84.83, Z:2.26 [[ 9.54411240e-01 2.97982779e-01 -1.74770875e-02 2.89160366e+02] [-2.97927302e-01 9.54571203e-01 5.75690122e-03 -8.48317094e+01] [ 1.83985819e-02 -2.87549696e-04 9.99830690e-01 2.26327149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.19, Y:-84.84, Z:2.26 [[ 9.54286432e-01 2.98323005e-01 -1.84604833e-02 2.89191887e+02] [-2.98261032e-01 9.54464925e-01 6.08805559e-03 -8.48414123e+01] [ 1.94360908e-02 -3.03706060e-04 9.99811055e-01 2.26424287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.22, Y:-84.85, Z:2.26 [[ 9.53889452e-01 2.99477313e-01 -2.02052683e-02 2.89222680e+02] [-2.99403097e-01 9.54103369e-01 6.67435878e-03 -8.48497350e+01] [ 2.12767336e-02 -3.17080523e-04 9.99773574e-01 2.26399442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.25, Y:-84.86, Z:2.26 [[ 9.53622203e-01 3.00314029e-01 -2.04004471e-02 2.89253832e+02] [-3.00238402e-01 9.53840337e-01 6.74629774e-03 -8.48595401e+01] [ 2.14847772e-02 -3.08421681e-04 9.99769128e-01 2.26453462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.29, Y:-84.87, Z:2.27 [[ 9.53562551e-01 3.00589322e-01 -1.90924524e-02 2.89285212e+02] [-3.00522985e-01 9.53753624e-01 6.32142266e-03 -8.48700282e+01] [ 2.01096478e-02 -2.90151140e-04 9.99797738e-01 2.26570154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.32, Y:-84.88, Z:2.27 [[ 9.53789215e-01 2.99946730e-01 -1.78351648e-02 2.89315563e+02] [-2.99888583e-01 9.53955908e-01 5.91299534e-03 -8.48789780e+01] [ 1.87875444e-02 -2.91188889e-04 9.99823456e-01 2.26645641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.35, Y:-84.89, Z:2.27 [[ 9.53902442e-01 2.99582285e-01 -1.79048973e-02 2.89346528e+02] [-2.99523498e-01 9.54070417e-01 5.94245266e-03 -8.48883486e+01] [ 1.88627864e-02 -3.05582629e-04 9.99822035e-01 2.26769624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.38, Y:-84.90, Z:2.27 [[ 9.53715566e-01 3.00163979e-01 -1.81164097e-02 2.89377276e+02] [-3.00103692e-01 9.53887567e-01 6.02358961e-03 -8.48987656e+01] [ 1.90890826e-02 -3.07989735e-04 9.99817739e-01 2.26884917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97232058799995 meters Centerline goodness [0,1] 0.9999530317974731 Centerline is valid? [True, True] Translation: X:289.41, Y:-84.91, Z:2.27 [[ 9.53607505e-01 3.00513780e-01 -1.80053931e-02 2.89408727e+02] [-3.00454259e-01 9.53777425e-01 5.98840008e-03 -8.49092488e+01] [ 1.89727342e-02 -3.00786214e-04 9.99819956e-01 2.26920338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.44, Y:-84.92, Z:2.27 [[ 9.53755232e-01 3.00060086e-01 -1.77454968e-02 2.89439734e+02] [-3.00002044e-01 9.53920252e-01 5.90986644e-03 -8.49186112e+01] [ 1.87011038e-02 -3.12880719e-04 9.99825070e-01 2.26894188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03232058799995 meters Centerline goodness [0,1] 0.9998563011927001 Centerline is valid? [True, True] Translation: X:289.47, Y:-84.93, Z:2.27 [[ 9.53549506e-01 3.00747441e-01 -1.71556345e-02 2.89470970e+02] [-3.00693184e-01 9.53703774e-01 5.72015127e-03 -8.49285448e+01] [ 1.80817142e-02 -2.95865070e-04 9.99836469e-01 2.26955968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.062320588 meters Centerline goodness [0,1] 0.9999531747518262 Centerline is valid? [True, True] Translation: X:289.50, Y:-84.94, Z:2.27 [[ 9.52373340e-01 3.04461425e-01 -1.69782666e-02 2.89501030e+02] [-3.04408725e-01 9.52524639e-01 5.66928649e-03 -8.49391919e+01] [ 1.78982963e-02 -2.30944818e-04 9.99839786e-01 2.27085658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09232058799995 meters Centerline goodness [0,1] 0.9999531769443274 Centerline is valid? [True, True] Translation: X:289.53, Y:-84.95, Z:2.27 [[ 9.51087707e-01 3.08425642e-01 -1.74870716e-02 2.89530962e+02] [-3.08370271e-01 9.51248440e-01 5.84645322e-03 -8.49505859e+01] [ 1.84377457e-02 -1.67996783e-04 9.99829996e-01 2.27264882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.122320588 meters Centerline goodness [0,1] 0.9999529986839631 Centerline is valid? [True, True] Translation: X:289.56, Y:-84.96, Z:2.28 [[ 9.50141272e-01 3.11286494e-01 -1.82285785e-02 2.89561169e+02] [-3.11226715e-01 9.50316107e-01 6.10154065e-03 -8.49625773e+01] [ 1.92222389e-02 -1.24105005e-04 9.99815228e-01 2.27516097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15232058799995 meters Centerline goodness [0,1] 0.9999530229717668 Centerline is valid? [True, True] Translation: X:289.59, Y:-84.97, Z:2.27 [[ 9.49524649e-01 3.13204197e-01 -1.74949353e-02 2.89592664e+02] [-3.13149333e-01 9.49685802e-01 5.86276815e-03 -8.49723456e+01] [ 1.84509352e-02 -8.83155588e-05 9.99829763e-01 2.27409707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.62, Y:-84.98, Z:2.27 [[ 9.49173539e-01 3.14314691e-01 -1.66093014e-02 2.89624452e+02] [-3.14265291e-01 9.49318845e-01 5.57281978e-03 -8.49816068e+01] [ 1.75191420e-02 -6.98461168e-05 9.99846526e-01 2.27330938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21232058799995 meters Centerline goodness [0,1] 0.9999528324135654 Centerline is valid? [True, True] Translation: X:289.66, Y:-84.99, Z:2.27 [[ 9.48578520e-01 3.16131385e-01 -1.61164173e-02 2.89655980e+02] [-3.16085018e-01 9.48715419e-01 5.41437076e-03 -8.49918443e+01] [ 1.70015461e-02 -4.17977551e-05 9.99855462e-01 2.27354269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.69, Y:-85.00, Z:2.28 [[ 9.48591750e-01 3.16067736e-01 -1.65794676e-02 2.89687536e+02] [-3.16018508e-01 9.48736625e-01 5.57845796e-03 -8.50019973e+01] [ 1.74927187e-02 -5.22605945e-05 9.99846989e-01 2.27535686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.72, Y:-85.01, Z:2.28 [[ 9.48377197e-01 3.16664357e-01 -1.74464176e-02 2.89719397e+02] [-3.16609808e-01 9.48537655e-01 5.87765186e-03 -8.50110895e+01] [ 1.84098269e-02 -5.05240656e-05 9.99830523e-01 2.27503734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.302320588 meters Centerline goodness [0,1] 0.9999529854254819 Centerline is valid? [True, True] Translation: X:289.75, Y:-85.02, Z:2.27 [[ 9.48315480e-01 3.16893002e-01 -1.66305863e-02 2.89750562e+02] [-3.16843349e-01 9.48461292e-01 5.60972600e-03 -8.50205453e+01] [ 1.75511503e-02 -5.04993225e-05 9.99845965e-01 2.27409727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33232058799996 meters Centerline goodness [0,1] 0.9999529190207156 Centerline is valid? [True, True] Translation: X:289.78, Y:-85.03, Z:2.28 [[ 9.48370610e-01 3.16778028e-01 -1.56482437e-02 2.89781480e+02] [-3.16733948e-01 9.48499698e-01 5.28475513e-03 -8.50316627e+01] [ 1.65164488e-02 -5.55764316e-05 9.99863593e-01 2.27730778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.81, Y:-85.04, Z:2.28 [[ 9.48479882e-01 3.16484762e-01 -1.49434959e-02 2.89811908e+02] [-3.16444422e-01 9.48597592e-01 5.05339978e-03 -8.50420003e+01] [ 1.57746882e-02 -6.42621146e-05 9.99875570e-01 2.27923495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39232058799996 meters Centerline goodness [0,1] 0.9999529743710323 Centerline is valid? [True, True] Translation: X:289.84, Y:-85.05, Z:2.28 [[ 9.48612225e-01 3.16092082e-01 -1.48540339e-02 2.89843369e+02] [-3.16052083e-01 9.48728512e-01 5.02900527e-03 -8.50513948e+01] [ 1.56820742e-02 -7.59275272e-05 9.99877026e-01 2.28035376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.88, Y:-85.06, Z:2.28 [[ 9.49336039e-01 3.13896411e-01 -1.51699736e-02 2.89875369e+02] [-3.13854295e-01 9.49457228e-01 5.14322853e-03 -8.50596326e+01] [ 1.60176820e-02 -1.21490840e-04 9.99871701e-01 2.27977900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45232058799996 meters Centerline goodness [0,1] 0.9999528235127613 Centerline is valid? [True, True] Translation: X:289.91, Y:-85.07, Z:2.28 [[ 9.49387324e-01 3.13679421e-01 -1.63991022e-02 2.89905844e+02] [-3.13630020e-01 9.49528936e-01 5.56868171e-03 -8.50702470e+01] [ 1.73182029e-02 -1.43585070e-04 9.99850018e-01 2.28148666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.94, Y:-85.08, Z:2.28 [[ 9.49429599e-01 3.13467628e-01 -1.79299301e-02 2.89936191e+02] [-3.13408355e-01 9.49598872e-01 6.09799959e-03 -8.50811106e+01] [ 1.89377669e-02 -1.70231385e-04 9.99820650e-01 2.28321321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.97, Y:-85.09, Z:2.28 [[ 9.49469164e-01 3.13402101e-01 -1.69537779e-02 2.89967239e+02] [-3.13348974e-01 9.49620500e-01 5.77284124e-03 -8.50905017e+01] [ 1.79088756e-02 -1.68685825e-04 9.99839609e-01 2.28271051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.00, Y:-85.10, Z:2.28 [[ 9.49667325e-01 3.12788250e-01 -1.71895779e-02 2.89998942e+02] [-3.12733391e-01 9.49822865e-01 5.86104102e-03 -8.50997590e+01] [ 1.81603189e-02 -1.90284167e-04 9.99835070e-01 2.28336046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.57232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.03, Y:-85.11, Z:2.29 [[ 9.49984437e-01 3.11767684e-01 -1.81791008e-02 2.90029400e+02] [-3.11705966e-01 9.50158333e-01 6.20749222e-03 -8.51102971e+01] [ 1.92083195e-02 -2.30486850e-04 9.99815477e-01 2.28599738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.06, Y:-85.12, Z:2.29 [[ 9.50176900e-01 3.11235885e-01 -1.72070416e-02 2.90059905e+02] [-3.11180374e-01 9.50332662e-01 5.88273196e-03 -8.51219306e+01] [ 1.81833310e-02 -2.35142370e-04 9.99834642e-01 2.28781132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.63232058799997 meters Centerline goodness [0,1] 0.9998593991657684 Centerline is valid? [True, True] Translation: X:290.09, Y:-85.14, Z:2.29 [[ 9.49954365e-01 3.11967274e-01 -1.62210913e-02 2.90089772e+02] [-3.11917941e-01 9.50092824e-01 5.55195327e-03 -8.51351828e+01] [ 1.71435702e-02 -2.14452826e-04 9.99853015e-01 2.29020281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.12, Y:-85.15, Z:2.29 [[ 9.49825367e-01 3.12375234e-01 -1.59212156e-02 2.90120755e+02] [-3.12327650e-01 9.49958772e-01 5.45620855e-03 -8.51451605e+01] [ 1.68288829e-02 -2.09809426e-04 9.99858362e-01 2.28968870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.15, Y:-85.15, Z:2.29 [[ 9.49667846e-01 3.12711737e-01 -1.85027427e-02 2.90152203e+02] [-3.12647319e-01 9.49848045e-01 6.35184830e-03 -8.51536099e+01] [ 1.95610915e-02 -2.47313214e-04 9.99808633e-01 2.28884416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.18, Y:-85.16, Z:2.29 [[ 9.49467355e-01 3.13316195e-01 -1.85662299e-02 2.90183131e+02] [-3.13251296e-01 9.49648831e-01 6.38141972e-03 -8.51638697e+01] [ 1.96308007e-02 -2.43054116e-04 9.99807268e-01 2.28868367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.21, Y:-85.17, Z:2.29 [[ 9.49229796e-01 3.13987675e-01 -1.93528680e-02 2.90213506e+02] [-3.13917108e-01 9.49427026e-01 6.66115338e-03 -8.51747805e+01] [ 2.04656560e-02 -2.47768904e-04 9.99790526e-01 2.29073274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.24, Y:-85.19, Z:2.29 [[ 9.49112266e-01 3.14455324e-01 -1.74286101e-02 2.90243325e+02] [-3.14398052e-01 9.49272248e-01 6.00535790e-03 -8.51871912e+01] [ 1.84329127e-02 -2.20237776e-04 9.99830075e-01 2.29314442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.812320588 meters Centerline goodness [0,1] 0.9999529876357482 Centerline is valid? [True, True] Translation: X:290.27, Y:-85.20, Z:2.30 [[ 9.48794826e-01 3.15425579e-01 -1.71779629e-02 2.90273756e+02] [-3.15369967e-01 9.48950295e-01 5.92639415e-03 -8.51991645e+01] [ 1.81703692e-02 -2.05518525e-04 9.99834884e-01 2.29502585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84232058799995 meters Centerline goodness [0,1] 0.9999060327006202 Centerline is valid? [True, True] Translation: X:290.30, Y:-85.21, Z:2.30 [[ 9.47825497e-01 3.18114502e-01 -2.07362277e-02 2.90302726e+02] [-3.18033822e-01 9.48052279e-01 7.16685803e-03 -8.52113941e+01] [ 2.19389094e-02 -1.98109039e-04 9.99759294e-01 2.29855924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.872320588 meters Centerline goodness [0,1] 0.9999063012415086 Centerline is valid? [True, True] Translation: X:290.33, Y:-85.22, Z:2.30 [[ 9.47050658e-01 3.20425289e-01 -2.05593180e-02 2.90334106e+02] [-3.20346327e-01 9.47273778e-01 7.11474249e-03 -8.52219271e+01] [ 2.17550462e-02 -1.51919557e-04 9.99763319e-01 2.29755622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.36, Y:-85.23, Z:2.30 [[ 9.45607833e-01 3.24700367e-01 -1.98871315e-02 2.90364864e+02] [-3.24627344e-01 9.45816932e-01 6.88611312e-03 -8.52329240e+01] [ 2.10455091e-02 -5.56558278e-05 9.99778517e-01 2.29831364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.932320588 meters Centerline goodness [0,1] 0.9999530406198638 Centerline is valid? [True, True] Translation: X:290.40, Y:-85.24, Z:2.30 [[ 9.44800087e-01 3.27079260e-01 -1.92860685e-02 2.90395200e+02] [-3.27010910e-01 9.44996909e-01 6.68637833e-03 -8.52445728e+01] [ 2.04122508e-02 -1.05360279e-05 9.99791648e-01 2.29929813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96232058799995 meters Centerline goodness [0,1] 0.9998121095401381 Centerline is valid? [True, True] Translation: X:290.43, Y:-85.26, Z:2.30 [[ 9.43808877e-01 3.29923454e-01 -1.93731556e-02 2.90425768e+02] [-3.29854898e-01 9.44007687e-01 6.72558629e-03 -8.52572278e+01] [ 2.05073365e-02 4.26622238e-05 9.99789702e-01 2.30234488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.992320588 meters Centerline goodness [0,1] 0.9998071266695597 Centerline is valid? [True, True] Translation: X:290.46, Y:-85.27, Z:2.30 [[ 9.42811929e-01 3.32708091e-01 -2.02729642e-02 2.90456948e+02] [-3.32633446e-01 9.43029860e-01 7.04797210e-03 -8.52680434e+01] [ 2.14629280e-02 9.85537769e-05 9.99769640e-01 2.30347938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02232058799996 meters Centerline goodness [0,1] 0.9997176603453956 Centerline is valid? [True, True] Translation: X:290.49, Y:-85.28, Z:2.30 [[ 9.41658241e-01 3.35918747e-01 -2.09368655e-02 2.90487669e+02] [-3.35839700e-01 9.41890953e-01 7.28892504e-03 -8.52788340e+01] [ 2.21687307e-02 1.67754296e-04 9.99754229e-01 2.30345214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.052320588 meters Centerline goodness [0,1] 0.999765280255375 Centerline is valid? [True, True] Translation: X:290.52, Y:-85.29, Z:2.30 [[ 9.39866734e-01 3.40935797e-01 -2.03298732e-02 2.90518596e+02] [-3.40862244e-01 9.40086544e-01 7.08667721e-03 -8.52896076e+01] [ 2.15279422e-02 2.69154024e-04 9.99768211e-01 2.30482578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08232058799996 meters Centerline goodness [0,1] 0.9992921857304643 Centerline is valid? [True, True] Translation: X:290.55, Y:-85.30, Z:2.31 [[ 9.38941083e-01 3.43482809e-01 -2.02287759e-02 2.90549438e+02] [-3.43410377e-01 9.39158911e-01 7.06070368e-03 -8.53001315e+01] [ 2.14232655e-02 3.17186805e-04 9.99770445e-01 2.30616811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.112320588 meters Centerline goodness [0,1] 0.9988605070743519 Centerline is valid? [True, True] Translation: X:290.58, Y:-85.31, Z:2.31 [[ 9.36719300e-01 3.49314503e-01 -2.31588326e-02 2.90580481e+02] [-3.49221030e-01 9.37005402e-01 8.09617711e-03 -8.53110518e+01] [ 2.45280634e-02 5.03706038e-04 9.99699015e-01 2.30981519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14232058799996 meters Centerline goodness [0,1] 0.9983601180714988 Centerline is valid? [True, True] Translation: X:290.61, Y:-85.32, Z:2.31 [[ 9.35694077e-01 3.51964053e-01 -2.44519684e-02 2.90611216e+02] [-3.51860439e-01 9.36013329e-01 8.56031653e-03 -8.53208608e+01] [ 2.59002920e-02 5.93842847e-04 9.99664355e-01 2.31068001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.172320588 meters Centerline goodness [0,1] 0.9988609397247271 Centerline is valid? [True, True] Translation: X:290.64, Y:-85.33, Z:2.31 [[ 9.35217851e-01 3.53272595e-01 -2.37916898e-02 2.90643248e+02] [-3.53174656e-01 9.35520235e-01 8.33980277e-03 -8.53296590e+01] [ 2.52038310e-02 6.03089421e-04 9.99682151e-01 2.31069890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20232058799996 meters Centerline goodness [0,1] 0.9984942593638246 Centerline is valid? [True, True] Translation: X:290.67, Y:-85.34, Z:2.31 [[ 9.33754994e-01 3.57154488e-01 -2.32869792e-02 2.90674902e+02] [-3.57061606e-01 9.34045077e-01 8.17336779e-03 -8.53375860e+01] [ 2.46702432e-02 6.82963205e-04 9.99695410e-01 2.31129997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23232058799994 meters Centerline goodness [0,1] 0.9985784011751884 Centerline is valid? [True, True] Translation: X:290.71, Y:-85.35, Z:2.31 [[ 9.32763884e-01 3.59810118e-01 -2.20956104e-02 2.90706189e+02] [-3.59727014e-01 9.33025285e-01 7.76493293e-03 -8.53452596e+01] [ 2.34096646e-02 7.05538930e-04 9.99725707e-01 2.31406298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26232058799997 meters Centerline goodness [0,1] 0.9985784011751884 Centerline is valid? [True, True] Translation: X:290.74, Y:-85.36, Z:2.32 [[ 9.32614653e-01 3.60196923e-01 -2.20926658e-02 2.90736633e+02] [-3.60113730e-01 9.32876025e-01 7.77329994e-03 -8.53556044e+01] [ 2.34096369e-02 7.06378848e-04 9.99725707e-01 2.31511292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29232058799994 meters Centerline goodness [0,1] 0.9979789434104155 Centerline is valid? [True, True] Translation: X:290.77, Y:-85.37, Z:2.32 [[ 9.31928778e-01 3.61979294e-01 -2.19030337e-02 2.90767996e+02] [-3.61897779e-01 9.32185845e-01 7.71668217e-03 -8.53651798e+01] [ 2.32109772e-02 7.35261078e-04 9.99730319e-01 2.31758078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32232058799997 meters Centerline goodness [0,1] 0.9981975144673181 Centerline is valid? [True, True] Translation: X:290.80, Y:-85.37, Z:2.32 [[ 9.31523933e-01 3.63046090e-01 -2.14638815e-02 2.90799522e+02] [-3.62967874e-01 9.31770891e-01 7.57165495e-03 -8.53736057e+01] [ 2.27482797e-02 7.37521651e-04 9.99740952e-01 2.31876403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35232058799994 meters Centerline goodness [0,1] 0.9974062721056355 Centerline is valid? [True, True] Translation: X:290.83, Y:-85.38, Z:2.32 [[ 9.31248396e-01 3.63616164e-01 -2.36581924e-02 2.90832213e+02] [-3.63521009e-01 9.31548505e-01 8.35811431e-03 -8.53785554e+01] [ 2.50778993e-02 8.16769437e-04 9.99685166e-01 2.31824871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38232058799997 meters Centerline goodness [0,1] 0.9985340710266232 Centerline is valid? [True, True] Translation: X:290.86, Y:-85.39, Z:2.32 [[ 9.31633247e-01 3.62696433e-01 -2.26006820e-02 2.90864411e+02] [-3.62609087e-01 9.31907044e-01 7.99441641e-03 -8.53855040e+01] [ 2.39612811e-02 7.47348556e-04 9.99712608e-01 2.31870638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41232058799994 meters Centerline goodness [0,1] 0.9984354257538404 Centerline is valid? [True, True] Translation: X:290.90, Y:-85.39, Z:2.32 [[ 9.32069721e-01 3.61597468e-01 -2.22104894e-02 2.90895431e+02] [-3.61512562e-01 9.32334052e-01 7.86655714e-03 -8.53945894e+01] [ 2.35521227e-02 6.97191198e-04 9.99722367e-01 2.32143140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.442320588 meters Centerline goodness [0,1] 0.9992431051610767 Centerline is valid? [True, True] Translation: X:290.93, Y:-85.40, Z:2.32 [[ 9.32470420e-01 3.60564782e-01 -2.21800250e-02 2.90926727e+02] [-3.60479573e-01 9.32733940e-01 7.86610404e-03 -8.54031851e+01] [ 2.35243022e-02 6.60536601e-04 9.99723047e-01 2.32404421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47232058799995 meters Centerline goodness [0,1] 0.9989103657381088 Centerline is valid? [True, True] Translation: X:290.96, Y:-85.41, Z:2.32 [[ 9.33411342e-01 3.58090128e-01 -2.26875941e-02 2.90959385e+02] [-3.57999975e-01 9.33686831e-01 8.05722309e-03 -8.54082678e+01] [ 2.40683199e-02 6.01454706e-04 9.99710135e-01 2.32380208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.502320588 meters Centerline goodness [0,1] 0.9994283808888678 Centerline is valid? [True, True] Translation: X:290.99, Y:-85.42, Z:2.32 [[ 9.34515875e-01 3.55237113e-01 -2.20606784e-02 2.90991421e+02] [-3.55150862e-01 9.34776090e-01 7.84386963e-03 -8.54158576e+01] [ 2.34082283e-02 5.04648253e-04 9.99725863e-01 2.32358037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53232058799995 meters Centerline goodness [0,1] 0.9998100754949908 Centerline is valid? [True, True] Translation: X:291.02, Y:-85.42, Z:2.33 [[ 9.35978498e-01 3.51348592e-01 -2.23252798e-02 2.91023517e+02] [-3.51258917e-01 9.36244629e-01 7.94786929e-03 -8.54231074e+01] [ 2.36943960e-02 4.02918863e-04 9.99719167e-01 2.32560217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.562320588 meters Centerline goodness [0,1] 0.9999053209619391 Centerline is valid? [True, True] Translation: X:291.06, Y:-85.43, Z:2.33 [[ 9.36519672e-01 3.49987861e-01 -2.09618816e-02 2.91055325e+02] [-3.49908276e-01 9.36754174e-01 7.47098210e-03 -8.54317452e+01] [ 2.22508831e-02 3.38014141e-04 9.99752361e-01 2.32661829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59232058799995 meters Centerline goodness [0,1] 0.999952700785167 Centerline is valid? [True, True] Translation: X:291.09, Y:-85.44, Z:2.33 [[ 9.37128524e-01 3.48395511e-01 -2.02656589e-02 2.91087405e+02] [-3.48320558e-01 9.37347582e-01 7.23186949e-03 -8.54399153e+01] [ 2.15155172e-02 2.81754433e-04 9.99768475e-01 2.32779208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.622320588 meters Centerline goodness [0,1] 0.999952590906936 Centerline is valid? [True, True] Translation: X:291.12, Y:-85.45, Z:2.33 [[ 9.38086768e-01 3.45669521e-01 -2.24899689e-02 2.91119464e+02] [-3.45576137e-01 9.38356291e-01 8.03771709e-03 -8.54462865e+01] [ 2.38819977e-02 2.31920546e-04 9.99714758e-01 2.32793483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65232058799995 meters Centerline goodness [0,1] 0.9999048027036033 Centerline is valid? [True, True] Translation: X:291.15, Y:-85.45, Z:2.33 [[ 9.38445124e-01 3.44623650e-01 -2.35645740e-02 2.91150741e+02] [-3.44520501e-01 9.38740911e-01 8.43362951e-03 -8.54549292e+01] [ 2.50274578e-02 2.03980337e-04 9.99686743e-01 2.32838191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.18, Y:-85.46, Z:2.33 [[ 9.39164518e-01 3.42601726e-01 -2.43734683e-02 2.91182403e+02] [-3.42490394e-01 9.39480727e-01 8.73464323e-03 -8.54627278e+01] [ 2.58909076e-02 1.44411749e-04 9.99664764e-01 2.32974906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.21, Y:-85.47, Z:2.33 [[ 9.39878170e-01 3.40823304e-01 -2.16448795e-02 2.91214363e+02] [-3.40734847e-01 9.40127369e-01 7.76494913e-03 -8.54713797e+01] [ 2.29954192e-02 7.70585241e-05 9.99735567e-01 2.32967553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.25, Y:-85.48, Z:2.33 [[ 9.40428308e-01 3.39415396e-01 -1.97935772e-02 2.91245603e+02] [-3.39340945e-01 9.40636586e-01 7.10881730e-03 -8.54807727e+01] [ 2.10314049e-02 3.14381570e-05 9.99778815e-01 2.33035422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.28, Y:-85.49, Z:2.33 [[ 9.42251234e-01 3.34374439e-01 -1.88771761e-02 2.91277486e+02] [-3.34305544e-01 9.42440305e-01 6.78791330e-03 -8.54889694e+01] [ 2.00603163e-02 -8.51750651e-05 9.99798768e-01 2.33286508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.31, Y:-85.50, Z:2.33 [[ 9.43279495e-01 3.31442592e-01 -1.92250626e-02 2.91309059e+02] [-3.31370339e-01 9.43475375e-01 6.92211753e-03 -8.54983088e+01] [ 2.04326577e-02 -1.58876025e-04 9.99791219e-01 2.33399437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.34, Y:-85.51, Z:2.33 [[ 9.44861226e-01 3.26736721e-01 -2.19175309e-02 2.91341204e+02] [-3.26641257e-01 9.45115348e-01 7.90373578e-03 -8.55059421e+01] [ 2.32970355e-02 -3.08763633e-04 9.99728540e-01 2.33471133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.37, Y:-85.52, Z:2.33 [[ 9.45712002e-01 3.24288392e-01 -2.15835177e-02 2.91371808e+02] [-3.24194951e-01 9.45958191e-01 7.79318902e-03 -8.55156245e+01] [ 2.29443461e-02 -3.72844917e-04 9.99736674e-01 2.33488287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.40, Y:-85.53, Z:2.34 [[ 9.46495082e-01 3.21981809e-01 -2.17893165e-02 2.91401708e+02] [-3.21885762e-01 9.46745752e-01 7.87633275e-03 -8.55260467e+01] [ 2.31649787e-02 -4.41239473e-04 9.99731559e-01 2.33659507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.43, Y:-85.54, Z:2.34 [[ 9.47907188e-01 3.17993924e-01 -1.87570762e-02 2.91431730e+02] [-3.17921862e-01 9.48092635e-01 6.78568713e-03 -8.55379791e+01] [ 1.99412531e-02 -4.68917020e-04 9.99801043e-01 2.33782648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.46, Y:-85.55, Z:2.34 [[ 9.48298855e-01 3.16843402e-01 -1.84265998e-02 2.91461791e+02] [-3.16773481e-01 9.48477736e-01 6.67425514e-03 -8.55490713e+01] [ 1.95919134e-02 -4.92130358e-04 9.99807939e-01 2.33887738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.49, Y:-85.56, Z:2.34 [[ 9.49646766e-01 3.12703525e-01 -1.96856905e-02 2.91492012e+02] [-3.12622614e-01 9.49850574e-01 7.14059890e-03 -8.55587845e+01] [ 2.09313549e-02 -6.26854601e-04 9.99780719e-01 2.34014107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.52, Y:-85.57, Z:2.34 [[ 9.49779627e-01 3.12299318e-01 -1.96925486e-02 2.91521182e+02] [-3.12218200e-01 9.49983541e-01 7.14616585e-03 -8.55704611e+01] [ 2.09393397e-02 -6.38910654e-04 9.99780544e-01 2.34068556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.55, Y:-85.58, Z:2.34 [[ 9.50367878e-01 3.10609548e-01 -1.79612093e-02 2.91551279e+02] [-3.10541667e-01 9.50537386e-01 6.52307122e-03 -8.55814264e+01] [ 1.90989291e-02 -6.21613481e-04 9.99817406e-01 2.34093367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.07232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.58, Y:-85.60, Z:2.34 [[ 9.50252149e-01 3.10985228e-01 -1.75795506e-02 2.91580949e+02] [-3.10920156e-01 9.50414552e-01 6.39035567e-03 -8.55958798e+01] [ 1.86951669e-02 -6.06612582e-04 9.99825046e-01 2.34277221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.61, Y:-85.61, Z:2.34 [[ 9.50047303e-01 3.11565433e-01 -1.83603826e-02 2.91610415e+02] [-3.11494374e-01 9.50224491e-01 6.68366931e-03 -8.56084656e+01] [ 1.95288855e-02 -6.30646118e-04 9.99809094e-01 2.34496773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.13232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.64, Y:-85.62, Z:2.35 [[ 9.50548987e-01 3.09936679e-01 -1.98967037e-02 2.91639307e+02] [-3.09852689e-01 9.50756922e-01 7.25162782e-03 -8.56216852e+01] [ 2.11644742e-02 -7.27980323e-04 9.99775742e-01 2.34563328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16232058799994 meters Centerline goodness [0,1] 0.9999530912843606 Centerline is valid? [True, True] Translation: X:291.67, Y:-85.63, Z:2.35 [[ 9.50934581e-01 3.08727908e-01 -2.02608310e-02 2.91668458e+02] [-3.08640366e-01 9.51150081e-01 7.39246489e-03 -8.56338466e+01] [ 2.15533512e-02 -7.76440226e-04 9.99767398e-01 2.34652556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.192320588 meters Centerline goodness [0,1] 0.9997652471947039 Centerline is valid? [True, True] Translation: X:291.70, Y:-85.65, Z:2.35 [[ 9.51456570e-01 3.07147258e-01 -1.97726178e-02 2.91696914e+02] [-3.07063389e-01 9.51661664e-01 7.22167648e-03 -8.56480454e+01] [ 2.10349605e-02 -7.99664494e-04 9.99778421e-01 2.34658168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22232058799995 meters Centerline goodness [0,1] 0.9999062177623558 Centerline is valid? [True, True] Translation: X:291.73, Y:-85.66, Z:2.35 [[ 9.51551459e-01 3.06824754e-01 -2.02087189e-02 2.91725879e+02] [-3.06736899e-01 9.51765663e-01 7.38896949e-03 -8.56617214e+01] [ 2.15010835e-02 -8.32224935e-04 9.99768479e-01 2.34807115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.252320588 meters Centerline goodness [0,1] 0.9998104624715694 Centerline is valid? [True, True] Translation: X:291.75, Y:-85.68, Z:2.35 [[ 9.51832956e-01 3.05907712e-01 -2.08445347e-02 2.91754840e+02] [-3.05813784e-01 9.52060754e-01 7.63216677e-03 -8.56761368e+01] [ 2.21800021e-02 -8.90001829e-04 9.99753597e-01 2.35045002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28232058799995 meters Centerline goodness [0,1] 0.9998590358049055 Centerline is valid? [True, True] Translation: X:291.78, Y:-85.69, Z:2.35 [[ 9.51380008e-01 3.07176764e-01 -2.27709597e-02 2.91783760e+02] [-3.07064991e-01 9.51652011e-01 8.33920141e-03 -8.56908651e+01] [ 2.42316385e-02 -9.41584978e-04 9.99705927e-01 2.35188206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.312320588 meters Centerline goodness [0,1] 0.9999059398955933 Centerline is valid? [True, True] Translation: X:291.81, Y:-85.70, Z:2.35 [[ 9.50119836e-01 3.11168451e-01 -2.11303453e-02 2.91812802e+02] [-3.11073021e-01 9.50354448e-01 7.74589220e-03 -8.57035878e+01] [ 2.24915949e-02 -7.86445481e-04 9.99746723e-01 2.35144242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34232058799995 meters Centerline goodness [0,1] 0.9999530340033815 Centerline is valid? [True, True] Translation: X:291.84, Y:-85.72, Z:2.35 [[ 9.47406752e-01 3.19418056e-01 -1.98129215e-02 2.91839895e+02] [-3.19335812e-01 9.47613735e-01 7.26963600e-03 -8.57236512e+01] [ 2.10970496e-02 -5.60326847e-04 9.99777275e-01 2.35425653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.372320588 meters Centerline goodness [0,1] 0.9999063889538966 Centerline is valid? [True, True] Translation: X:291.87, Y:-85.74, Z:2.36 [[ 9.45645769e-01 3.24617669e-01 -1.94280446e-02 2.91868154e+02] [-3.24539523e-01 9.45845216e-01 7.13618503e-03 -8.57390755e+01] [ 2.06924547e-02 -4.43134868e-04 9.99785790e-01 2.35612290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.90, Y:-85.75, Z:2.36 [[ 9.42708610e-01 3.32826490e-01 -2.29565642e-02 2.91896618e+02] [-3.32719528e-01 9.42988030e-01 8.44340268e-03 -8.57541592e+01] [ 2.44579533e-02 -3.21571214e-04 9.99700808e-01 2.35688346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.93, Y:-85.77, Z:2.36 [[ 9.40932140e-01 3.37709718e-01 -2.44715088e-02 2.91926469e+02] [-3.37589542e-01 9.41250285e-01 9.01123965e-03 -8.57663591e+01] [ 2.60769978e-02 -2.17639581e-04 9.99659914e-01 2.35660293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.96, Y:-85.78, Z:2.36 [[ 9.39351887e-01 3.42107831e-01 -2.40886882e-02 2.91956055e+02] [-3.41992591e-01 9.39660695e-01 8.87953483e-03 -8.57791946e+01] [ 2.56729519e-02 -1.02854888e-04 9.99670390e-01 2.35672577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.492320588 meters Centerline goodness [0,1] 0.9999054015703339 Centerline is valid? [True, True] Translation: X:291.98, Y:-85.79, Z:2.36 [[ 9.36174196e-01 3.50680702e-01 -2.45136704e-02 2.91984814e+02] [-3.50563998e-01 9.36495077e-01 9.04731552e-03 -8.57946591e+01] [ 2.61296506e-02 1.23746971e-04 9.99658555e-01 2.36073893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52232058799996 meters Centerline goodness [0,1] 0.9998590159311997 Centerline is valid? [True, True] Translation: X:292.02, Y:-85.81, Z:2.36 [[ 9.34796133e-01 3.54378708e-01 -2.39148800e-02 2.92015621e+02] [-3.54268566e-01 9.35101966e-01 8.83723381e-03 -8.58065350e+01] [ 2.54945788e-02 2.11278253e-04 9.99674938e-01 2.36113271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.552320588 meters Centerline goodness [0,1] 0.9997630780894617 Centerline is valid? [True, True] Translation: X:292.05, Y:-85.82, Z:2.36 [[ 9.32583980e-01 3.60160398e-01 -2.39083069e-02 2.92045704e+02] [-3.60051925e-01 9.32890325e-01 8.84603050e-03 -8.58186458e+01] [ 2.54898181e-02 3.58565583e-04 9.99675017e-01 2.36164121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58232058799996 meters Centerline goodness [0,1] 0.9996664760815704 Centerline is valid? [True, True] Translation: X:292.08, Y:-85.83, Z:2.36 [[ 9.31689735e-01 3.62512496e-01 -2.32148291e-02 2.92076019e+02] [-3.62410696e-01 9.31978825e-01 8.59988738e-03 -8.58304059e+01] [ 2.47532958e-02 4.00875585e-04 9.99693510e-01 2.36231029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.612320588 meters Centerline goodness [0,1] 0.9997632351548442 Centerline is valid? [True, True] Translation: X:292.11, Y:-85.84, Z:2.36 [[ 9.30876959e-01 3.64610103e-01 -2.29686715e-02 2.92106657e+02] [-3.64510829e-01 9.31160178e-01 8.51929556e-03 -8.58427158e+01] [ 2.44937334e-02 4.41913536e-04 9.99699886e-01 2.36405169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64232058799996 meters Centerline goodness [0,1] 0.999618557192581 Centerline is valid? [True, True] Translation: X:292.14, Y:-85.85, Z:2.37 [[ 9.29655219e-01 3.67629822e-01 -2.42793861e-02 2.92137267e+02] [-3.67519600e-01 9.29972055e-01 9.01782082e-03 -8.58535214e+01] [ 2.58943704e-02 5.39686054e-04 9.99664539e-01 2.36803745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.672320588 meters Centerline goodness [0,1] 0.9997173411221557 Centerline is valid? [True, True] Translation: X:292.17, Y:-85.86, Z:2.37 [[ 9.29081143e-01 3.69081631e-01 -2.42276723e-02 2.92169297e+02] [-3.68972088e-01 9.29396808e-01 9.00956264e-03 -8.58638710e+01] [ 2.58423854e-02 5.68720097e-04 9.99665868e-01 2.36921963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70232058799996 meters Centerline goodness [0,1] 0.998815334312657 Centerline is valid? [True, True] Translation: X:292.20, Y:-85.87, Z:2.37 [[ 9.27925910e-01 3.71907467e-01 -2.52654412e-02 2.92201720e+02] [-3.71789003e-01 9.28269572e-01 9.40953875e-03 -8.58732161e+01] [ 2.69526180e-02 6.62058372e-04 9.99636493e-01 2.37033618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73232058799994 meters Centerline goodness [0,1] 0.9992414545109752 Centerline is valid? [True, True] Translation: X:292.23, Y:-85.88, Z:2.37 [[ 9.27286276e-01 3.73420838e-01 -2.64015039e-02 2.92233541e+02] [-3.73291677e-01 9.27661767e-01 9.84735944e-03 -8.58833766e+01] [ 2.81688749e-02 7.24140386e-04 9.99602916e-01 2.37170651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76232058799997 meters Centerline goodness [0,1] 0.9990593547173361 Centerline is valid? [True, True] Translation: X:292.27, Y:-85.89, Z:2.37 [[ 9.26722930e-01 3.74943647e-01 -2.45331012e-02 2.92266120e+02] [-3.74832346e-01 9.27047337e-01 9.16231343e-03 -8.58919977e+01] [ 2.61786974e-02 7.04873940e-04 9.99657031e-01 2.37097861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79232058799994 meters Centerline goodness [0,1] 0.999381070272329 Centerline is valid? [True, True] Translation: X:292.30, Y:-85.90, Z:2.37 [[ 9.26567362e-01 3.75339393e-01 -2.43570057e-02 2.92298213e+02] [-3.75229488e-01 9.26887184e-01 9.10933366e-03 -8.59026064e+01] [ 2.59952882e-02 6.99055513e-04 9.99661821e-01 2.37231397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82232058799997 meters Centerline goodness [0,1] 0.9989590726283416 Centerline is valid? [True, True] Translation: X:292.33, Y:-85.91, Z:2.37 [[ 9.26785082e-01 3.74834571e-01 -2.38423123e-02 2.92330490e+02] [-3.74728781e-01 9.27091479e-01 8.92917279e-03 -8.59116063e+01] [ 2.54509672e-02 6.58976483e-04 9.99675854e-01 2.37346832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85232058799994 meters Centerline goodness [0,1] 0.999435214383207 Centerline is valid? [True, True] Translation: X:292.36, Y:-85.92, Z:2.37 [[ 9.26700544e-01 3.75001116e-01 -2.45002928e-02 2.92362653e+02] [-3.74889112e-01 9.27024118e-01 9.18906413e-03 -8.59222954e+01] [ 2.61582716e-02 6.69382278e-04 9.99657590e-01 2.37495632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88232058799997 meters Centerline goodness [0,1] 0.9995679516105804 Centerline is valid? [True, True] Translation: X:292.39, Y:-85.93, Z:2.38 [[ 9.27007362e-01 3.74293222e-01 -2.37051671e-02 2.92394388e+02] [-3.74187834e-01 9.27310198e-01 8.90289866e-03 -8.59327863e+01] [ 2.53143378e-02 6.17132536e-04 9.99679350e-01 2.37587775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91232058799994 meters Centerline goodness [0,1] 0.9995289684408856 Centerline is valid? [True, True] Translation: X:292.43, Y:-85.94, Z:2.38 [[ 9.27982301e-01 3.71972073e-01 -2.20369179e-02 2.92426932e+02] [-3.71880093e-01 9.28243784e-01 8.28699585e-03 -8.59405191e+01] [ 2.35381631e-02 5.04905593e-04 9.99722812e-01 2.37535789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.942320588 meters Centerline goodness [0,1] 0.9997630668625314 Centerline is valid? [True, True] Translation: X:292.46, Y:-85.95, Z:2.38 [[ 9.28572446e-01 3.70504963e-01 -2.18925708e-02 2.92459581e+02] [-3.70413506e-01 9.28830376e-01 8.24428421e-03 -8.59499262e+01] [ 2.33890330e-02 4.53888754e-04 9.99726336e-01 2.37541473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97232058799995 meters Centerline goodness [0,1] 0.9998581426139588 Centerline is valid? [True, True] Translation: X:292.49, Y:-85.96, Z:2.38 [[ 9.29559869e-01 3.67884929e-01 -2.40651146e-02 2.92491062e+02] [-3.67773158e-01 9.29871232e-01 9.07718771e-03 -8.59594748e+01] [ 2.57168183e-02 4.12713801e-04 9.99669183e-01 2.37746722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.002320588 meters Centerline goodness [0,1] 0.9999528813080149 Centerline is valid? [True, True] Translation: X:292.52, Y:-85.97, Z:2.38 [[ 9.29962096e-01 3.66915949e-01 -2.33063625e-02 2.92521418e+02] [-3.66810548e-01 9.30254027e-01 8.80158266e-03 -8.59706858e+01] [ 2.49102786e-02 3.63881340e-04 9.99689625e-01 2.37800591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.55, Y:-85.98, Z:2.38 [[ 9.30350583e-01 3.65946585e-01 -2.30410396e-02 2.92552057e+02] [-3.65843009e-01 9.30635800e-01 8.71212453e-03 -8.59812304e+01] [ 2.46309885e-02 3.24073117e-04 9.99696559e-01 2.37972705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.58, Y:-85.99, Z:2.38 [[ 9.31504975e-01 3.63036948e-01 -2.24199830e-02 2.92583850e+02] [-3.62937792e-01 9.31774716e-01 8.48750473e-03 -8.59905699e+01] [ 2.39716511e-02 2.30906234e-04 9.99712612e-01 2.37969226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.62, Y:-86.00, Z:2.38 [[ 9.31995763e-01 3.61844144e-01 -2.12770396e-02 2.92615002e+02] [-3.61754316e-01 9.32238587e-01 8.06425019e-03 -8.60016903e+01] [ 2.27532790e-02 1.81213911e-04 9.99741094e-01 2.37952272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.65, Y:-86.01, Z:2.38 [[ 9.32663335e-01 3.60054747e-01 -2.23536022e-02 2.92645309e+02] [-3.59954813e-01 9.32931166e-01 8.48360135e-03 -8.60136731e+01] [ 2.39089331e-02 1.33942773e-04 9.99714132e-01 2.38082243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.68, Y:-86.03, Z:2.38 [[ 9.32738527e-01 3.59880327e-01 -2.20225041e-02 2.92676259e+02] [-3.59783042e-01 9.32998465e-01 8.36817952e-03 -8.60252662e+01] [ 2.35585057e-02 1.18000063e-04 9.99722453e-01 2.38145951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.71, Y:-86.04, Z:2.38 [[ 9.32589564e-01 3.60266385e-01 -2.20190153e-02 2.92706431e+02] [-3.60168991e-01 9.32849462e-01 8.37734731e-03 -8.60363609e+01] [ 2.35585032e-02 1.17939849e-04 9.99722453e-01 2.38250979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.74, Y:-86.05, Z:2.38 [[ 9.32413063e-01 3.60841461e-01 -1.99829996e-02 2.92736772e+02] [-3.60761205e-01 9.32627164e-01 7.61089121e-03 -8.60474490e+01] [ 2.13830133e-02 1.12596628e-04 9.99771351e-01 2.38142811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.77, Y:-86.06, Z:2.38 [[ 9.32549020e-01 3.60548442e-01 -1.88983275e-02 2.92767504e+02] [-3.60476439e-01 9.32740485e-01 7.20586629e-03 -8.60589233e+01] [ 2.02252990e-02 9.25782506e-05 9.99795443e-01 2.38080792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27232058799996 meters Centerline goodness [0,1] 0.9999052132701421 Centerline is valid? [True, True] Translation: X:292.80, Y:-86.07, Z:2.38 [[ 9.33004811e-01 3.59329896e-01 -1.95971280e-02 2.92798118e+02] [-3.59251993e-01 9.33210599e-01 7.48222700e-03 -8.60700617e+01] [ 2.09768354e-02 5.93534838e-05 9.99779960e-01 2.38301026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.83, Y:-86.08, Z:2.39 [[ 9.33379759e-01 3.58370651e-01 -1.93054647e-02 2.92827597e+02] [-3.58294659e-01 9.33579389e-01 7.37983922e-03 -8.60828686e+01] [ 2.06679017e-02 2.88523425e-05 9.99786396e-01 2.38518771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.86, Y:-86.09, Z:2.39 [[ 9.33548284e-01 3.57921994e-01 -1.94794014e-02 2.92857840e+02] [-3.57844332e-01 9.33751490e-01 7.45576663e-03 -8.60947346e+01] [ 2.08575029e-02 1.02752204e-05 9.99782459e-01 2.38615653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.89, Y:-86.11, Z:2.39 [[ 9.33879350e-01 3.57093861e-01 -1.87971886e-02 2.92888844e+02] [-3.57021205e-01 9.34068506e-01 7.20307682e-03 -8.61060169e+01] [ 2.01300363e-02 -1.58097848e-05 9.99797370e-01 2.38650832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.92, Y:-86.12, Z:2.39 [[ 9.34035115e-01 3.56703265e-01 -1.84711604e-02 2.92919958e+02] [-3.56632863e-01 9.34217737e-01 7.08668096e-03 -8.61163871e+01] [ 1.97839279e-02 -3.17860266e-05 9.99804278e-01 2.38510078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.95, Y:-86.13, Z:2.39 [[ 9.34199579e-01 3.56294671e-01 -1.80348032e-02 2.92950338e+02] [-3.56227321e-01 9.34373643e-01 6.92750174e-03 -8.61276441e+01] [ 1.93194767e-02 -4.71795914e-05 9.99813360e-01 2.38541287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.98, Y:-86.14, Z:2.39 [[ 9.34392476e-01 3.55764745e-01 -1.84972412e-02 2.92980993e+02] [-3.55693612e-01 9.34575541e-01 7.11425062e-03 -8.61401027e+01] [ 1.98180688e-02 -6.81517015e-05 9.99803600e-01 2.38757517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.01, Y:-86.15, Z:2.39 [[ 9.34652116e-01 3.54927005e-01 -2.12660063e-02 2.93010610e+02] [-3.54832485e-01 9.34894009e-01 8.19138136e-03 -8.61530664e+01] [ 2.27888044e-02 -1.10222052e-04 9.99740295e-01 2.39092200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.04, Y:-86.16, Z:2.39 [[ 9.34882786e-01 3.54312500e-01 -2.13735656e-02 2.93041639e+02] [-3.54216626e-01 9.35127068e-01 8.24303852e-03 -8.61637224e+01] [ 2.29076113e-02 -1.35402527e-04 9.99737577e-01 2.39065925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.07, Y:-86.17, Z:2.39 [[ 9.35651081e-01 3.52404694e-01 -1.91829546e-02 2.93072924e+02] [-3.52326908e-01 9.35847692e-01 7.40587248e-03 -8.61732805e+01] [ 2.05621880e-02 -1.70641494e-04 9.99788561e-01 2.38920109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.57232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.10, Y:-86.19, Z:2.39 [[ 9.35701336e-01 3.52315725e-01 -1.83477547e-02 2.93103462e+02] [-3.52244392e-01 9.35881189e-01 7.09143453e-03 -8.61856319e+01] [ 1.96697424e-02 -1.72571061e-04 9.99806517e-01 2.39048913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.13, Y:-86.20, Z:2.39 [[ 9.36200511e-01 3.50975336e-01 -1.85719311e-02 2.93133762e+02] [-3.50901807e-01 9.36384680e-01 7.18699342e-03 -8.61975600e+01] [ 1.99129292e-02 -2.11542738e-04 9.99801696e-01 2.39186835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.63232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.16, Y:-86.21, Z:2.39 [[ 9.36989819e-01 3.48804591e-01 -1.96325222e-02 2.93164787e+02] [-3.48721736e-01 9.37195432e-01 7.60744514e-03 -8.62091017e+01] [ 2.10530219e-02 -2.81811420e-04 9.99778321e-01 2.39225188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.20, Y:-86.22, Z:2.39 [[ 9.37074507e-01 3.48533817e-01 -2.03849553e-02 2.93195163e+02] [-3.48444205e-01 9.37296156e-01 7.90903775e-03 -8.62207765e+01] [ 2.18633073e-02 -3.08338117e-04 9.99760922e-01 2.39340295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.23, Y:-86.23, Z:2.39 [[ 9.38228679e-01 3.45430525e-01 -2.01171116e-02 2.93226215e+02] [-3.45342339e-01 9.38444247e-01 7.81434720e-03 -8.62313224e+01] [ 2.15781017e-02 -3.84354276e-04 9.99767092e-01 2.39427752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.26, Y:-86.24, Z:2.39 [[ 9.38386595e-01 3.45064734e-01 -1.89981033e-02 2.93257017e+02] [-3.44985849e-01 9.38578812e-01 7.38770169e-03 -8.62435520e+01] [ 2.03804525e-02 -3.78443458e-04 9.99792225e-01 2.39475574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.29, Y:-86.26, Z:2.39 [[ 9.38023698e-01 3.46022776e-01 -1.94879848e-02 2.93287029e+02] [-3.45939782e-01 9.38226038e-01 7.58748891e-03 -8.62565001e+01] [ 2.09095787e-02 -3.75575210e-04 9.99781300e-01 2.39472971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.32, Y:-86.27, Z:2.39 [[ 9.37438964e-01 3.47680168e-01 -1.80745368e-02 2.93318020e+02] [-3.47608942e-01 9.37613139e-01 7.04458205e-03 -8.62682946e+01] [ 1.93961847e-02 -3.20995076e-04 9.99811825e-01 2.39478200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.35, Y:-86.28, Z:2.40 [[ 9.35342007e-01 3.53231130e-01 -1.90551339e-02 2.93346455e+02] [-3.53152909e-01 9.35536059e-01 7.43673244e-03 -8.62841695e+01] [ 2.04536503e-02 -2.26512257e-04 9.99790777e-01 2.39666805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.38, Y:-86.30, Z:2.40 [[ 9.35087244e-01 3.53962977e-01 -1.79459786e-02 2.93376403e+02] [-3.53893604e-01 9.35259413e-01 7.01052397e-03 -8.62966500e+01] [ 1.92656114e-02 -2.04484481e-04 9.99814380e-01 2.39740457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.41, Y:-86.31, Z:2.40 [[ 9.33952210e-01 3.56800167e-01 -2.06618348e-02 2.93406591e+02] [-3.56708634e-01 9.34180715e-01 8.08339888e-03 -8.63094362e+01] [ 2.21860456e-02 -1.79253388e-04 9.99753843e-01 2.39904108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.44, Y:-86.32, Z:2.40 [[ 9.33468940e-01 3.58118102e-01 -1.96764609e-02 2.93436989e+02] [-3.58035204e-01 9.33676284e-01 7.70646835e-03 -8.63216254e+01] [ 2.11312707e-02 -1.48883146e-04 9.99776699e-01 2.39807746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.47, Y:-86.34, Z:2.40 [[ 9.32812835e-01 3.59724856e-01 -2.14066179e-02 2.93466382e+02] [-3.59626897e-01 9.33058418e-01 8.39548279e-03 -8.63350146e+01] [ 2.29936888e-02 -1.33018539e-04 9.99735601e-01 2.40184491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.50, Y:-86.35, Z:2.41 [[ 9.30987058e-01 3.64381011e-01 -2.21263846e-02 2.93495203e+02] [-3.64277406e-01 9.31249955e-01 8.68871268e-03 -8.63500505e+01] [ 2.37711965e-02 -2.89370880e-05 9.99717425e-01 2.40545459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.53, Y:-86.36, Z:2.41 [[ 9.30177645e-01 3.66454259e-01 -2.19277151e-02 2.93525831e+02] [-3.66352838e-01 9.30436068e-01 8.62100200e-03 -8.63616722e+01] [ 2.35615399e-02 1.42173223e-05 9.99722388e-01 2.40520018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.56, Y:-86.37, Z:2.41 [[ 9.29090516e-01 3.69170366e-01 -2.24511602e-02 2.93557306e+02] [-3.69064580e-01 9.29361735e-01 8.83745824e-03 -8.63736729e+01] [ 2.41277769e-02 7.51293648e-05 9.99708880e-01 2.40540861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.59, Y:-86.39, Z:2.40 [[ 9.28138454e-01 3.71651472e-01 -2.08373183e-02 2.93589190e+02] [-3.71560749e-01 9.28372322e-01 8.21224464e-03 -8.63851768e+01] [ 2.23968824e-02 1.20229555e-04 9.99749151e-01 2.40466991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.62, Y:-86.40, Z:2.41 [[ 9.28109535e-01 3.71754125e-01 -2.02870000e-02 2.93620067e+02] [-3.71667926e-01 9.28331223e-01 8.00584971e-03 -8.63973763e+01] [ 2.18092631e-02 1.09721758e-04 9.99762144e-01 2.40727948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.65, Y:-86.41, Z:2.41 [[ 9.27809688e-01 3.72416772e-01 -2.17929222e-02 2.93650677e+02] [-3.72317178e-01 9.28065587e-01 8.61311330e-03 -8.64111228e+01] [ 2.34329290e-02 1.22549327e-04 9.99725404e-01 2.40930468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.68, Y:-86.42, Z:2.41 [[ 9.27790032e-01 3.72379184e-01 -2.32249858e-02 2.93682080e+02] [-3.72265717e-01 9.28080670e-01 9.19272571e-03 -8.64230383e+01] [ 2.49778401e-02 1.16946713e-04 9.99687998e-01 2.41058229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.71, Y:-86.43, Z:2.41 [[ 9.27563351e-01 3.72902597e-01 -2.38722276e-02 2.93713142e+02] [-3.72782547e-01 9.27870486e-01 9.46224137e-03 -8.64345772e+01] [ 2.56788298e-02 1.22321499e-04 9.99670237e-01 2.41193094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.74, Y:-86.45, Z:2.41 [[ 9.27212719e-01 3.73839798e-01 -2.28118097e-02 2.93744697e+02] [-3.73730178e-01 9.27493282e-01 9.05348302e-03 -8.64461457e+01] [ 2.45423525e-02 1.30957078e-04 9.99698783e-01 2.41136403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.78, Y:-86.46, Z:2.41 [[ 9.27166863e-01 3.73943445e-01 -2.29762375e-02 2.93775742e+02] [-3.73831961e-01 9.27451500e-01 9.13127748e-03 -8.64580602e+01] [ 2.47239273e-02 1.23034014e-04 9.99694309e-01 2.41285486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.81, Y:-86.47, Z:2.41 [[ 9.27541961e-01 3.72939455e-01 -2.41262021e-02 2.93807296e+02] [-3.72815832e-01 9.27855676e-01 9.60209757e-03 -8.64694448e+01] [ 2.59666346e-02 8.82817117e-05 9.99662806e-01 2.41429923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.84, Y:-86.48, Z:2.42 [[ 9.27625571e-01 3.72719112e-01 -2.43159273e-02 2.93838263e+02] [-3.72593113e-01 9.27944211e-01 9.69088272e-03 -8.64818946e+01] [ 2.61758012e-02 7.04364294e-05 9.99657353e-01 2.41592341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.87, Y:-86.49, Z:2.42 [[ 9.27620820e-01 3.72751084e-01 -2.40050782e-02 2.93869398e+02] [-3.72627967e-01 9.27931369e-01 9.57978178e-03 -8.64942999e+01] [ 2.58459391e-02 5.85584513e-05 9.99665936e-01 2.41797899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.90, Y:-86.51, Z:2.42 [[ 9.26976167e-01 3.74422808e-01 -2.28636440e-02 2.93900739e+02] [-3.74311346e-01 9.27258083e-01 9.13584658e-03 -8.65070071e+01] [ 2.46211680e-02 8.94092948e-05 9.99696849e-01 2.42053855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.93, Y:-86.52, Z:2.42 [[ 9.26569828e-01 3.75484940e-01 -2.18955098e-02 2.93931595e+02] [-3.75382753e-01 9.26828490e-01 8.76010470e-03 -8.65192867e+01] [ 2.35826697e-02 1.02348049e-04 9.99721885e-01 2.42164239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.96, Y:-86.53, Z:2.42 [[ 9.26054326e-01 3.76905696e-01 -1.91175713e-02 2.93963375e+02] [-3.76827928e-01 9.26251631e-01 7.65697956e-03 -8.65297666e+01] [ 2.05936408e-02 1.13255747e-04 9.99787922e-01 2.41999149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:293.99, Y:-86.54, Z:2.42 [[ 9.25664409e-01 3.77803573e-01 -2.02450497e-02 2.93994782e+02] [-3.77716315e-01 9.25885762e-01 8.12044134e-03 -8.65408033e+01] [ 2.18125350e-02 1.30082025e-04 9.99762070e-01 2.42159404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.03, Y:-86.55, Z:2.43 [[ 9.24314658e-01 3.80910861e-01 -2.34377728e-02 2.94025518e+02] [-3.80794520e-01 9.24611739e-01 9.41626952e-03 -8.65535932e+01] [ 2.52575992e-02 2.21379508e-04 9.99680951e-01 2.42514937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.06, Y:-86.57, Z:2.43 [[ 9.23249014e-01 3.83484005e-01 -2.34792558e-02 2.94056368e+02] [-3.83367762e-01 9.23547475e-01 9.44560725e-03 -8.65672132e+01] [ 2.53064467e-02 2.80542171e-04 9.99679701e-01 2.42605237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.09, Y:-86.58, Z:2.43 [[ 9.22446883e-01 3.85417292e-01 -2.33508011e-02 2.94087746e+02] [-3.85302618e-01 9.22742331e-01 9.40657316e-03 -8.65796744e+01] [ 2.51722286e-02 3.20060727e-04 9.99683078e-01 2.42734580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.12, Y:-86.59, Z:2.43 [[ 9.21671903e-01 3.87302087e-01 -2.27595351e-02 2.94120471e+02] [-3.87193429e-01 9.21952803e-01 9.18034084e-03 -8.65891345e+01] [ 2.45387823e-02 3.51080198e-04 9.99698817e-01 2.42631101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59232058799995 meters Centerline goodness [0,1] 0.9999529145870609 Centerline is valid? [True, True] Translation: X:294.15, Y:-86.60, Z:2.43 [[ 9.21299147e-01 3.88213334e-01 -2.23223796e-02 2.94151495e+02] [-3.88108794e-01 9.21569465e-01 9.01578133e-03 -8.66007812e+01] [ 2.40716700e-02 3.57280170e-04 9.99710172e-01 2.42707295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.622320588 meters Centerline goodness [0,1] 0.9999060503570086 Centerline is valid? [True, True] Translation: X:294.18, Y:-86.61, Z:2.43 [[ 9.20686206e-01 3.89647243e-01 -2.26259906e-02 2.94183059e+02] [-3.89539966e-01 9.20964101e-01 9.15097633e-03 -8.66130224e+01] [ 2.44033778e-02 3.88549926e-04 9.99702118e-01 2.42889201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65232058799995 meters Centerline goodness [0,1] 0.9999046529366895 Centerline is valid? [True, True] Translation: X:294.21, Y:-86.62, Z:2.43 [[ 9.20690839e-01 3.89652276e-01 -2.23491311e-02 2.94214113e+02] [-3.89547321e-01 9.20961978e-01 9.05097848e-03 -8.66244566e+01] [ 2.41094344e-02 3.72891183e-04 9.99709256e-01 2.42984257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.682320588 meters Centerline goodness [0,1] 0.9997642843673392 Centerline is valid? [True, True] Translation: X:294.25, Y:-86.64, Z:2.43 [[ 9.20526972e-01 3.89991095e-01 -2.31741335e-02 2.94245220e+02] [-3.89878024e-01 9.20818548e-01 9.39825767e-03 -8.66360948e+01] [ 2.50044088e-02 3.83735712e-04 9.99687267e-01 2.43109761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71232058799995 meters Centerline goodness [0,1] 0.999809695989343 Centerline is valid? [True, True] Translation: X:294.28, Y:-86.65, Z:2.43 [[ 9.20610483e-01 3.89739840e-01 -2.40664953e-02 2.94276749e+02] [-3.89617451e-01 9.20924923e-01 9.77388049e-03 -8.66478204e+01] [ 2.59727059e-02 3.78789705e-04 9.99662581e-01 2.43219483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.742320588 meters Centerline goodness [0,1] 0.9998583301851153 Centerline is valid? [True, True] Translation: X:294.31, Y:-86.66, Z:2.43 [[ 9.21756820e-01 3.86873031e-01 -2.63367235e-02 2.94307991e+02] [-3.86724836e-01 9.22132941e-01 1.07116956e-02 -8.66596482e+01] [ 2.84300264e-02 3.11486624e-04 9.99595737e-01 2.43305491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77232058799996 meters Centerline goodness [0,1] 0.9997644176404071 Centerline is valid? [True, True] Translation: X:294.34, Y:-86.67, Z:2.43 [[ 9.22443535e-01 3.85189583e-01 -2.69612815e-02 2.94338558e+02] [-3.85033117e-01 9.22837430e-01 1.09807423e-02 -8.66722051e+01] [ 2.91105473e-02 2.51871479e-04 9.99576166e-01 2.43428906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.37, Y:-86.69, Z:2.44 [[ 9.23959256e-01 3.81551928e-01 -2.67846924e-02 2.94368733e+02] [-3.81395556e-01 9.24347397e-01 1.09232923e-02 -8.66869242e+01] [ 2.89261640e-02 1.22885626e-04 9.99581543e-01 2.43608793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.40, Y:-86.70, Z:2.44 [[ 9.24079686e-01 3.81354852e-01 -2.54009989e-02 2.94399689e+02] [-3.81213792e-01 9.24428725e-01 1.03719691e-02 -8.66998968e+01] [ 2.74368138e-02 9.86851180e-05 9.99623535e-01 2.43680172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.862320588 meters Centerline goodness [0,1] 0.9999060459435336 Centerline is valid? [True, True] Translation: X:294.43, Y:-86.71, Z:2.44 [[ 9.23250656e-01 3.83434897e-01 -2.42055060e-02 2.94430967e+02] [-3.83307194e-01 9.23567897e-01 9.89623715e-03 -8.67126133e+01] [ 2.61499909e-02 1.41437136e-04 9.99658021e-01 2.43723291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89232058799996 meters Centerline goodness [0,1] 0.9999055489964581 Centerline is valid? [True, True] Translation: X:294.46, Y:-86.72, Z:2.44 [[ 9.22603286e-01 3.85044634e-01 -2.33196481e-02 2.94462626e+02] [-3.84926310e-01 9.22897937e-01 9.54643495e-03 -8.67224051e+01] [ 2.51974586e-02 1.68773813e-04 9.99682479e-01 2.43637613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.49, Y:-86.73, Z:2.44 [[ 9.22518622e-01 3.85266024e-01 -2.30104880e-02 2.94494408e+02] [-3.85150603e-01 9.22805540e-01 9.43127627e-03 -8.67338774e+01] [ 2.48677561e-02 1.61975308e-04 9.99690736e-01 2.43614502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95232058799996 meters Centerline goodness [0,1] 0.9999529633113828 Centerline is valid? [True, True] Translation: X:294.52, Y:-86.75, Z:2.44 [[ 9.22477958e-01 3.85341904e-01 -2.33673598e-02 2.94524736e+02] [-3.85222568e-01 9.22773858e-01 9.59059353e-03 -8.67472183e+01] [ 2.52584463e-02 1.54523204e-04 9.99680943e-01 2.43881904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98232058799994 meters Centerline goodness [0,1] 0.9999528790877391 Centerline is valid? [True, True] Translation: X:294.56, Y:-86.76, Z:2.44 [[ 9.22414261e-01 3.85369464e-01 -2.53437719e-02 2.94555536e+02] [-3.85228679e-01 9.22762349e-01 1.04169322e-02 -8.67596869e+01] [ 2.74006460e-02 1.54420930e-04 9.99624520e-01 2.44225735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01232058799997 meters Centerline goodness [0,1] 0.9998585706204035 Centerline is valid? [True, True] Translation: X:294.59, Y:-86.77, Z:2.44 [[ 9.22212694e-01 3.85811042e-01 -2.59535688e-02 2.94586295e+02] [-3.85663167e-01 9.22577810e-01 1.06820808e-02 -8.67722228e+01] [ 2.80654514e-02 1.58184998e-04 9.99606075e-01 2.44385584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04232058799994 meters Centerline goodness [0,1] 0.9997646061861494 Centerline is valid? [True, True] Translation: X:294.62, Y:-86.78, Z:2.44 [[ 9.21907427e-01 3.86541703e-01 -2.59269664e-02 2.94617358e+02] [-3.86394023e-01 9.22271914e-01 1.06852564e-02 -8.67836591e+01] [ 2.80420101e-02 1.67207629e-04 9.99606732e-01 2.44441093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.07232058799997 meters Centerline goodness [0,1] 0.9997646061861494 Centerline is valid? [True, True] Translation: X:294.65, Y:-86.80, Z:2.45 [[ 9.21727537e-01 3.86970801e-01 -2.59219267e-02 2.94647944e+02] [-3.86822948e-01 9.22091954e-01 1.06974671e-02 -8.67958639e+01] [ 2.80420075e-02 1.67046065e-04 9.99606732e-01 2.44548828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10232058799994 meters Centerline goodness [0,1] 0.9997172878480893 Centerline is valid? [True, True] Translation: X:294.68, Y:-86.81, Z:2.44 [[ 9.21475317e-01 3.87614057e-01 -2.52702123e-02 2.94679972e+02] [-3.87473422e-01 9.21821737e-01 1.04418751e-02 -8.68073189e+01] [ 2.73420486e-02 1.69605443e-04 9.99626122e-01 2.44487725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.13232058799997 meters Centerline goodness [0,1] 0.9999054328809873 Centerline is valid? [True, True] Translation: X:294.71, Y:-86.82, Z:2.45 [[ 9.21266659e-01 3.88206611e-01 -2.37354188e-02 2.94711574e+02] [-3.88082433e-01 9.21572352e-01 9.81962326e-03 -8.68192972e+01] [ 2.56859484e-02 1.64807551e-04 9.99670048e-01 2.44522524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16232058799994 meters Centerline goodness [0,1] 0.9998070336243909 Centerline is valid? [True, True] Translation: X:294.74, Y:-86.83, Z:2.45 [[ 9.20208372e-01 3.90596246e-01 -2.55171305e-02 2.94743073e+02] [-3.90453220e-01 9.20562066e-01 1.05719117e-02 -8.68311128e+01] [ 2.76194514e-02 2.34884177e-04 9.99618483e-01 2.44807216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.192320588 meters Centerline goodness [0,1] 0.9996703400207215 Centerline is valid? [True, True] Translation: X:294.77, Y:-86.84, Z:2.45 [[ 9.19362735e-01 3.92516858e-01 -2.65080699e-02 2.94773770e+02] [-3.92362869e-01 9.19744765e-01 1.09976017e-02 -8.68437539e+01] [ 2.86974026e-02 2.89997205e-04 9.99588103e-01 2.45028086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22232058799995 meters Centerline goodness [0,1] 0.9999059266227658 Centerline is valid? [True, True] Translation: X:294.81, Y:-86.85, Z:2.45 [[ 9.18903743e-01 3.93625299e-01 -2.59814295e-02 2.94805552e+02] [-3.93477420e-01 9.19270923e-01 1.07930053e-02 -8.68549869e+01] [ 2.81323726e-02 3.05372866e-04 9.99604160e-01 2.45074978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.252320588 meters Centerline goodness [0,1] 0.9996224456085705 Centerline is valid? [True, True] Translation: X:294.84, Y:-86.87, Z:2.45 [[ 9.18505583e-01 3.94566024e-01 -2.57904382e-02 2.94837293e+02] [-3.94420292e-01 9.18867537e-01 1.07276325e-02 -8.68664406e+01] [ 2.79307557e-02 3.18881772e-04 9.99609809e-01 2.45165295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28232058799995 meters Centerline goodness [0,1] 0.999670060331825 Centerline is valid? [True, True] Translation: X:294.87, Y:-86.88, Z:2.45 [[ 9.17936665e-01 3.95844410e-01 -2.64477192e-02 2.94868467e+02] [-3.95691258e-01 9.18317526e-01 1.10159054e-02 -8.68785480e+01] [ 2.86479886e-02 3.53227837e-04 9.99589500e-01 2.45331360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.312320588 meters Centerline goodness [0,1] 0.9994751908396946 Centerline is valid? [True, True] Translation: X:294.90, Y:-86.89, Z:2.46 [[ 9.16974721e-01 3.98039132e-01 -2.68739895e-02 2.94899420e+02] [-3.97881508e-01 9.17368343e-01 1.12084116e-02 -8.68919307e+01] [ 2.91147336e-02 4.14833373e-04 9.99575990e-01 2.45714315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34232058799995 meters Centerline goodness [0,1] 0.9990045034368333 Centerline is valid? [True, True] Translation: X:294.93, Y:-86.91, Z:2.46 [[ 9.16086425e-01 4.00040737e-01 -2.74421286e-02 2.94930483e+02] [-3.99876818e-01 9.16497236e-01 1.14606750e-02 -8.69053258e+01] [ 2.97353719e-02 4.74502300e-04 9.99557693e-01 2.45908884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.372320588 meters Centerline goodness [0,1] 0.9992461009282382 Centerline is valid? [True, True] Translation: X:294.96, Y:-86.92, Z:2.46 [[ 9.15128934e-01 4.02266814e-01 -2.68410967e-02 2.94962807e+02] [-4.02110535e-01 9.15522331e-01 1.12240598e-02 -8.69159821e+01] [ 2.90886902e-02 5.21625822e-04 9.99576698e-01 2.45757053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40232058799995 meters Centerline goodness [0,1] 0.9990079365079365 Centerline is valid? [True, True] Translation: X:294.99, Y:-86.93, Z:2.46 [[ 9.14637310e-01 4.03340923e-01 -2.74716226e-02 2.94994746e+02] [-4.03177244e-01 9.15049612e-01 1.15029675e-02 -8.69276155e+01] [ 2.97775151e-02 5.54889788e-04 9.99556397e-01 2.45850632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.432320588 meters Centerline goodness [0,1] 0.999103350637093 Centerline is valid? [True, True] Translation: X:295.03, Y:-86.94, Z:2.46 [[ 9.13988178e-01 4.04831833e-01 -2.71440044e-02 2.95026461e+02] [-4.04672212e-01 9.14390972e-01 1.13821047e-02 -8.69398171e+01] [ 2.94280708e-02 5.81315177e-04 9.99566731e-01 2.45980657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46232058799995 meters Centerline goodness [0,1] 0.998629360052935 Centerline is valid? [True, True] Translation: X:295.06, Y:-86.95, Z:2.46 [[ 9.12841835e-01 4.07358385e-01 -2.79093088e-02 2.95057967e+02] [-4.07190280e-01 9.13268144e-01 1.17206127e-02 -8.69527788e+01] [ 3.02631725e-02 6.65333643e-04 9.99541744e-01 2.46315164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.492320588 meters Centerline goodness [0,1] 0.998722558667676 Centerline is valid? [True, True] Translation: X:295.09, Y:-86.97, Z:2.46 [[ 9.12307925e-01 4.08585140e-01 -2.74305132e-02 2.95089348e+02] [-4.08422818e-01 9.12719959e-01 1.15359960e-02 -8.69655436e+01] [ 2.97498134e-02 6.78866968e-04 9.99557146e-01 2.46430375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52232058799996 meters Centerline goodness [0,1] 0.998772774473709 Centerline is valid? [True, True] Translation: X:295.12, Y:-86.98, Z:2.47 [[ 9.11375899e-01 4.10612526e-01 -2.81304893e-02 2.95121050e+02] [-4.10442238e-01 9.11809626e-01 1.18479853e-02 -8.69791666e+01] [ 3.05145821e-02 7.47972751e-04 9.99534042e-01 2.46581958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.552320588 meters Centerline goodness [0,1] 0.9984174179934778 Centerline is valid? [True, True] Translation: X:295.15, Y:-86.99, Z:2.47 [[ 9.10225348e-01 4.12940904e-01 -3.11388132e-02 2.95152982e+02] [-4.12732889e-01 9.10757382e-01 1.31359942e-02 -8.69919695e+01] [ 3.37842933e-02 8.95297444e-04 9.99428747e-01 2.46825461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58232058799996 meters Centerline goodness [0,1] 0.9984355740968996 Centerline is valid? [True, True] Translation: X:295.19, Y:-87.00, Z:2.47 [[ 9.09824796e-01 4.13820504e-01 -3.11678052e-02 2.95185403e+02] [-4.13611973e-01 9.10358039e-01 1.31672327e-02 -8.70042200e+01] [ 3.38227329e-02 9.11502584e-04 9.99427432e-01 2.46825179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.612320588 meters Centerline goodness [0,1] 0.9984431759211209 Centerline is valid? [True, True] Translation: X:295.22, Y:-87.02, Z:2.47 [[ 9.09411186e-01 4.14686837e-01 -3.17194127e-02 2.95217424e+02] [-4.14470706e-01 9.09963702e-01 1.34199597e-02 -8.70156386e+01] [ 3.44285948e-02 9.42505892e-04 9.99406716e-01 2.46908646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64232058799996 meters Centerline goodness [0,1] 0.9987195295456701 Centerline is valid? [True, True] Translation: X:295.25, Y:-87.03, Z:2.47 [[ 9.09377286e-01 4.14730630e-01 -3.21162780e-02 2.95248912e+02] [-4.14508390e-01 9.09943748e-01 1.36077073e-02 -8.70283293e+01] [ 3.48675394e-02 9.37926744e-04 9.99391502e-01 2.47034891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.672320588 meters Centerline goodness [0,1] 0.9988975698605186 Centerline is valid? [True, True] Translation: X:295.28, Y:-87.04, Z:2.47 [[ 9.09286578e-01 4.14976672e-01 -3.15004877e-02 2.95280883e+02] [-4.14762375e-01 9.09831594e-01 1.33657196e-02 -8.70417363e+01] [ 3.42066008e-02 9.11947645e-04 9.99414367e-01 2.47227899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70232058799996 meters Centerline goodness [0,1] 0.9989972783268872 Centerline is valid? [True, True] Translation: X:295.31, Y:-87.05, Z:2.47 [[ 9.09341427e-01 4.14914494e-01 -3.07267187e-02 2.95312540e+02] [-4.14709922e-01 9.09859993e-01 1.30565954e-02 -8.70541538e+01] [ 3.33743827e-02 8.69771995e-04 9.99442542e-01 2.47295130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73232058799994 meters Centerline goodness [0,1] 0.9988648188440072 Centerline is valid? [True, True] Translation: X:295.34, Y:-87.07, Z:2.47 [[ 9.08956340e-01 4.15666934e-01 -3.19275958e-02 2.95343975e+02] [-4.15445817e-01 9.09516445e-01 1.35870930e-02 -8.70664566e+01] [ 3.46863787e-02 9.14111752e-04 9.99397828e-01 2.47401811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76232058799997 meters Centerline goodness [0,1] 0.9986744934671464 Centerline is valid? [True, True] Translation: X:295.38, Y:-87.08, Z:2.47 [[ 9.08455179e-01 4.16751677e-01 -3.20504050e-02 2.95375883e+02] [-4.16528871e-01 9.09019886e-01 1.36582173e-02 -8.70788982e+01] [ 3.48265405e-02 9.42040778e-04 9.99392928e-01 2.47489250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79232058799994 meters Centerline goodness [0,1] 0.9990534784666352 Centerline is valid? [True, True] Translation: X:295.41, Y:-87.09, Z:2.47 [[ 9.07716992e-01 4.18500168e-01 -3.01242737e-02 2.95408365e+02] [-4.18303735e-01 9.08216241e-01 1.28547804e-02 -8.70904701e+01] [ 3.27390823e-02 9.32593579e-04 9.99463497e-01 2.47422408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82232058799997 meters Centerline goodness [0,1] 0.998583836858006 Centerline is valid? [True, True] Translation: X:295.44, Y:-87.10, Z:2.48 [[ 9.06937846e-01 4.20177400e-01 -3.02439529e-02 2.95440104e+02] [-4.19979722e-01 9.07441454e-01 1.29244302e-02 -8.71038500e+01] [ 3.28751700e-02 9.80192084e-04 9.99458985e-01 2.47562546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85232058799994 meters Centerline goodness [0,1] 0.9989092288722375 Centerline is valid? [True, True] Translation: X:295.47, Y:-87.12, Z:2.48 [[ 9.06669562e-01 4.20670869e-01 -3.14058021e-02 2.95471802e+02] [-4.20457322e-01 9.07212755e-01 1.34409029e-02 -8.71170243e+01] [ 3.41459405e-02 1.01834191e-03 9.99416339e-01 2.47844054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88232058799997 meters Centerline goodness [0,1] 0.9989610880241783 Centerline is valid? [True, True] Translation: X:295.50, Y:-87.13, Z:2.48 [[ 9.06428055e-01 4.21182231e-01 -3.15231471e-02 2.95503030e+02] [-4.20966728e-01 9.06975457e-01 1.35105046e-02 -8.71304753e+01] [ 3.42811052e-02 1.02389566e-03 9.99411706e-01 2.47871761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91232058799994 meters Centerline goodness [0,1] 0.998868244836367 Centerline is valid? [True, True] Translation: X:295.53, Y:-87.14, Z:2.48 [[ 9.06439576e-01 4.21101260e-01 -3.22649045e-02 2.95534253e+02] [-4.20874733e-01 9.07013051e-01 1.38486122e-02 -8.71442919e+01] [ 3.50963575e-02 1.02655290e-03 9.99383406e-01 2.48034163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.942320588 meters Centerline goodness [0,1] 0.9989938673821388 Centerline is valid? [True, True] Translation: X:295.57, Y:-87.16, Z:2.48 [[ 9.06313923e-01 4.21514876e-01 -3.03361495e-02 2.95566463e+02] [-4.21314282e-01 9.06820974e-01 1.30382684e-02 -8.71569735e+01] [ 3.30052808e-02 9.64288882e-04 9.99454712e-01 2.48024381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97232058799995 meters Centerline goodness [0,1] 0.9991951519742449 Centerline is valid? [True, True] Translation: X:295.60, Y:-87.17, Z:2.48 [[ 9.06120479e-01 4.22042003e-01 -2.87441294e-02 2.95598887e+02] [-4.21861658e-01 9.06575814e-01 1.23706950e-02 -8.71689915e+01] [ 3.12796854e-02 9.16705980e-04 9.99510251e-01 2.48013609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.002320588 meters Centerline goodness [0,1] 0.9994320602016187 Centerline is valid? [True, True] Translation: X:295.63, Y:-87.18, Z:2.48 [[ 9.05003229e-01 4.24320492e-01 -3.03525303e-02 2.95630718e+02] [-4.24120024e-01 9.05511486e-01 1.30825563e-02 -8.71818394e+01] [ 3.30357616e-02 1.03336019e-03 9.99453636e-01 2.48134550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03232058799995 meters Centerline goodness [0,1] 0.9993396537899155 Centerline is valid? [True, True] Translation: X:295.66, Y:-87.20, Z:2.48 [[ 9.04134405e-01 4.26068687e-01 -3.17246182e-02 2.95661895e+02] [-4.25850050e-01 9.04690113e-01 1.36943193e-02 -8.71961161e+01] [ 3.45356691e-02 1.12842495e-03 9.99402829e-01 2.48256453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.062320588 meters Centerline goodness [0,1] 0.9993820999096915 Centerline is valid? [True, True] Translation: X:295.69, Y:-87.21, Z:2.48 [[ 9.03723250e-01 4.26921488e-01 -3.19739115e-02 2.95692749e+02] [-4.26699246e-01 9.04287960e-01 1.38216618e-02 -8.72097756e+01] [ 3.48143876e-02 1.15228680e-03 9.99393131e-01 2.48411745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09232058799995 meters Centerline goodness [0,1] 0.9996687331408831 Centerline is valid? [True, True] Translation: X:295.72, Y:-87.22, Z:2.49 [[ 9.03487292e-01 4.27447947e-01 -3.16064176e-02 2.95723870e+02] [-4.27230474e-01 9.04039240e-01 1.36811611e-02 -8.72238303e+01] [ 3.44214260e-02 1.14246962e-03 9.99406754e-01 2.48505076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.122320588 meters Centerline goodness [0,1] 0.9998575769084694 Centerline is valid? [True, True] Translation: X:295.76, Y:-87.24, Z:2.48 [[ 9.03609507e-01 4.27414812e-01 -2.83978490e-02 2.95755672e+02] [-4.27238760e-01 9.04055063e-01 1.23079285e-02 -8.72375131e+01] [ 3.09338101e-02 1.01110057e-03 9.99520924e-01 2.48427672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15232058799995 meters Centerline goodness [0,1] 0.999811320754717 Centerline is valid? [True, True] Translation: X:295.79, Y:-87.25, Z:2.49 [[ 9.04040155e-01 4.26507528e-01 -2.83324206e-02 2.95787629e+02] [-4.26331304e-01 9.04483501e-01 1.22969923e-02 -8.72509382e+01] [ 3.08709668e-02 9.62023015e-04 9.99522915e-01 2.48505893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.182320588 meters Centerline goodness [0,1] 0.9999054149917238 Centerline is valid? [True, True] Translation: X:295.82, Y:-87.26, Z:2.49 [[ 9.04402967e-01 4.25752905e-01 -2.81022694e-02 2.95819322e+02] [-4.25578643e-01 9.04839008e-01 1.22142610e-02 -8.72646632e+01] [ 3.06282866e-02 9.13111800e-04 9.99530427e-01 2.48675878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21232058799995 meters Centerline goodness [0,1] 0.9999525098542053 Centerline is valid? [True, True] Translation: X:295.85, Y:-87.28, Z:2.49 [[ 9.04618017e-01 4.25357053e-01 -2.71591680e-02 2.95850149e+02] [-4.25193638e-01 9.05025219e-01 1.18204708e-02 -8.72784452e+01] [ 2.96076526e-02 8.54894570e-04 9.99561232e-01 2.48834390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.242320588 meters Centerline goodness [0,1] 0.9996224099683768 Centerline is valid? [True, True] Translation: X:295.88, Y:-87.29, Z:2.49 [[ 9.04884282e-01 4.24763621e-01 -2.75735685e-02 2.95881024e+02] [-4.24594386e-01 9.05303912e-01 1.20180942e-02 -8.72926223e+01] [ 3.00673086e-02 8.32597863e-04 9.99547530e-01 2.48928164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27232058799996 meters Centerline goodness [0,1] 0.999905325443787 Centerline is valid? [True, True] Translation: X:295.91, Y:-87.31, Z:2.49 [[ 9.04874747e-01 4.24780698e-01 -2.76233830e-02 2.95912304e+02] [-4.24610342e-01 9.05295912e-01 1.20569407e-02 -8.73061840e+01] [ 3.01288914e-02 8.19152920e-04 9.99545686e-01 2.48980818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:295.94, Y:-87.32, Z:2.49 [[ 9.04988239e-01 4.24609805e-01 -2.65103950e-02 2.95943556e+02] [-4.24452378e-01 9.05376124e-01 1.15867595e-02 -8.73200353e+01] [ 2.89217303e-02 7.66519115e-04 9.99581385e-01 2.48892090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33232058799996 meters Centerline goodness [0,1] 0.9999056381221987 Centerline is valid? [True, True] Translation: X:295.97, Y:-87.34, Z:2.49 [[ 9.05021142e-01 4.24448816e-01 -2.79273065e-02 2.95973733e+02] [-4.24273475e-01 9.05451592e-01 1.22242874e-02 -8.73364495e+01] [ 3.04754084e-02 7.85576862e-04 9.99535208e-01 2.49173292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.362320588 meters Centerline goodness [0,1] 0.9997588618278274 Centerline is valid? [True, True] Translation: X:296.01, Y:-87.35, Z:2.49 [[ 9.04918835e-01 4.24673219e-01 -2.78308954e-02 2.96005198e+02] [-4.24498672e-01 9.05346374e-01 1.21992013e-02 -8.73502960e+01] [ 3.03772743e-02 7.74891111e-04 9.99538204e-01 2.49367585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39232058799996 meters Centerline goodness [0,1] 0.9996690150834555 Centerline is valid? [True, True] Translation: X:296.04, Y:-87.36, Z:2.49 [[ 9.03942119e-01 4.26795500e-01 -2.70969844e-02 2.96037363e+02] [-4.26630509e-01 9.04347802e-01 1.18937960e-02 -8.73634339e+01] [ 2.95813169e-02 8.09097065e-04 9.99562050e-01 2.49175540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.422320588 meters Centerline goodness [0,1] 0.9998555678590342 Centerline is valid? [True, True] Translation: X:296.07, Y:-87.38, Z:2.49 [[ 9.03987023e-01 4.26683235e-01 -2.73656499e-02 2.96069502e+02] [-4.26514394e-01 9.04400785e-01 1.20287896e-02 -8.73765753e+01] [ 2.98819981e-02 7.97973900e-04 9.99553115e-01 2.49268871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45232058799996 meters Centerline goodness [0,1] 0.9999526178630657 Centerline is valid? [True, True] Translation: X:296.10, Y:-87.39, Z:2.49 [[ 9.03652146e-01 4.27430976e-01 -2.67499505e-02 2.96100875e+02] [-4.27269478e-01 9.04047642e-01 1.17751435e-02 -8.73911175e+01] [ 2.92162907e-02 7.88803723e-04 9.99572802e-01 2.49364270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48232058799994 meters Centerline goodness [0,1] 0.9999053568048457 Centerline is valid? [True, True] Translation: X:296.13, Y:-87.41, Z:2.50 [[ 9.03451565e-01 4.27804552e-01 -2.75414942e-02 2.96132363e+02] [-4.27632995e-01 9.03870904e-01 1.21412830e-02 -8.74055931e+01] [ 3.00880514e-02 8.08590487e-04 9.99546925e-01 2.49582774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51232058799997 meters Centerline goodness [0,1] 0.9999528635399482 Centerline is valid? [True, True] Translation: X:296.16, Y:-87.42, Z:2.50 [[ 9.02380765e-01 4.30057404e-01 -2.75605424e-02 2.96164240e+02] [-4.29886142e-01 9.02801127e-01 1.21667758e-02 -8.74185680e+01] [ 3.01141007e-02 8.68830817e-04 9.99546090e-01 2.49788357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54232058799994 meters Centerline goodness [0,1] 0.9999056470255224 Centerline is valid? [True, True] Translation: X:296.20, Y:-87.43, Z:2.50 [[ 9.01588709e-01 4.31790000e-01 -2.63665638e-02 2.96196507e+02] [-4.31633553e-01 9.01973744e-01 1.16550854e-02 -8.74311311e+01] [ 2.88144976e-02 8.72600176e-04 9.99584395e-01 2.49724064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.57232058799997 meters Centerline goodness [0,1] 0.9998579141801648 Centerline is valid? [True, True] Translation: X:296.23, Y:-87.44, Z:2.50 [[ 8.99696825e-01 4.35853962e-01 -2.40197072e-02 2.96228884e+02] [-4.35725202e-01 9.00016951e-01 1.06318078e-02 -8.74427431e+01] [ 2.62520592e-02 9.00588075e-04 9.99654950e-01 2.49730327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60232058799994 meters Centerline goodness [0,1] 0.9998098226596301 Centerline is valid? [True, True] Translation: X:296.26, Y:-87.46, Z:2.50 [[ 8.98427031e-01 4.38397618e-01 -2.52269604e-02 2.96261334e+02] [-4.38256130e-01 8.98780569e-01 1.11827510e-02 -8.74556010e+01] [ 2.75759932e-02 1.00898423e-03 9.99619201e-01 2.49913614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.63232058799997 meters Centerline goodness [0,1] 0.9983782494633914 Centerline is valid? [True, True] Translation: X:296.29, Y:-87.47, Z:2.50 [[ 8.95606765e-01 4.44040223e-01 -2.67731746e-02 2.96293495e+02] [-4.43882792e-01 8.96005998e-01 1.18877116e-02 -8.74685686e+01] [ 2.92675471e-02 1.23743653e-03 9.99570848e-01 2.50215546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66232058799994 meters Centerline goodness [0,1] 0.9991832028059386 Centerline is valid? [True, True] Translation: X:296.33, Y:-87.48, Z:2.50 [[ 8.94327552e-01 4.46645706e-01 -2.61885951e-02 2.96326399e+02] [-4.46495697e-01 8.94709997e-01 1.16453049e-02 -8.74811589e+01] [ 2.86325232e-02 1.27837799e-03 9.99589188e-01 2.50244473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.692320588 meters Centerline goodness [0,1] 0.9981529718209804 Centerline is valid? [True, True] Translation: X:296.36, Y:-87.49, Z:2.50 [[ 8.92157241e-01 4.50897328e-01 -2.73323198e-02 2.96358795e+02] [-4.50735324e-01 8.92574630e-01 1.21736006e-02 -8.74938413e+01] [ 2.98851793e-02 1.45887612e-03 9.99552274e-01 2.50487327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72232058799995 meters Centerline goodness [0,1] 0.9969106463878327 Centerline is valid? [True, True] Translation: X:296.39, Y:-87.50, Z:2.51 [[ 8.89097602e-01 4.57011616e-01 -2.54133243e-02 2.96392789e+02] [-4.56873620e-01 8.89459404e-01 1.13341903e-02 -8.75034643e+01] [ 2.77839769e-02 1.53347607e-03 9.99612775e-01 2.50548983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.752320588 meters Centerline goodness [0,1] 0.9963456883868824 Centerline is valid? [True, True] Translation: X:296.43, Y:-87.52, Z:2.51 [[ 8.87562536e-01 4.60058109e-01 -2.40682421e-02 2.96426123e+02] [-4.59935068e-01 8.87887491e-01 1.07488016e-02 -8.75150724e+01] [ 2.63149644e-02 1.52959501e-03 9.99652531e-01 2.50551196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78232058799995 meters Centerline goodness [0,1] 0.9944224626972399 Centerline is valid? [True, True] Translation: X:296.46, Y:-87.53, Z:2.51 [[ 8.84676568e-01 4.65428675e-01 -2.68983070e-02 2.96460140e+02] [-4.65276843e-01 8.85083416e-01 1.20335242e-02 -8.75251583e+01] [ 2.94079927e-02 1.86938246e-03 9.99565743e-01 2.50766129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.812320588 meters Centerline goodness [0,1] 0.9921926753099272 Centerline is valid? [True, True] Translation: X:296.49, Y:-87.54, Z:2.51 [[ 8.82731396e-01 4.68996718e-01 -2.87638646e-02 2.96493510e+02] [-4.68824312e-01 8.83197394e-01 1.28890937e-02 -8.75377172e+01] [ 3.14491129e-02 2.10759133e-03 9.99503132e-01 2.51025835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84232058799995 meters Centerline goodness [0,1] 0.9903061714176025 Centerline is valid? [True, True] Translation: X:296.53, Y:-87.55, Z:2.51 [[ 8.81002267e-01 4.72210469e-01 -2.91938145e-02 2.96526869e+02] [-4.72033937e-01 8.81482995e-01 1.31031109e-02 -8.75486598e+01] [ 3.19212772e-02 2.23660078e-03 9.99487884e-01 2.51115539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.872320588 meters Centerline goodness [0,1] 0.9897044171371637 Centerline is valid? [True, True] Translation: X:296.56, Y:-87.56, Z:2.51 [[ 8.79378789e-01 4.75252384e-01 -2.87770135e-02 2.96560903e+02] [-4.75081847e-01 8.79846521e-01 1.29359225e-02 -8.75600703e+01] [ 3.14671832e-02 2.29586085e-03 9.99502149e-01 2.51207591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90232058799995 meters Centerline goodness [0,1] 0.9866135004272287 Centerline is valid? [True, True] Translation: X:296.60, Y:-87.57, Z:2.51 [[ 8.76854138e-01 4.79912188e-01 -2.84800159e-02 2.96595382e+02] [-4.79746945e-01 8.77313193e-01 1.28230245e-02 -8.75693699e+01] [ 3.11398194e-02 2.41927847e-03 9.99512110e-01 2.51490480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.932320588 meters Centerline goodness [0,1] 0.9869753291819175 Centerline is valid? [True, True] Translation: X:296.63, Y:-87.58, Z:2.52 [[ 8.76129223e-01 4.81336529e-01 -2.66970039e-02 2.96628726e+02] [-4.81191488e-01 8.76532861e-01 1.20373018e-02 -8.75819235e+01] [ 2.91947943e-02 2.30013920e-03 9.99571095e-01 2.51655687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96232058799995 meters Centerline goodness [0,1] 0.9856379425517702 Centerline is valid? [True, True] Translation: X:296.66, Y:-87.59, Z:2.52 [[ 8.75472083e-01 4.82525568e-01 -2.67900811e-02 2.96664569e+02] [-4.82379477e-01 8.75878785e-01 1.20993230e-02 -8.75905296e+01] [ 2.93030964e-02 2.33036576e-03 9.99567856e-01 2.51793322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.992320588 meters Centerline goodness [0,1] 0.9856379425517702 Centerline is valid? [True, True] Translation: X:296.70, Y:-87.60, Z:2.52 [[ 8.75171115e-01 4.83071645e-01 -2.67825781e-02 2.96697023e+02] [-4.82925304e-01 8.75577726e-01 1.21159073e-02 -8.76047701e+01] [ 2.93030801e-02 2.33049258e-03 9.99567856e-01 2.51909499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02232058799996 meters Centerline goodness [0,1] 0.985280588776449 Centerline is valid? [True, True] Translation: X:296.73, Y:-87.62, Z:2.52 [[ 8.74960870e-01 4.83448262e-01 -2.68561906e-02 2.96731208e+02] [-4.83300697e-01 8.75369831e-01 1.21694549e-02 -8.76154609e+01] [ 2.93924009e-02 2.33181881e-03 9.99565230e-01 2.51957238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.052320588 meters Centerline goodness [0,1] 0.986348779080946 Centerline is valid? [True, True] Translation: X:296.77, Y:-87.63, Z:2.52 [[ 8.74710074e-01 4.83914903e-01 -2.66205289e-02 2.96765549e+02] [-4.83769553e-01 8.75112011e-01 1.20824872e-02 -8.76267596e+01] [ 2.91428402e-02 2.30952811e-03 9.99572589e-01 2.52026081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08232058799996 meters Centerline goodness [0,1] 0.9850616808018504 Centerline is valid? [True, True] Translation: X:296.80, Y:-87.63, Z:2.52 [[ 8.74326133e-01 4.84587529e-01 -2.69951996e-02 2.96802023e+02] [-4.84437764e-01 8.74739630e-01 1.22732393e-02 -8.76342916e+01] [ 2.95612296e-02 2.34668028e-03 9.99560217e-01 2.52168211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.112320588 meters Centerline goodness [0,1] 0.9851173440183171 Centerline is valid? [True, True] Translation: X:296.84, Y:-87.65, Z:2.52 [[ 8.74062698e-01 4.85079170e-01 -2.66945666e-02 2.96835938e+02] [-4.84932367e-01 8.74467163e-01 1.21564870e-02 -8.76461903e+01] [ 2.92403805e-02 2.31952756e-03 9.99569717e-01 2.52418563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14232058799996 meters Centerline goodness [0,1] 0.9841169919132245 Centerline is valid? [True, True] Translation: X:296.87, Y:-87.66, Z:2.53 [[ 8.74119929e-01 4.85001402e-01 -2.62295690e-02 2.96870368e+02] [-4.84859064e-01 8.74510455e-01 1.19645951e-02 -8.76563748e+01] [ 2.87408777e-02 2.25915331e-03 9.99584343e-01 2.52723024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.172320588 meters Centerline goodness [0,1] 0.9847445430558887 Centerline is valid? [True, True] Translation: X:296.90, Y:-87.67, Z:2.53 [[ 8.74000365e-01 4.85194037e-01 -2.66478358e-02 2.96903562e+02] [-4.85046720e-01 8.74403520e-01 1.21722297e-02 -8.76704929e+01] [ 2.92068547e-02 2.28691218e-03 9.99570773e-01 2.52904696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20232058799996 meters Centerline goodness [0,1] 0.9856441074068775 Centerline is valid? [True, True] Translation: X:296.94, Y:-87.68, Z:2.53 [[ 8.74091826e-01 4.85007913e-01 -2.70333889e-02 2.96936457e+02] [-4.84855593e-01 8.74506750e-01 1.23692684e-02 -8.76825648e+01] [ 2.96400741e-02 2.29541336e-03 9.99558001e-01 2.53038743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23232058799994 meters Centerline goodness [0,1] 0.9859297450970944 Centerline is valid? [True, True] Translation: X:296.97, Y:-87.69, Z:2.53 [[ 8.74505601e-01 4.84263519e-01 -2.69962661e-02 2.96971520e+02] [-4.84110715e-01 8.74919298e-01 1.23708430e-02 -8.76905003e+01] [ 2.96103021e-02 2.25081019e-03 9.99558985e-01 2.53032906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26232058799997 meters Centerline goodness [0,1] 0.9855476064723676 Centerline is valid? [True, True] Translation: X:297.00, Y:-87.70, Z:2.53 [[ 8.74715095e-01 4.83862666e-01 -2.73938402e-02 2.97004377e+02] [-4.83704555e-01 8.75141042e-01 1.25722023e-02 -8.77021400e+01] [ 3.00566932e-02 2.25343014e-03 9.99545655e-01 2.53199370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29232058799994 meters Centerline goodness [0,1] 0.985144682086519 Centerline is valid? [True, True] Translation: X:297.04, Y:-87.71, Z:2.53 [[ 8.74927961e-01 4.83481838e-01 -2.73198576e-02 2.97037206e+02] [-4.83323828e-01 8.75351583e-01 1.25572211e-02 -8.77137262e+01] [ 2.99856690e-02 2.21767431e-03 9.99547869e-01 2.53314217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32232058799997 meters Centerline goodness [0,1] 0.9858424242424242 Centerline is valid? [True, True] Translation: X:297.07, Y:-87.72, Z:2.54 [[ 8.75067424e-01 4.83189844e-01 -2.80103295e-02 2.97071192e+02] [-4.83023040e-01 8.75512720e-01 1.28926453e-02 -8.77229580e+01] [ 3.07529950e-02 2.24770059e-03 9.99524488e-01 2.53573300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35232058799994 meters Centerline goodness [0,1] 0.9857826780792108 Centerline is valid? [True, True] Translation: X:297.11, Y:-87.73, Z:2.54 [[ 8.74852126e-01 4.83626983e-01 -2.71790146e-02 2.97105131e+02] [-4.83469628e-01 8.75271493e-01 1.25272887e-02 -8.77340007e+01] [ 2.98475515e-02 2.18070295e-03 9.99552084e-01 2.53586235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38232058799997 meters Centerline goodness [0,1] 0.9875422501207146 Centerline is valid? [True, True] Translation: X:297.14, Y:-87.75, Z:2.54 [[ 8.75175963e-01 4.83046997e-01 -2.70671701e-02 2.97137221e+02] [-4.82890101e-01 8.75591821e-01 1.24944997e-02 -8.77464355e+01] [ 2.97352233e-02 2.13558275e-03 9.99555529e-01 2.53670608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41232058799994 meters Centerline goodness [0,1] 0.989457542649032 Centerline is valid? [True, True] Translation: X:297.17, Y:-87.76, Z:2.54 [[ 8.75577988e-01 4.82365084e-01 -2.62128511e-02 2.97169608e+02] [-4.82217173e-01 8.75967921e-01 1.21160878e-02 -8.77588209e+01] [ 2.88059944e-02 2.03170716e-03 9.99582956e-01 2.53696580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.442320588 meters Centerline goodness [0,1] 0.9907869481765835 Centerline is valid? [True, True] Translation: X:297.20, Y:-87.77, Z:2.54 [[ 8.77576089e-01 4.78785619e-01 -2.49907885e-02 2.97202898e+02] [-4.78649318e-01 8.77929980e-01 1.15663633e-02 -8.77687712e+01] [ 2.74779709e-02 1.81145996e-03 9.99620768e-01 2.53797988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47232058799995 meters Centerline goodness [0,1] 0.992827719893385 Centerline is valid? [True, True] Translation: X:297.24, Y:-87.78, Z:2.54 [[ 8.78410736e-01 4.77235223e-01 -2.53203683e-02 2.97235306e+02] [-4.77094252e-01 8.78773803e-01 1.17336011e-02 -8.77814512e+01] [ 2.78505641e-02 1.77328098e-03 9.99610525e-01 2.54054988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.502320588 meters Centerline goodness [0,1] 0.9928571428571429 Centerline is valid? [True, True] Translation: X:297.27, Y:-87.79, Z:2.54 [[ 8.79377116e-01 4.75440422e-01 -2.55400175e-02 2.97267302e+02] [-4.75295760e-01 8.79746247e-01 1.18524732e-02 -8.77945479e+01] [ 2.81038795e-02 1.71626831e-03 9.99603535e-01 2.54283397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53232058799995 meters Centerline goodness [0,1] 0.9965615768318078 Centerline is valid? [True, True] Translation: X:297.30, Y:-87.80, Z:2.54 [[ 8.81653271e-01 4.71258373e-01 -2.45572143e-02 2.97300399e+02] [-4.71122584e-01 8.81993919e-01 1.14122000e-02 -8.78044677e+01] [ 2.70374085e-02 1.50785479e-03 9.99633285e-01 2.54194679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.562320588 meters Centerline goodness [0,1] 0.997171755908154 Centerline is valid? [True, True] Translation: X:297.33, Y:-87.82, Z:2.54 [[ 8.82395526e-01 4.69902946e-01 -2.38612259e-02 2.97332357e+02] [-4.69773865e-01 8.82716958e-01 1.11034730e-02 -8.78163409e+01] [ 2.62802634e-02 1.41172544e-03 9.99653617e-01 2.54162839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59232058799995 meters Centerline goodness [0,1] 0.9973158222690888 Centerline is valid? [True, True] Translation: X:297.36, Y:-87.83, Z:2.54 [[ 8.83139570e-01 4.68432598e-01 -2.52071452e-02 2.97363834e+02] [-4.68287475e-01 8.83498079e-01 1.17467139e-02 -8.78291313e+01] [ 2.77730080e-02 1.43020254e-03 9.99613232e-01 2.54362395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.622320588 meters Centerline goodness [0,1] 0.9981133900928792 Centerline is valid? [True, True] Translation: X:297.40, Y:-87.84, Z:2.55 [[ 8.84706286e-01 4.65506347e-01 -2.44668770e-02 2.97395606e+02] [-4.65368100e-01 8.85043608e-01 1.14168180e-02 -8.78411678e+01] [ 2.69688543e-02 1.28557342e-03 9.99635448e-01 2.54656451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65232058799995 meters Centerline goodness [0,1] 0.9987085665088248 Centerline is valid? [True, True] Translation: X:297.43, Y:-87.85, Z:2.55 [[ 8.84936273e-01 4.65078652e-01 -2.42825307e-02 2.97427304e+02] [-4.64941935e-01 8.85268482e-01 1.13451457e-02 -8.78544132e+01] [ 2.67729442e-02 1.25023588e-03 9.99640759e-01 2.54782006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.682320588 meters Centerline goodness [0,1] 0.9987459000578816 Centerline is valid? [True, True] Translation: X:297.46, Y:-87.87, Z:2.55 [[ 8.86823868e-01 4.61442188e-01 -2.47897960e-02 2.97458603e+02] [-4.61297833e-01 8.87169536e-01 1.15984385e-02 -8.78666594e+01] [ 2.73447607e-02 1.14970710e-03 9.99625401e-01 2.54910032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71232058799995 meters Centerline goodness [0,1] 0.9990412272291467 Centerline is valid? [True, True] Translation: X:297.49, Y:-87.88, Z:2.55 [[ 8.87696421e-01 4.59782068e-01 -2.44031563e-02 2.97489468e+02] [-4.59641186e-01 8.88031141e-01 1.14312440e-02 -8.78802864e+01] [ 2.69266438e-02 1.06922129e-03 9.99636840e-01 2.55032514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.742320588 meters Centerline goodness [0,1] 0.9994272623138603 Centerline is valid? [True, True] Translation: X:297.52, Y:-87.89, Z:2.55 [[ 8.88548812e-01 4.58142667e-01 -2.42137463e-02 2.97520636e+02] [-4.58002990e-01 8.88878112e-01 1.13561836e-02 -8.78933326e+01] [ 2.67258213e-02 9.99444748e-04 9.99642302e-01 2.55162313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77232058799996 meters Centerline goodness [0,1] 0.9996638816863536 Centerline is valid? [True, True] Translation: X:297.55, Y:-87.91, Z:2.55 [[ 8.89928561e-01 4.55481983e-01 -2.37343524e-02 2.97552821e+02] [-4.55346473e-01 8.90244558e-01 1.11452460e-02 -8.79051897e+01] [ 2.62058368e-02 8.88880867e-04 9.99656173e-01 2.55154079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.802320588 meters Centerline goodness [0,1] 0.9998081258694297 Centerline is valid? [True, True] Translation: X:297.58, Y:-87.92, Z:2.55 [[ 8.90460146e-01 4.54512944e-01 -2.23318612e-02 2.97583902e+02] [-4.54392480e-01 8.90739771e-01 1.04945105e-02 -8.79187636e+01] [ 2.46617678e-02 8.02486450e-04 9.99695530e-01 2.55168929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83232058799996 meters Centerline goodness [0,1] 0.9997607312054362 Centerline is valid? [True, True] Translation: X:297.61, Y:-87.93, Z:2.55 [[ 8.91603970e-01 4.52211713e-01 -2.33864691e-02 2.97613927e+02] [-4.52078394e-01 8.91910304e-01 1.10061622e-02 -8.79337166e+01] [ 2.58357482e-02 7.59379508e-04 9.99665913e-01 2.55423154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.862320588 meters Centerline goodness [0,1] 0.9998084841520636 Centerline is valid? [True, True] Translation: X:297.65, Y:-87.95, Z:2.56 [[ 8.92179686e-01 4.50995843e-01 -2.48627692e-02 2.97645675e+02] [-4.50844274e-01 8.92525729e-01 1.17159512e-02 -8.79475295e+01] [ 2.74745065e-02 7.56503406e-04 9.99622218e-01 2.55620876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89232058799996 meters Centerline goodness [0,1] 0.9998566376756188 Centerline is valid? [True, True] Translation: X:297.68, Y:-87.96, Z:2.56 [[ 8.92727720e-01 4.49933902e-01 -2.44274978e-02 2.97677752e+02] [-4.49786785e-01 8.93061587e-01 1.15260902e-02 -8.79601941e+01] [ 2.70012387e-02 6.97505479e-04 9.99635157e-01 2.55634724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.922320588 meters Centerline goodness [0,1] 0.9999043748505857 Centerline is valid? [True, True] Translation: X:297.71, Y:-87.97, Z:2.56 [[ 8.93064979e-01 4.49274170e-01 -2.42417568e-02 2.97708790e+02] [-4.49128630e-01 8.93393691e-01 1.14537025e-02 -8.79747481e+01] [ 2.68032852e-02 6.58766417e-04 9.99640510e-01 2.55780369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.74, Y:-87.99, Z:2.56 [[ 8.93497007e-01 4.48392498e-01 -2.46427715e-02 2.97739306e+02] [-4.48241332e-01 8.93836547e-01 1.16591390e-02 -8.79902360e+01] [ 2.72544803e-02 6.28502907e-04 9.99628330e-01 2.56089771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.77, Y:-88.00, Z:2.56 [[ 8.94602439e-01 4.46123071e-01 -2.57037326e-02 2.97769599e+02] [-4.45957170e-01 8.94971443e-01 1.21786412e-02 -8.80043598e+01] [ 2.84372795e-02 5.67721770e-04 9.99595418e-01 2.56130406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01232058799997 meters Centerline goodness [0,1] 0.9998563974917428 Centerline is valid? [True, True] Translation: X:297.80, Y:-88.02, Z:2.56 [[ 8.94828043e-01 4.45706386e-01 -2.50717301e-02 2.97800050e+02] [-4.45547995e-01 8.95179054e-01 1.18930781e-02 -8.80176609e+01] [ 2.77445085e-02 5.28399261e-04 9.99614907e-01 2.56028704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04232058799994 meters Centerline goodness [0,1] 0.999952207990824 Centerline is valid? [True, True] Translation: X:297.83, Y:-88.03, Z:2.56 [[ 8.95720517e-01 4.43982048e-01 -2.37633594e-02 2.97830457e+02] [-4.43838818e-01 8.96035573e-01 1.12851804e-02 -8.80315085e+01] [ 2.63032328e-02 4.38733754e-04 9.99653914e-01 2.56121875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.07232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.86, Y:-88.05, Z:2.56 [[ 8.96109094e-01 4.43222280e-01 -2.32916803e-02 2.97860913e+02] [-4.43084089e-01 8.96411654e-01 1.10741679e-02 -8.80456470e+01] [ 2.57872516e-02 3.96510356e-04 9.99667375e-01 2.56268964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.89, Y:-88.06, Z:2.56 [[ 8.96413657e-01 4.42530998e-01 -2.46753204e-02 2.97891250e+02] [-4.42375222e-01 8.96753125e-01 1.17471762e-02 -8.80595249e+01] [ 2.73261603e-02 3.85421218e-04 9.99626496e-01 2.56437214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.13232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.92, Y:-88.07, Z:2.57 [[ 8.97618881e-01 4.39975159e-01 -2.64991253e-02 2.97921054e+02] [-4.39793903e-01 8.98009888e-01 1.26318473e-02 -8.80742299e+01] [ 2.93541755e-02 3.15569091e-04 9.99569024e-01 2.56516423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:297.95, Y:-88.09, Z:2.57 [[ 8.98012551e-01 4.39180524e-01 -2.63424522e-02 2.97950766e+02] [-4.39000625e-01 8.98398793e-01 1.25721789e-02 -8.80894589e+01] [ 2.91874834e-02 2.74378500e-04 9.99573917e-01 2.56599072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.192320588 meters Centerline goodness [0,1] 0.999952207990824 Centerline is valid? [True, True] Translation: X:297.98, Y:-88.11, Z:2.57 [[ 8.98605463e-01 4.38036310e-01 -2.51478330e-02 2.97980656e+02] [-4.37871533e-01 8.98957254e-01 1.20156410e-02 -8.81051850e+01] [ 2.78701140e-02 2.14199553e-04 9.99611530e-01 2.56756598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.01, Y:-88.12, Z:2.57 [[ 9.00423545e-01 4.34313863e-01 -2.46760798e-02 2.98010709e+02] [-4.34153429e-01 9.00761601e-01 1.18041641e-02 -8.81192025e+01] [ 2.73539772e-02 8.44574279e-05 9.99625806e-01 2.56776900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.04, Y:-88.13, Z:2.57 [[ 9.01082913e-01 4.32926299e-01 -2.49880686e-02 2.98040877e+02] [-4.32760845e-01 9.01429320e-01 1.19679442e-02 -8.81343155e+01] [ 2.77062155e-02 2.97476163e-05 9.99616109e-01 2.56961196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.07, Y:-88.15, Z:2.57 [[ 9.02742873e-01 4.29484813e-01 -2.44561051e-02 2.98069653e+02] [-4.29324692e-01 9.03074077e-01 1.17269193e-02 -8.81522641e+01] [ 2.71222083e-02 -8.67829936e-05 9.99632121e-01 2.57080901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.10, Y:-88.17, Z:2.57 [[ 9.03488568e-01 4.27864701e-01 -2.53022805e-02 2.98099096e+02] [-4.27692248e-01 9.03842782e-01 1.21477159e-02 -8.81681711e+01] [ 2.80668624e-02 -1.53733266e-04 9.99606036e-01 2.57252468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.13, Y:-88.18, Z:2.57 [[ 9.04105995e-01 4.26558776e-01 -2.52974267e-02 2.98129113e+02] [-4.26385475e-01 9.04459821e-01 1.21597547e-02 -8.81839457e+01] [ 2.80673561e-02 -2.07251862e-04 9.99606013e-01 2.57335186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.16, Y:-88.20, Z:2.57 [[ 9.04432536e-01 4.25744846e-01 -2.72601199e-02 2.98157808e+02] [-4.25542726e-01 9.04843222e-01 1.31199386e-02 -8.82014453e+01] [ 3.02518809e-02 -2.65753631e-04 9.99542272e-01 2.57474650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.19, Y:-88.22, Z:2.58 [[ 9.03856526e-01 4.26942063e-01 -2.76379406e-02 2.98186700e+02] [-4.26734373e-01 9.04278948e-01 1.33176281e-02 -8.82185999e+01] [ 3.06782635e-02 -2.43165848e-04 9.99529282e-01 2.57698899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.21, Y:-88.24, Z:2.58 [[ 9.03441118e-01 4.27913101e-01 -2.61634324e-02 2.98214806e+02] [-4.27726961e-01 9.03819857e-01 1.26219305e-02 -8.82377952e+01] [ 2.90481191e-02 -2.12365508e-04 9.99577992e-01 2.57759914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.24, Y:-88.26, Z:2.58 [[ 9.02801370e-01 4.29237655e-01 -2.65465953e-02 2.98244138e+02] [-4.29046138e-01 9.03191564e-01 1.28222481e-02 -8.82550208e+01] [ 2.94804527e-02 -1.86228888e-04 9.99565340e-01 2.57891462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.27, Y:-88.27, Z:2.58 [[ 9.02191990e-01 4.30506163e-01 -2.67218410e-02 2.98273622e+02] [-4.30312210e-01 9.02587624e-01 1.29222183e-02 -8.82716186e+01] [ 2.96818976e-02 -1.59587426e-04 9.99559383e-01 2.57945774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.30, Y:-88.29, Z:2.58 [[ 9.00925021e-01 4.33163646e-01 -2.65209711e-02 2.98300762e+02] [-4.32973304e-01 9.01315288e-01 1.28401370e-02 -8.82919486e+01] [ 2.94656373e-02 -8.51281748e-05 9.99565790e-01 2.57998712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.33, Y:-88.31, Z:2.58 [[ 8.99942635e-01 4.35123623e-01 -2.77612423e-02 2.98329723e+02] [-4.34915478e-01 9.00370719e-01 1.34571804e-02 -8.83102651e+01] [ 3.08509468e-02 -3.68964115e-05 9.99523996e-01 2.58301791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:298.36, Y:-88.33, Z:2.58 [[ 8.98213106e-01 4.38577203e-01 -2.93811769e-02 2.98358824e+02] [-4.38345244e-01 8.98693514e-01 1.42623467e-02 -8.83287444e+01] [ 3.26598133e-02 6.84724369e-05 9.99466524e-01 2.58482930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.612320588 meters Centerline goodness [0,1] 0.9999526111269074 Centerline is valid? [True, True] Translation: X:298.39, Y:-88.34, Z:2.59 [[ 8.97292047e-01 4.40401486e-01 -3.02243897e-02 2.98389429e+02] [-4.40156383e-01 8.97800933e-01 1.46915616e-02 -8.83444786e+01] [ 3.36056708e-02 1.20836624e-04 9.99435163e-01 2.58528756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64232058799996 meters Centerline goodness [0,1] 0.9999523332856666 Centerline is valid? [True, True] Translation: X:298.42, Y:-88.36, Z:2.58 [[ 8.96022191e-01 4.43029386e-01 -2.94821373e-02 2.98419468e+02] [-4.42796992e-01 8.96507068e-01 1.43492208e-02 -8.83611323e+01] [ 3.27880710e-02 1.97381438e-04 9.99462307e-01 2.58490042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.672320588 meters Centerline goodness [0,1] 0.9999052671466464 Centerline is valid? [True, True] Translation: X:298.45, Y:-88.38, Z:2.59 [[ 8.93922819e-01 4.47301719e-01 -2.86908826e-02 2.98446733e+02] [-4.47083256e-01 8.94383064e-01 1.39820589e-02 -8.83831537e+01] [ 3.19148384e-02 3.28331660e-04 9.99490538e-01 2.58787067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70232058799996 meters Centerline goodness [0,1] 0.9997638390326847 Centerline is valid? [True, True] Translation: X:298.48, Y:-88.40, Z:2.59 [[ 8.92526568e-01 4.50040651e-01 -2.93212864e-02 2.98476158e+02] [-4.49813324e-01 8.93007972e-01 1.43085974e-02 -8.84009295e+01] [ 3.26235930e-02 4.18301975e-04 9.99467621e-01 2.59057870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73232058799994 meters Centerline goodness [0,1] 0.9990049279757391 Centerline is valid? [True, True] Translation: X:298.51, Y:-88.42, Z:2.59 [[ 8.90071512e-01 4.54787652e-01 -3.06740119e-02 2.98506113e+02] [-4.54540969e-01 8.90599702e-01 1.49892504e-02 -8.84183953e+01] [ 3.41351919e-02 6.01090291e-04 9.99417044e-01 2.59097883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76232058799997 meters Centerline goodness [0,1] 0.9989471669218989 Centerline is valid? [True, True] Translation: X:298.54, Y:-88.43, Z:2.59 [[ 8.88783353e-01 4.57228501e-01 -3.17214226e-02 2.98537525e+02] [-4.56965484e-01 8.89348980e-01 1.55221984e-02 -8.84345529e+01] [ 3.53086063e-02 6.99723637e-04 9.99376212e-01 2.59239362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79232058799994 meters Centerline goodness [0,1] 0.9982416955757258 Centerline is valid? [True, True] Translation: X:298.57, Y:-88.45, Z:2.59 [[ 8.87692554e-01 4.59408227e-01 -3.07572754e-02 2.98568276e+02] [-4.59161541e-01 8.88224931e-01 1.50715350e-02 -8.84511100e+01] [ 3.42433660e-02 7.43668539e-04 9.99413247e-01 2.59261563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82232058799997 meters Centerline goodness [0,1] 0.998042866007924 Centerline is valid? [True, True] Translation: X:298.60, Y:-88.47, Z:2.60 [[ 8.86044471e-01 4.62597350e-01 -3.04776344e-02 2.98597550e+02] [-4.62356285e-01 8.86568095e-01 1.49559273e-02 -8.84703040e+01] [ 3.39390706e-02 8.39909122e-04 9.99423551e-01 2.59572091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85232058799994 meters Centerline goodness [0,1] 0.998334839906751 Centerline is valid? [True, True] Translation: X:298.63, Y:-88.49, Z:2.60 [[ 8.85142936e-01 4.64311969e-01 -3.06002898e-02 2.98628010e+02] [-4.64069237e-01 8.85671273e-01 1.50379592e-02 -8.84869894e+01] [ 3.40841021e-02 8.89909815e-04 9.99418572e-01 2.59700909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88232058799997 meters Centerline goodness [0,1] 0.998334839906751 Centerline is valid? [True, True] Translation: X:298.66, Y:-88.50, Z:2.60 [[ 8.84874468e-01 4.64823975e-01 -3.05916403e-02 2.98659187e+02] [-4.64580941e-01 8.85402665e-01 1.50555350e-02 -8.85018656e+01] [ 3.40840935e-02 8.90034570e-04 9.99418572e-01 2.59814060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91232058799994 meters Centerline goodness [0,1] 0.9975924499229584 Centerline is valid? [True, True] Translation: X:298.69, Y:-88.52, Z:2.60 [[ 8.83576313e-01 4.67163184e-01 -3.24262039e-02 2.98688976e+02] [-4.66890802e-01 8.84170529e-01 1.59829543e-02 -8.85199385e+01] [ 3.61369417e-02 1.01733648e-03 9.99346330e-01 2.60031509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.942320588 meters Centerline goodness [0,1] 0.9969016635683302 Centerline is valid? [True, True] Translation: X:298.72, Y:-88.53, Z:2.60 [[ 8.83196111e-01 4.67900429e-01 -3.21530522e-02 2.98720662e+02] [-4.67632284e-01 8.83780601e-01 1.58712070e-02 -8.85348456e+01] [ 3.58423884e-02 1.01841693e-03 9.99356936e-01 2.60045103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97232058799995 meters Centerline goodness [0,1] 0.9969538315088053 Centerline is valid? [True, True] Translation: X:298.75, Y:-88.55, Z:2.60 [[ 8.82661663e-01 4.68900001e-01 -3.22672921e-02 2.98752135e+02] [-4.68629784e-01 8.83250645e-01 1.59506575e-02 -8.85504239e+01] [ 3.59793699e-02 1.04238022e-03 9.99351989e-01 2.60191981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.002320588 meters Centerline goodness [0,1] 0.9966747422925276 Centerline is valid? [True, True] Translation: X:298.78, Y:-88.57, Z:2.60 [[ 8.82229483e-01 4.69664706e-01 -3.29576065e-02 2.98781876e+02] [-4.69382455e-01 8.82844215e-01 1.63157619e-02 -8.85686488e+01] [ 3.67593697e-02 1.07547609e-03 9.99323567e-01 2.60445403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03232058799995 meters Centerline goodness [0,1] 0.9962600009468352 Centerline is valid? [True, True] Translation: X:298.81, Y:-88.59, Z:2.61 [[ 8.81736203e-01 4.70533088e-01 -3.37621197e-02 2.98811840e+02] [-4.70236597e-01 8.82381643e-01 1.67385145e-02 -8.85863589e+01] [ 3.76670996e-02 1.11723002e-03 9.99289718e-01 2.60656170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.062320588 meters Centerline goodness [0,1] 0.9949638920562524 Centerline is valid? [True, True] Translation: X:298.84, Y:-88.60, Z:2.61 [[ 8.81369852e-01 4.71159925e-01 -3.45761287e-02 2.98842255e+02] [-4.70848474e-01 8.82047053e-01 1.71671426e-02 -8.86035465e+01] [ 3.85862421e-02 1.14951550e-03 9.99254612e-01 2.60802648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09232058799995 meters Centerline goodness [0,1] 0.9956252971944841 Centerline is valid? [True, True] Translation: X:298.87, Y:-88.62, Z:2.61 [[ 8.80452522e-01 4.72860261e-01 -3.47351343e-02 2.98872618e+02] [-4.72546296e-01 8.81136604e-01 1.72708668e-02 -8.86206874e+01] [ 3.87731048e-02 1.20778078e-03 9.99247311e-01 2.60778734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.122320588 meters Centerline goodness [0,1] 0.9959384556574924 Centerline is valid? [True, True] Translation: X:298.90, Y:-88.64, Z:2.61 [[ 8.80664953e-01 4.72552083e-01 -3.35226534e-02 2.98903592e+02] [-4.72258573e-01 8.81302018e-01 1.66911227e-02 -8.86364749e+01] [ 3.74310069e-02 1.13207363e-03 9.99298573e-01 2.60822460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15232058799995 meters Centerline goodness [0,1] 0.9959982849792768 Centerline is valid? [True, True] Translation: X:298.93, Y:-88.66, Z:2.61 [[ 8.80308674e-01 4.73256473e-01 -3.29385491e-02 2.98933314e+02] [-4.72972737e-01 8.80923977e-01 1.64236673e-02 -8.86567065e+01] [ 3.67889645e-02 1.12113889e-03 9.99322428e-01 2.61172708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.182320588 meters Centerline goodness [0,1] 0.996011396011396 Centerline is valid? [True, True] Translation: X:298.96, Y:-88.67, Z:2.61 [[ 8.80187233e-01 4.73500251e-01 -3.26794666e-02 2.98964450e+02] [-4.73220204e-01 8.80792996e-01 1.63198062e-02 -8.86740552e+01] [ 3.65112776e-02 1.10009883e-03 9.99332636e-01 2.61415803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21232058799995 meters Centerline goodness [0,1] 0.9960289320663736 Centerline is valid? [True, True] Translation: X:299.00, Y:-88.69, Z:2.61 [[ 8.79962713e-01 4.73933636e-01 -3.24427565e-02 2.98996253e+02] [-4.73657014e-01 8.80559893e-01 1.62267630e-02 -8.86905147e+01] [ 3.62581990e-02 1.08779276e-03 9.99341863e-01 2.61402129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.242320588 meters Centerline goodness [0,1] 0.9953710400694344 Centerline is valid? [True, True] Translation: X:299.03, Y:-88.71, Z:2.62 [[ 8.79913207e-01 4.73837952e-01 -3.50762520e-02 2.99027805e+02] [-4.73513359e-01 8.80611311e-01 1.75731977e-02 -8.87075988e+01] [ 3.92153923e-02 1.14618519e-03 9.99230123e-01 2.61559132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27232058799996 meters Centerline goodness [0,1] 0.9962681279229061 Centerline is valid? [True, True] Translation: X:299.06, Y:-88.72, Z:2.61 [[ 8.79510743e-01 4.74695239e-01 -3.35452370e-02 2.99059229e+02] [-4.74398045e-01 8.80149531e-01 1.68314256e-02 -8.87247452e+01] [ 3.75146222e-02 1.11037525e-03 9.99295462e-01 2.61492507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.302320588 meters Centerline goodness [0,1] 0.9964963780124048 Centerline is valid? [True, True] Translation: X:299.09, Y:-88.74, Z:2.62 [[ 8.79254390e-01 4.75142600e-01 -3.39297382e-02 2.99090817e+02] [-4.74837865e-01 8.79908097e-01 1.70512088e-02 -8.87425548e+01] [ 3.79568071e-02 1.11877424e-03 9.99278754e-01 2.61671364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33232058799996 meters Centerline goodness [0,1] 0.996640484527302 Centerline is valid? [True, True] Translation: X:299.12, Y:-88.76, Z:2.62 [[ 8.78850663e-01 4.75938313e-01 -3.32300231e-02 2.99123125e+02] [-4.75645637e-01 8.79477969e-01 1.67251318e-02 -8.87585824e+01] [ 3.71852042e-02 1.10682235e-03 9.99307778e-01 2.61710362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.362320588 meters Centerline goodness [0,1] 0.9966824644549763 Centerline is valid? [True, True] Translation: X:299.15, Y:-88.77, Z:2.62 [[ 8.78207165e-01 4.77086498e-01 -3.37734861e-02 2.99154905e+02] [-4.76784002e-01 8.78855590e-01 1.70254624e-02 -8.87747754e+01] [ 3.78046353e-02 1.15077482e-03 9.99284487e-01 2.61782792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39232058799996 meters Centerline goodness [0,1] 0.9968306527909176 Centerline is valid? [True, True] Translation: X:299.19, Y:-88.79, Z:2.62 [[ 8.78012340e-01 4.77428229e-01 -3.40090717e-02 2.99186139e+02] [-4.77120733e-01 8.78669997e-01 1.71709885e-02 -8.87917803e+01] [ 3.80806656e-02 1.15009339e-03 9.99274007e-01 2.61940029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.422320588 meters Centerline goodness [0,1] 0.9957418305344242 Centerline is valid? [True, True] Translation: X:299.22, Y:-88.81, Z:2.62 [[ 8.77915108e-01 4.77653771e-01 -3.33457489e-02 2.99217098e+02] [-4.77357357e-01 8.78547456e-01 1.68618021e-02 -8.88103777e+01] [ 3.73499262e-02 1.11460781e-03 9.99301626e-01 2.62198838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45232058799996 meters Centerline goodness [0,1] 0.9960517553039673 Centerline is valid? [True, True] Translation: X:299.25, Y:-88.83, Z:2.62 [[ 8.77653919e-01 4.78204286e-01 -3.23150124e-02 2.99249510e+02] [-4.77925395e-01 8.78247968e-01 1.63653478e-02 -8.88266772e+01] [ 3.62065734e-02 1.08105344e-03 9.99343742e-01 2.62295872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48232058799994 meters Centerline goodness [0,1] 0.9971002091652406 Centerline is valid? [True, True] Translation: X:299.28, Y:-88.84, Z:2.62 [[ 8.77774745e-01 4.78043777e-01 -3.13949694e-02 2.99282506e+02] [-4.77779592e-01 8.78335415e-01 1.59235571e-02 -8.88406500e+01] [ 3.51874709e-02 1.02257935e-03 9.99380206e-01 2.62188266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51232058799997 meters Centerline goodness [0,1] 0.9968984110321134 Centerline is valid? [True, True] Translation: X:299.31, Y:-88.86, Z:2.62 [[ 8.77689683e-01 4.78232691e-01 -3.08919689e-02 2.99314588e+02] [-4.77976194e-01 8.78232605e-01 1.56923468e-02 -8.88565662e+01] [ 3.46349275e-02 9.92614838e-04 9.99399538e-01 2.62272732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54232058799994 meters Centerline goodness [0,1] 0.9965634098611045 Centerline is valid? [True, True] Translation: X:299.35, Y:-88.87, Z:2.63 [[ 8.78358871e-01 4.76982289e-01 -3.12023858e-02 2.99346492e+02] [-4.76718954e-01 8.78912413e-01 1.58748322e-02 -8.88724754e+01] [ 3.49961780e-02 9.30969067e-04 9.99387013e-01 2.62523356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.57232058799997 meters Centerline goodness [0,1] 0.9971196524695438 Centerline is valid? [True, True] Translation: X:299.38, Y:-88.89, Z:2.63 [[ 8.78092549e-01 4.77462936e-01 -3.13467676e-02 2.99378609e+02] [-4.77196592e-01 8.78651395e-01 1.59730295e-02 -8.88886091e+01] [ 3.51694107e-02 9.32772467e-04 9.99380930e-01 2.62659717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60232058799994 meters Centerline goodness [0,1] 0.9981406436233612 Centerline is valid? [True, True] Translation: X:299.41, Y:-88.90, Z:2.63 [[ 8.78634105e-01 4.76493881e-01 -3.09142505e-02 2.99411498e+02] [-4.76233405e-01 8.79177366e-01 1.57766573e-02 -8.89040361e+01] [ 3.46965900e-02 8.60489642e-04 9.99397522e-01 2.62730610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.63232058799997 meters Centerline goodness [0,1] 0.998389312615472 Centerline is valid? [True, True] Translation: X:299.44, Y:-88.92, Z:2.63 [[ 8.79810736e-01 4.74271393e-01 -3.16182655e-02 2.99442772e+02] [-4.73996595e-01 8.80378359e-01 1.61608298e-02 -8.89199402e+01] [ 3.55006560e-02 7.68478689e-04 9.99369358e-01 2.62999353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66232058799994 meters Centerline goodness [0,1] 0.9991482112436116 Centerline is valid? [True, True] Translation: X:299.47, Y:-88.94, Z:2.63 [[ 8.80868393e-01 4.72358536e-01 -3.07942611e-02 2.99474853e+02] [-4.72095927e-01 8.81406255e-01 1.57622731e-02 -8.89357263e+01] [ 3.45876987e-02 6.53357065e-04 9.99401453e-01 2.63073275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.692320588 meters Centerline goodness [0,1] 0.9996200427451911 Centerline is valid? [True, True] Translation: X:299.51, Y:-88.95, Z:2.63 [[ 8.82762117e-01 4.68967428e-01 -2.82947959e-02 2.99506961e+02] [-4.68743344e-01 8.83215341e-01 1.45030467e-02 -8.89508266e+01] [ 3.17918544e-02 4.60257013e-04 9.99494405e-01 2.62959344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72232058799995 meters Centerline goodness [0,1] 0.9996236179722419 Centerline is valid? [True, True] Translation: X:299.54, Y:-88.97, Z:2.63 [[ 8.83325574e-01 4.67907475e-01 -2.82581663e-02 2.99539024e+02] [-4.67682755e-01 8.83777366e-01 1.45054724e-02 -8.89663716e+01] [ 3.17611467e-02 4.02802368e-04 9.99495406e-01 2.63043753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.752320588 meters Centerline goodness [0,1] 0.999618557192581 Centerline is valid? [True, True] Translation: X:299.57, Y:-88.98, Z:2.63 [[ 8.84109584e-01 4.66511177e-01 -2.67874007e-02 2.99571131e+02] [-4.66308000e-01 8.84515247e-01 1.37705356e-02 -8.89818042e+01] [ 3.01179731e-02 3.16516759e-04 9.99546301e-01 2.63095681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78232058799995 meters Centerline goodness [0,1] 0.9995759717314487 Centerline is valid? [True, True] Translation: X:299.60, Y:-89.00, Z:2.63 [[ 8.84622454e-01 4.65559087e-01 -2.64168470e-02 2.99602851e+02] [-4.65360455e-01 8.85016761e-01 1.36006847e-02 -8.89980460e+01] [ 2.97112748e-02 2.61884855e-04 9.99558488e-01 2.63199694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.812320588 meters Centerline goodness [0,1] 0.9999058823529412 Centerline is valid? [True, True] Translation: X:299.64, Y:-89.01, Z:2.63 [[ 8.85748478e-01 4.63292331e-01 -2.84578467e-02 2.99635147e+02] [-4.63059861e-01 8.86205498e-01 1.46758622e-02 -8.90142779e+01] [ 3.20187146e-02 1.78563955e-04 9.99487254e-01 2.63395529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.67, Y:-89.03, Z:2.63 [[ 8.88148086e-01 4.58739451e-01 -2.74060961e-02 2.99667717e+02] [-4.58521031e-01 8.88570828e-01 1.41544269e-02 -8.90302588e+01] [ 3.08454515e-02 -4.95570318e-06 9.99524166e-01 2.63382043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.70, Y:-89.05, Z:2.64 [[ 8.88981237e-01 4.57141980e-01 -2.70844820e-02 2.99698862e+02] [-4.56927263e-01 8.89393728e-01 1.40097516e-02 -8.90470239e+01] [ 3.04932140e-02 -7.87680356e-05 9.99534971e-01 2.63564782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.73, Y:-89.06, Z:2.64 [[ 8.90116616e-01 4.55016583e-01 -2.55405459e-02 2.99730168e+02] [-4.54824278e-01 8.90482950e-01 1.32284324e-02 -8.90635925e+01] [ 2.87625768e-02 -1.58387185e-04 9.99586259e-01 2.63609939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.76, Y:-89.08, Z:2.64 [[ 8.92239623e-01 4.50836774e-01 -2.55862864e-02 2.99761549e+02] [-4.50641521e-01 8.92606356e-01 1.32707479e-02 -8.90799435e+01] [ 2.88214230e-02 -3.10444095e-04 9.99584528e-01 2.63674893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.79, Y:-89.10, Z:2.64 [[ 8.92965309e-01 4.49327750e-01 -2.67867713e-02 2.99792605e+02] [-4.49112452e-01 8.93366900e-01 1.39135585e-02 -8.90956794e+01] [ 3.01821628e-02 -3.94052534e-04 9.99544337e-01 2.63750297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.82, Y:-89.11, Z:2.64 [[ 8.95109527e-01 4.45080165e-01 -2.61262462e-02 2.99822328e+02] [-4.44873007e-01 8.95490566e-01 1.35887112e-02 -8.91133022e+01] [ 2.94438729e-02 -5.40523168e-04 9.99566289e-01 2.63854254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.85, Y:-89.13, Z:2.64 [[ 8.93418440e-01 4.48560548e-01 -2.44320764e-02 2.99852201e+02] [-4.48380271e-01 8.93752351e-01 1.27227116e-02 -8.91314629e+01] [ 2.75431322e-02 -4.11844094e-04 9.99620531e-01 2.63930402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.88, Y:-89.15, Z:2.64 [[ 8.91667999e-01 4.52086072e-01 -2.33743949e-02 2.99882257e+02] [-4.51921860e-01 8.91974266e-01 1.21877353e-02 -8.91489928e+01] [ 2.63592642e-02 -3.04013550e-04 9.99652488e-01 2.64018508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.91, Y:-89.17, Z:2.64 [[ 8.89131593e-01 4.56975010e-01 -2.48767268e-02 2.99910437e+02] [-4.56790380e-01 8.89479514e-01 1.29901271e-02 -8.91697219e+01] [ 2.80635023e-02 -1.86482911e-04 9.99606125e-01 2.64247736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.94, Y:-89.19, Z:2.64 [[ 8.87141437e-01 4.60775158e-01 -2.58132522e-02 2.99941248e+02] [-4.60577407e-01 8.87516899e-01 1.34983503e-02 -8.91883878e+01] [ 2.91294020e-02 -8.59451125e-05 9.99575645e-01 2.64416255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:299.97, Y:-89.21, Z:2.65 [[ 8.83802420e-01 4.67145223e-01 -2.58577588e-02 2.99970856e+02] [-4.66948903e-01 8.84180598e-01 1.35422514e-02 -8.92084108e+01] [ 2.91891267e-02 1.05577502e-04 9.99573901e-01 2.64695687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.00, Y:-89.23, Z:2.65 [[ 8.82145083e-01 4.70315353e-01 -2.49703953e-02 3.00002358e+02] [-4.70133007e-01 8.82498405e-01 1.30966289e-02 -8.92262843e+01] [ 2.81958797e-02 1.86280283e-04 9.99602400e-01 2.64748505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20232058799996 meters Centerline goodness [0,1] 0.9998586705610779 Centerline is valid? [True, True] Translation: X:300.03, Y:-89.24, Z:2.65 [[ 8.80398791e-01 4.73569045e-01 -2.51063415e-02 3.00033395e+02] [-4.73385456e-01 8.80756654e-01 1.31880998e-02 -8.92438254e+01] [ 2.83580532e-02 2.74189823e-04 9.99597792e-01 2.64986151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23232058799994 meters Centerline goodness [0,1] 0.9998582364615821 Centerline is valid? [True, True] Translation: X:300.06, Y:-89.26, Z:2.65 [[ 8.78106683e-01 4.77689419e-01 -2.72300007e-02 3.00064982e+02] [-4.77474697e-01 8.78528680e-01 1.43272940e-02 -8.92612369e+01] [ 3.07663333e-02 4.20743748e-04 9.99526516e-01 2.65125703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26232058799997 meters Centerline goodness [0,1] 0.9996655198776758 Centerline is valid? [True, True] Translation: X:300.10, Y:-89.28, Z:2.65 [[ 8.77391228e-01 4.79076561e-01 -2.58898034e-02 3.00096885e+02] [-4.78882464e-01 8.77773015e-01 1.36426069e-02 -8.92782234e+01] [ 2.92612240e-02 4.28269227e-04 9.99571707e-01 2.65131638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29232058799994 meters Centerline goodness [0,1] 0.9998582431602325 Centerline is valid? [True, True] Translation: X:300.13, Y:-89.30, Z:2.65 [[ 8.76316222e-01 4.81052528e-01 -2.56582066e-02 3.00128381e+02] [-4.80862097e-01 8.76691647e-01 1.35424990e-02 -8.92961216e+01] [ 2.90089888e-02 4.70547453e-04 9.99579040e-01 2.65245579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32232058799997 meters Centerline goodness [0,1] 0.9998101205734359 Centerline is valid? [True, True] Translation: X:300.16, Y:-89.31, Z:2.65 [[ 8.75148639e-01 4.83248060e-01 -2.42109694e-02 3.00159566e+02] [-4.83078804e-01 8.75483333e-01 1.27985189e-02 -8.93143275e+01] [ 2.73811596e-02 4.95199751e-04 9.99624943e-01 2.65458515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:300.19, Y:-89.33, Z:2.65 [[ 8.74735686e-01 4.83989680e-01 -2.43201441e-02 3.00192217e+02] [-4.83818619e-01 8.75073561e-01 1.28765970e-02 -8.93301477e+01] [ 2.75140551e-02 5.02919594e-04 9.99621290e-01 2.65454160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38232058799997 meters Centerline goodness [0,1] 0.9998124179328456 Centerline is valid? [True, True] Translation: X:300.22, Y:-89.35, Z:2.66 [[ 8.73430068e-01 4.86184879e-01 -2.72796433e-02 3.00224945e+02] [-4.85969883e-01 8.73855755e-01 1.44703944e-02 -8.93470137e+01] [ 3.08737603e-02 6.18207512e-04 9.99523101e-01 2.65520500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41232058799994 meters Centerline goodness [0,1] 0.9996702313091818 Centerline is valid? [True, True] Translation: X:300.26, Y:-89.36, Z:2.66 [[ 8.72440963e-01 4.87904778e-01 -2.82080498e-02 3.00257368e+02] [-4.87674976e-01 8.72896595e-01 1.49884010e-02 -8.93647375e+01] [ 3.19356231e-02 6.79864991e-04 9.99489697e-01 2.65660232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.442320588 meters Centerline goodness [0,1] 0.9995300531039992 Centerline is valid? [True, True] Translation: X:300.29, Y:-89.38, Z:2.66 [[ 8.72124629e-01 4.88539373e-01 -2.69798521e-02 3.00289591e+02] [-4.88328767e-01 8.72541607e-01 1.43582815e-02 -8.93822897e+01] [ 3.05556294e-02 6.52826953e-04 9.99532855e-01 2.65836741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47232058799995 meters Centerline goodness [0,1] 0.9998122330188236 Centerline is valid? [True, True] Translation: X:300.32, Y:-89.40, Z:2.66 [[ 8.71690988e-01 4.89376000e-01 -2.58060581e-02 3.00322592e+02] [-4.89183062e-01 8.72072663e-01 1.37550925e-02 -8.93971646e+01] [ 2.92361700e-02 6.33696344e-04 9.99572331e-01 2.65946840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.502320588 meters Centerline goodness [0,1] 0.9995749102588324 Centerline is valid? [True, True] Translation: X:300.36, Y:-89.41, Z:2.66 [[ 8.71317534e-01 4.90077840e-01 -2.50891327e-02 3.00355337e+02] [-4.89895162e-01 8.71678453e-01 1.33942151e-02 -8.94135889e+01] [ 2.84338644e-02 6.20430284e-04 9.99595483e-01 2.66007626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53232058799995 meters Centerline goodness [0,1] 0.9998580889309366 Centerline is valid? [True, True] Translation: X:300.39, Y:-89.43, Z:2.66 [[ 8.71615838e-01 4.89598176e-01 -2.40719102e-02 3.00387692e+02] [-4.89429281e-01 8.71947997e-01 1.28712705e-02 -8.94303571e+01] [ 2.72912044e-02 5.62694515e-04 9.99627367e-01 2.65979039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.562320588 meters Centerline goodness [0,1] 0.9996709753231492 Centerline is valid? [True, True] Translation: X:300.42, Y:-89.45, Z:2.66 [[ 8.71043541e-01 4.90599770e-01 -2.43929470e-02 3.00419588e+02] [-4.90426123e-01 8.71384832e-01 1.30649102e-02 -8.94472610e+01] [ 2.76652860e-02 5.82832748e-04 9.99617073e-01 2.66239984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59232058799995 meters Centerline goodness [0,1] 0.9997652471947039 Centerline is valid? [True, True] Translation: X:300.45, Y:-89.46, Z:2.66 [[ 8.70453618e-01 4.91683591e-01 -2.36166150e-02 3.00452374e+02] [-4.91520685e-01 8.70773742e-01 1.26691113e-02 -8.94634894e+01] [ 2.67939223e-02 5.80181043e-04 9.99640810e-01 2.66304790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.622320588 meters Centerline goodness [0,1] 0.9998116583482437 Centerline is valid? [True, True] Translation: X:300.49, Y:-89.48, Z:2.66 [[ 8.69604375e-01 4.93246110e-01 -2.22824346e-02 3.00485555e+02] [-4.93101141e-01 8.69889615e-01 1.19717191e-02 -8.94795598e+01] [ 2.52882623e-02 5.76834635e-04 9.99680034e-01 2.66451272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65232058799995 meters Centerline goodness [0,1] 0.9994773105250654 Centerline is valid? [True, True] Translation: X:300.52, Y:-89.50, Z:2.67 [[ 8.69386742e-01 4.93603669e-01 -2.28497634e-02 3.00518027e+02] [-4.93450804e-01 8.69686769e-01 1.22974410e-02 -8.94967710e+01] [ 2.59421989e-02 5.84001985e-04 9.99663274e-01 2.66671237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.682320588 meters Centerline goodness [0,1] 0.999621695748806 Centerline is valid? [True, True] Translation: X:300.55, Y:-89.51, Z:2.67 [[ 8.69356259e-01 4.93616904e-01 -2.37075365e-02 3.00549796e+02] [-4.93451760e-01 8.69679255e-01 1.27809859e-02 -8.95139568e+01] [ 2.69268633e-02 5.87295548e-04 9.99637234e-01 2.66888528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71232058799995 meters Centerline goodness [0,1] 0.9990569151695194 Centerline is valid? [True, True] Translation: X:300.58, Y:-89.53, Z:2.67 [[ 8.69014932e-01 4.94098640e-01 -2.60687864e-02 3.00581881e+02] [-4.93898408e-01 8.69405616e-01 1.40797023e-02 -8.95309639e+01] [ 2.96211111e-02 6.39860619e-04 9.99560994e-01 2.67059506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.742320588 meters Centerline goodness [0,1] 0.9993858074270056 Centerline is valid? [True, True] Translation: X:300.61, Y:-89.55, Z:2.67 [[ 8.68607175e-01 4.94824375e-01 -2.58923299e-02 3.00614749e+02] [-4.94626490e-01 8.68992766e-01 1.40073910e-02 -8.95475750e+01] [ 2.94314459e-02 6.40111924e-04 9.99566596e-01 2.67123197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77232058799996 meters Centerline goodness [0,1] 0.9995314403523569 Centerline is valid? [True, True] Translation: X:300.65, Y:-89.57, Z:2.67 [[ 8.68098492e-01 4.95794589e-01 -2.43461037e-02 3.00647089e+02] [-4.95619462e-01 8.68439604e-01 1.31909979e-02 -8.95652197e+01] [ 2.76831460e-02 6.15317428e-04 9.99616559e-01 2.67242796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.802320588 meters Centerline goodness [0,1] 0.9995314403523569 Centerline is valid? [True, True] Translation: X:300.68, Y:-89.58, Z:2.67 [[ 8.67758815e-01 4.96389315e-01 -2.43369537e-02 3.00679035e+02] [-4.96213948e-01 8.68099804e-01 1.32078554e-02 -8.95820077e+01] [ 2.76831430e-02 6.15102985e-04 9.99616559e-01 2.67361384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83232058799996 meters Centerline goodness [0,1] 0.999714937286203 Centerline is valid? [True, True] Translation: X:300.71, Y:-89.60, Z:2.68 [[ 8.67794303e-01 4.96369914e-01 -2.34511543e-02 3.00710784e+02] [-4.96206545e-01 8.68110925e-01 1.27470152e-02 -8.95992615e+01] [ 2.66854380e-02 5.74829112e-04 9.99643715e-01 2.67524318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.862320588 meters Centerline goodness [0,1] 0.9994343091500495 Centerline is valid? [True, True] Translation: X:300.74, Y:-89.62, Z:2.68 [[ 8.66990789e-01 4.97766452e-01 -2.35697259e-02 3.00742889e+02] [-4.97601427e-01 8.67310898e-01 1.28306203e-02 -8.96171526e+01] [ 2.68289325e-02 6.04299613e-04 9.99639857e-01 2.67722376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89232058799996 meters Centerline goodness [0,1] 0.9994803231445174 Centerline is valid? [True, True] Translation: X:300.78, Y:-89.63, Z:2.68 [[ 8.66003597e-01 4.99406769e-01 -2.51127331e-02 3.00776306e+02] [-4.99219119e-01 8.66367378e-01 1.37054103e-02 -8.96337785e+01] [ 2.86014274e-02 6.67821895e-04 9.99590672e-01 2.67858248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.922320588 meters Centerline goodness [0,1] 0.999244142101285 Centerline is valid? [True, True] Translation: X:300.81, Y:-89.65, Z:2.68 [[ 8.65176273e-01 5.00826752e-01 -2.53491613e-02 3.00808855e+02] [-5.00635204e-01 8.65547274e-01 1.38675281e-02 -8.96510000e+01] [ 2.88861266e-02 6.92826279e-04 9.99582469e-01 2.67984228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95232058799996 meters Centerline goodness [0,1] 0.9987805450025796 Centerline is valid? [True, True] Translation: X:300.84, Y:-89.67, Z:2.68 [[ 8.64015955e-01 5.02889676e-01 -2.40500211e-02 3.00842614e+02] [-5.02717253e-01 8.64350327e-01 1.31861974e-02 -8.96667420e+01] [ 2.74188461e-02 6.97275649e-04 9.99623790e-01 2.68037154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98232058799994 meters Centerline goodness [0,1] 0.9988725513224034 Centerline is valid? [True, True] Translation: X:300.88, Y:-89.68, Z:2.68 [[ 8.63442821e-01 5.03950176e-01 -2.23766692e-02 3.00876504e+02] [-5.03800600e-01 8.63732475e-01 1.22950200e-02 -8.96831862e+01] [ 2.55235334e-02 6.57332623e-04 9.99674005e-01 2.68030422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01232058799997 meters Centerline goodness [0,1] 0.9991021642566865 Centerline is valid? [True, True] Translation: X:300.91, Y:-89.70, Z:2.68 [[ 8.62609001e-01 5.05381556e-01 -2.22529652e-02 3.00909197e+02] [-5.05233375e-01 8.62895725e-01 1.22557708e-02 -8.97003741e+01] [ 2.53958290e-02 6.71002515e-04 9.99677249e-01 2.68192380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04232058799994 meters Centerline goodness [0,1] 0.998489283353791 Centerline is valid? [True, True] Translation: X:300.94, Y:-89.72, Z:2.69 [[ 8.61366003e-01 5.07439872e-01 -2.35241307e-02 3.00941978e+02] [-5.07274167e-01 8.61686846e-01 1.29884133e-02 -8.97179708e+01] [ 2.68612727e-02 7.45406130e-04 9.99638893e-01 2.68557736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.07232058799997 meters Centerline goodness [0,1] 0.9983523984371322 Centerline is valid? [True, True] Translation: X:300.97, Y:-89.73, Z:2.69 [[ 8.60574585e-01 5.08733985e-01 -2.45176773e-02 3.00974813e+02] [-5.08553577e-01 8.60923404e-01 1.35702564e-02 -8.97348536e+01] [ 2.80114928e-02 7.90334734e-04 9.99607289e-01 2.68738224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10232058799994 meters Centerline goodness [0,1] 0.9978737478737478 Centerline is valid? [True, True] Translation: X:301.01, Y:-89.75, Z:2.69 [[ 8.59222276e-01 5.10998110e-01 -2.48598648e-02 3.01008854e+02] [-5.10812639e-01 8.59581417e-01 1.37925634e-02 -8.97507393e+01] [ 2.84170517e-02 8.47855413e-04 9.99595794e-01 2.68766127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.13232058799997 meters Centerline goodness [0,1] 0.9974111894146411 Centerline is valid? [True, True] Translation: X:301.04, Y:-89.77, Z:2.69 [[ 8.58668648e-01 5.11942315e-01 -2.45604991e-02 3.01042522e+02] [-5.11760785e-01 8.59019416e-01 1.36579900e-02 -8.97671453e+01] [ 2.80900486e-02 8.41412514e-04 9.99605043e-01 2.68925345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16232058799994 meters Centerline goodness [0,1] 0.9981162286898371 Centerline is valid? [True, True] Translation: X:301.08, Y:-89.78, Z:2.69 [[ 8.57894410e-01 5.13249307e-01 -2.43378168e-02 3.01075606e+02] [-5.13070708e-01 8.58239143e-01 1.35654683e-02 -8.97844205e+01] [ 2.78501342e-02 8.49281506e-04 9.99611749e-01 2.69040579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.192320588 meters Centerline goodness [0,1] 0.9975024739644691 Centerline is valid? [True, True] Translation: X:301.11, Y:-89.80, Z:2.69 [[ 8.57520870e-01 5.13927669e-01 -2.31583249e-02 3.01108861e+02] [-5.13765455e-01 8.57833144e-01 1.29365470e-02 -8.98017476e+01] [ 2.65144281e-02 8.04588231e-04 9.99648107e-01 2.69260752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22232058799995 meters Centerline goodness [0,1] 0.9978353959813656 Centerline is valid? [True, True] Translation: X:301.14, Y:-89.82, Z:2.69 [[ 8.57009293e-01 5.14785931e-01 -2.30329342e-02 3.01141575e+02] [-5.14624991e-01 8.57318379e-01 1.28963357e-02 -8.98184724e+01] [ 2.63854100e-02 8.01043983e-04 9.99651524e-01 2.69303384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.252320588 meters Centerline goodness [0,1] 0.9975201789361081 Centerline is valid? [True, True] Translation: X:301.17, Y:-89.83, Z:2.69 [[ 8.56848331e-01 5.15024712e-01 -2.36745502e-02 3.01174621e+02] [-5.14853904e-01 8.57174953e-01 1.32874967e-02 -8.98345622e+01] [ 2.71366206e-02 8.03565247e-04 9.99631411e-01 2.69433770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28232058799995 meters Centerline goodness [0,1] 0.9961667692016468 Centerline is valid? [True, True] Translation: X:301.21, Y:-89.85, Z:2.70 [[ 8.55944499e-01 5.16507872e-01 -2.40547708e-02 3.01207363e+02] [-5.16331243e-01 8.56282031e-01 1.35325645e-02 -8.98531327e+01] [ 2.75873441e-02 8.37105521e-04 9.99619046e-01 2.69703905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.312320588 meters Centerline goodness [0,1] 0.9964176290360593 Centerline is valid? [True, True] Translation: X:301.24, Y:-89.87, Z:2.70 [[ 8.55485658e-01 5.17218636e-01 -2.50832792e-02 3.01240361e+02] [-5.17025830e-01 8.55852869e-01 1.41476913e-02 -8.98713586e+01] [ 2.87850460e-02 8.65556244e-04 9.99585250e-01 2.69913597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34232058799995 meters Centerline goodness [0,1] 0.996535522756395 Centerline is valid? [True, True] Translation: X:301.27, Y:-89.89, Z:2.70 [[ 8.55290705e-01 5.17531144e-01 -2.52848783e-02 3.01273319e+02] [-5.17334338e-01 8.55663945e-01 1.42966941e-02 -8.98891715e+01] [ 2.90343432e-02 8.52906142e-04 9.99578051e-01 2.70189326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.372320588 meters Centerline goodness [0,1] 0.9967971700368087 Centerline is valid? [True, True] Translation: X:301.31, Y:-89.91, Z:2.70 [[ 8.55247902e-01 5.17652135e-01 -2.42341440e-02 3.01306521e+02] [-5.17470509e-01 8.55590811e-01 1.37344988e-02 -8.99068846e+01] [ 2.78442036e-02 7.94053554e-04 9.99611960e-01 2.70261786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40232058799995 meters Centerline goodness [0,1] 0.9962934437277366 Centerline is valid? [True, True] Translation: X:301.34, Y:-89.93, Z:2.70 [[ 8.54982137e-01 5.18056622e-01 -2.49576103e-02 3.01339017e+02] [-5.17863132e-01 8.55345951e-01 1.41802789e-02 -8.99256732e+01] [ 2.86935783e-02 8.00741030e-04 9.99587934e-01 2.70427594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.432320588 meters Centerline goodness [0,1] 0.9969909257604965 Centerline is valid? [True, True] Translation: X:301.37, Y:-89.94, Z:2.71 [[ 8.54605318e-01 5.18676085e-01 -2.49973804e-02 3.01371911e+02] [-5.18481237e-01 8.54970462e-01 1.42378675e-02 -8.99442630e+01] [ 2.87568632e-02 7.92915429e-04 9.99586121e-01 2.70517983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46232058799995 meters Centerline goodness [0,1] 0.9963317612310038 Centerline is valid? [True, True] Translation: X:301.41, Y:-89.96, Z:2.71 [[ 8.54842294e-01 5.18339433e-01 -2.38513029e-02 3.01405161e+02] [-5.18161054e-01 8.55174670e-01 1.36163979e-02 -8.99630720e+01] [ 2.74549460e-02 7.18943444e-04 9.99622783e-01 2.70607323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.492320588 meters Centerline goodness [0,1] 0.9977786180168258 Centerline is valid? [True, True] Translation: X:301.44, Y:-89.98, Z:2.71 [[ 8.55687751e-01 5.16995070e-01 -2.26841430e-02 3.01437412e+02] [-5.16832476e-01 8.55988152e-01 1.29797811e-02 -8.99824264e+01] [ 2.61278405e-02 6.17262088e-04 9.99658419e-01 2.70626415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52232058799996 meters Centerline goodness [0,1] 0.9978798586572438 Centerline is valid? [True, True] Translation: X:301.47, Y:-90.00, Z:2.71 [[ 8.55666673e-01 5.16959942e-01 -2.42273063e-02 3.01469642e+02] [-5.16773433e-01 8.56009361e-01 1.38994272e-02 -9.00022222e+01] [ 2.79242481e-02 6.26751565e-04 9.99609846e-01 2.70865846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.552320588 meters Centerline goodness [0,1] 0.9977891716449504 Centerline is valid? [True, True] Translation: X:301.50, Y:-90.02, Z:2.71 [[ 8.55744332e-01 5.16797145e-01 -2.49469104e-02 3.01502065e+02] [-5.16598280e-01 8.56107669e-01 1.43484162e-02 -9.00211960e+01] [ 2.87724618e-02 6.08955171e-04 9.99585802e-01 2.70990867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58232058799996 meters Centerline goodness [0,1] 0.9984034560480841 Centerline is valid? [True, True] Translation: X:301.54, Y:-90.04, Z:2.71 [[ 8.55947316e-01 5.16360364e-01 -2.69474750e-02 3.01535310e+02] [-5.16126830e-01 8.56371185e-01 1.55399290e-02 -9.00396058e+01] [ 3.11012445e-02 6.06954308e-04 9.99516055e-01 2.71204387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.612320588 meters Centerline goodness [0,1] 0.9985897616697221 Centerline is valid? [True, True] Translation: X:301.57, Y:-90.06, Z:2.71 [[ 8.56859823e-01 5.14903164e-01 -2.58064905e-02 3.01568715e+02] [-5.14687302e-01 8.57248203e-01 1.49164532e-02 -9.00581434e+01] [ 2.98030965e-02 5.00963538e-04 9.99555664e-01 2.71234114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64232058799996 meters Centerline goodness [0,1] 0.9998116406102844 Centerline is valid? [True, True] Translation: X:301.60, Y:-90.08, Z:2.71 [[ 8.58445770e-01 5.12350266e-01 -2.38341226e-02 3.01602315e+02] [-5.12164320e-01 8.58776501e-01 1.38068669e-02 -9.00764646e+01] [ 2.75421364e-02 3.54540706e-04 9.99620581e-01 2.71281514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.672320588 meters Centerline goodness [0,1] 0.9995739241585002 Centerline is valid? [True, True] Translation: X:301.64, Y:-90.09, Z:2.71 [[ 8.59037876e-01 5.11368677e-01 -2.35797583e-02 3.01635607e+02] [-5.11185417e-01 8.59361386e-01 1.36922389e-02 -9.00948259e+01] [ 2.72653158e-02 2.91476725e-04 9.99628190e-01 2.71466532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70232058799996 meters Centerline goodness [0,1] 0.9999035075022917 Centerline is valid? [True, True] Translation: X:301.67, Y:-90.11, Z:2.72 [[ 8.60184018e-01 5.09475973e-01 -2.27527568e-02 3.01668735e+02] [-5.09303839e-01 8.60484860e-01 1.32440614e-02 -9.01130339e+01] [ 2.63259338e-02 1.95736475e-04 9.99653393e-01 2.71542614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73232058799994 meters Centerline goodness [0,1] 0.9999049745807004 Centerline is valid? [True, True] Translation: X:301.70, Y:-90.13, Z:2.72 [[ 8.59627832e-01 5.10371692e-01 -2.36796652e-02 3.01701223e+02] [-5.10184828e-01 8.59953890e-01 1.38111840e-02 -9.01303241e+01] [ 2.74122576e-02 2.08527774e-04 9.99624192e-01 2.71673500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76232058799997 meters Centerline goodness [0,1] 0.9999525796661608 Centerline is valid? [True, True] Translation: X:301.73, Y:-90.15, Z:2.72 [[ 8.59396201e-01 5.10782854e-01 -2.32173425e-02 3.01734646e+02] [-5.10602554e-01 8.59709741e-01 1.35717361e-02 -9.01466429e+01] [ 2.68923857e-02 1.91335904e-04 9.99638316e-01 2.71676546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79232058799994 meters Centerline goodness [0,1] 0.9999018163966618 Centerline is valid? [True, True] Translation: X:301.77, Y:-90.16, Z:2.72 [[ 8.59308471e-01 5.10999180e-01 -2.16515549e-02 3.01767464e+02] [-5.10841787e-01 8.59581184e-01 1.26829228e-02 -9.01644217e+01] [ 2.50922324e-02 1.61976045e-04 9.99685127e-01 2.71792790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.80, Y:-90.19, Z:2.72 [[ 8.59129632e-01 5.11356575e-01 -2.02664598e-02 3.01799617e+02] [-5.11218211e-01 8.59368625e-01 1.18956619e-02 -9.01852460e+01] [ 2.34992846e-02 1.40667704e-04 9.99723844e-01 2.72068429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85232058799994 meters Centerline goodness [0,1] 0.9998591152437306 Centerline is valid? [True, True] Translation: X:301.83, Y:-90.20, Z:2.72 [[ 8.59047332e-01 5.11419410e-01 -2.20877266e-02 3.01833068e+02] [-5.11254180e-01 8.59331235e-01 1.29996864e-02 -9.02032150e+01] [ 2.56289654e-02 1.25096617e-04 9.99671516e-01 2.72210563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88232058799997 meters Centerline goodness [0,1] 0.9999522695814043 Centerline is valid? [True, True] Translation: X:301.87, Y:-90.22, Z:2.72 [[ 8.59155824e-01 5.11196905e-01 -2.29998893e-02 3.01865771e+02] [-5.11016749e-01 8.59463621e-01 1.35707762e-02 -9.02216454e+01] [ 2.67049069e-02 9.39172538e-05 9.99643356e-01 2.72301036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.90, Y:-90.24, Z:2.73 [[ 8.58654101e-01 5.12040418e-01 -2.29726951e-02 3.01899057e+02] [-5.11860122e-01 8.58961351e-01 1.35872685e-02 -9.02406137e+01] [ 2.66898879e-02 9.20427104e-05 9.99643757e-01 2.72504612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.942320588 meters Centerline goodness [0,1] 0.9998590821551036 Centerline is valid? [True, True] Translation: X:301.93, Y:-90.26, Z:2.73 [[ 8.58818382e-01 5.11833671e-01 -2.13841246e-02 3.01932536e+02] [-5.11676696e-01 8.59084565e-01 1.26755191e-02 -9.02579201e+01] [ 2.48585288e-02 5.57894379e-05 9.99690977e-01 2.72516948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:301.97, Y:-90.28, Z:2.73 [[ 8.58646242e-01 5.12080585e-01 -2.23630216e-02 3.01965905e+02] [-5.11908116e-01 8.58937409e-01 1.32893991e-02 -9.02752402e+01] [ 2.60136791e-02 3.69196380e-05 9.99661586e-01 2.72570881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.00, Y:-90.29, Z:2.73 [[ 8.58580937e-01 5.12166957e-01 -2.28862961e-02 3.01999143e+02] [-5.11985462e-01 8.58885911e-01 1.36337447e-02 -9.02927093e+01] [ 2.66394708e-02 1.17775484e-05 9.99645106e-01 2.72564224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.03, Y:-90.31, Z:2.73 [[ 8.58710406e-01 5.11916095e-01 -2.36294354e-02 3.02031795e+02] [-5.11721544e-01 8.59035454e-01 1.41120981e-02 -9.03105589e+01] [ 2.75227329e-02 -2.65143367e-05 9.99621177e-01 2.72891855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.06, Y:-90.33, Z:2.73 [[ 8.58541120e-01 5.12253334e-01 -2.24425379e-02 3.02063674e+02] [-5.12077215e-01 8.58834396e-01 1.34315055e-02 -9.03287292e+01] [ 2.61547570e-02 -3.91874713e-05 9.99657905e-01 2.73061737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09232058799995 meters Centerline goodness [0,1] 0.9999527209115409 Centerline is valid? [True, True] Translation: X:302.10, Y:-90.35, Z:2.73 [[ 8.58319397e-01 5.12612391e-01 -2.27233254e-02 3.02096657e+02] [-5.12431143e-01 8.58620134e-01 1.36304767e-02 -9.03477640e+01] [ 2.64978559e-02 -5.51629158e-05 9.99648869e-01 2.73309910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.13, Y:-90.36, Z:2.73 [[ 8.58476011e-01 5.12347773e-01 -2.27749425e-02 3.02130126e+02] [-5.12164721e-01 8.58778057e-01 1.36947736e-02 -9.03647010e+01] [ 2.65751076e-02 -9.21125698e-05 9.99646815e-01 2.73279458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.16, Y:-90.38, Z:2.73 [[ 8.58322341e-01 5.12613952e-01 -2.25764273e-02 3.02163520e+02] [-5.12433372e-01 8.58619196e-01 1.36056832e-02 -9.03822733e+01] [ 2.63590169e-02 -1.09147041e-04 9.99652535e-01 2.73301043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.20, Y:-90.40, Z:2.73 [[ 8.57805269e-01 5.13503556e-01 -2.20049513e-02 3.02195798e+02] [-5.13331560e-01 8.58087459e-01 1.32899437e-02 -9.04003060e+01] [ 2.57066061e-02 -1.04347787e-04 9.99669525e-01 2.73403470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.23, Y:-90.42, Z:2.74 [[ 8.57949901e-01 5.13333931e-01 -2.02544346e-02 3.02228801e+02] [-5.13187591e-01 8.58188942e-01 1.22571119e-02 -9.04182368e+01] [ 2.36741232e-02 -1.21663466e-04 9.99719721e-01 2.73516155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.26, Y:-90.44, Z:2.74 [[ 8.57726934e-01 5.13748992e-01 -1.91436471e-02 3.02260925e+02] [-5.13617828e-01 8.57940532e-01 1.16090254e-02 -9.04361257e+01] [ 2.23882359e-02 -1.24855308e-04 9.99749344e-01 2.73623894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.29, Y:-90.45, Z:2.74 [[ 8.58398799e-01 5.12595225e-01 -1.99408543e-02 3.02293978e+02] [-5.12451932e-01 8.58630363e-01 1.21209297e-02 -9.04530931e+01] [ 2.33349536e-02 -1.85862140e-04 9.99727686e-01 2.73640923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.33, Y:-90.47, Z:2.74 [[ 8.58185523e-01 5.12876946e-01 -2.17909668e-02 3.02326612e+02] [-5.12705079e-01 8.58462106e-01 1.32783139e-02 -9.04709551e+01] [ 2.55168603e-02 -2.22917379e-04 9.99674367e-01 2.73824658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.36, Y:-90.49, Z:2.74 [[ 8.57704623e-01 5.13617971e-01 -2.32241128e-02 3.02358661e+02] [-5.13422098e-01 8.58018952e-01 1.41854740e-02 -9.04892413e+01] [ 2.72126433e-02 -2.43173883e-04 9.99629638e-01 2.74036816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.39, Y:-90.51, Z:2.74 [[ 8.57703229e-01 5.13749322e-01 -2.01694044e-02 3.02391650e+02] [-5.13601106e-01 8.57940314e-01 1.23418559e-02 -9.05066087e+01] [ 2.36447653e-02 -2.26621241e-04 9.99720398e-01 2.73949275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.42, Y:-90.53, Z:2.74 [[ 8.57129942e-01 5.14743730e-01 -1.91612735e-02 3.02423736e+02] [-5.14609670e-01 8.57344067e-01 1.17490069e-02 -9.05250806e+01] [ 2.24755317e-02 -2.09848999e-04 9.99747371e-01 2.74075741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.46, Y:-90.54, Z:2.74 [[ 8.56956261e-01 5.15051052e-01 -1.86649521e-02 3.02456947e+02] [-5.14923388e-01 8.57159476e-01 1.14689898e-02 -9.05425819e+01] [ 2.19059558e-02 -2.17402193e-04 9.99760012e-01 2.74156028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.49, Y:-90.56, Z:2.74 [[ 8.56330388e-01 5.16029556e-01 -2.02919640e-02 3.02489479e+02] [-5.15878208e-01 8.56570745e-01 1.24993140e-02 -9.05612738e+01] [ 2.38315182e-02 -2.35360352e-04 9.99715961e-01 2.74330866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.52, Y:-90.58, Z:2.75 [[ 8.55483529e-01 5.17360007e-01 -2.20579704e-02 3.02521636e+02] [-5.17180736e-01 8.55767821e-01 1.36206998e-02 -9.05807245e+01] [ 2.59233066e-02 -2.44326996e-04 9.99663905e-01 2.74518597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51232058799997 meters Centerline goodness [0,1] 0.9999530626613471 Centerline is valid? [True, True] Translation: X:302.55, Y:-90.60, Z:2.75 [[ 8.54525339e-01 5.19021220e-01 -2.00852636e-02 3.02553624e+02] [-5.18872478e-01 8.54761332e-01 1.24264624e-02 -9.06000182e+01] [ 2.36177043e-02 -1.97036497e-04 9.99721044e-01 2.74599703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.59, Y:-90.62, Z:2.75 [[ 8.53500580e-01 5.20747104e-01 -1.89529365e-02 3.02586062e+02] [-5.20614578e-01 8.53710975e-01 1.17487508e-02 -9.06193436e+01] [ 2.22984578e-02 -1.60390649e-04 9.99751346e-01 2.74675821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.57232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.62, Y:-90.64, Z:2.75 [[ 8.51636298e-01 5.23779456e-01 -1.92535166e-02 3.02618118e+02] [-5.23642824e-01 8.51853902e-01 1.19633595e-02 -9.06389847e+01] [ 2.26673452e-02 -1.06465390e-04 9.99743057e-01 2.74693454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.65, Y:-90.66, Z:2.75 [[ 8.49857587e-01 5.26658527e-01 -1.93100126e-02 3.02650888e+02] [-5.26521216e-01 8.50076933e-01 1.20256623e-02 -9.06595729e+01] [ 2.27484139e-02 -5.29690083e-05 9.99741220e-01 2.74741508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.63232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.68, Y:-90.68, Z:2.75 [[ 8.48363813e-01 5.29074639e-01 -1.89437902e-02 3.02683556e+02] [-5.28942456e-01 8.48575292e-01 1.18258799e-02 -9.06804736e+01] [ 2.23320054e-02 -1.24736305e-05 9.99750610e-01 2.74952301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.72, Y:-90.70, Z:2.75 [[ 8.47019231e-01 5.31297664e-01 -1.67694525e-02 3.02716187e+02] [-5.31194109e-01 8.47185217e-01 1.04893819e-02 -9.07008108e+01] [ 1.97798163e-02 2.31262312e-05 9.99804360e-01 2.75157195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.75, Y:-90.72, Z:2.75 [[ 8.46430177e-01 5.32235972e-01 -1.67578802e-02 3.02749039e+02] [-5.32132235e-01 8.46596049e-01 1.05078232e-02 -9.07204052e+01] [ 1.97797966e-02 2.32695848e-05 9.99804360e-01 2.75283894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.78, Y:-90.74, Z:2.75 [[ 8.45628873e-01 5.33526412e-01 -1.61671508e-02 3.02784186e+02] [-5.33429681e-01 8.45783404e-01 1.01591333e-02 -9.07403842e+01] [ 1.90940738e-02 3.31817034e-05 9.99817691e-01 2.75403885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.82, Y:-90.76, Z:2.75 [[ 8.44788883e-01 5.34847431e-01 -1.64307080e-02 3.02817972e+02] [-5.34747176e-01 8.44948652e-01 1.03553512e-02 -9.07602729e+01] [ 1.94216375e-02 3.81891581e-05 9.99811381e-01 2.75414803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.85, Y:-90.78, Z:2.75 [[ 8.43352918e-01 5.37077946e-01 -1.74107565e-02 3.02849769e+02] [-5.36965241e-01 8.43532616e-01 1.10025433e-02 -9.07821879e+01] [ 2.05957644e-02 6.99440374e-05 9.99787882e-01 2.75451103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.88, Y:-90.80, Z:2.76 [[ 8.42437351e-01 5.38508614e-01 -1.75437205e-02 3.02882738e+02] [-5.38393934e-01 8.42620001e-01 1.11133041e-02 -9.08038002e+01] [ 2.07672998e-02 8.31702443e-05 9.99784333e-01 2.75775326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:302.92, Y:-90.82, Z:2.76 [[ 8.40459816e-01 5.41614724e-01 -1.67567485e-02 3.02916944e+02] [-5.41510232e-01 8.40626834e-01 1.06393316e-02 -9.08246268e+01] [ 1.98485911e-02 1.32020066e-04 9.99802989e-01 2.75774442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.872320588 meters Centerline goodness [0,1] 0.9999055846669499 Centerline is valid? [True, True] Translation: X:302.95, Y:-90.84, Z:2.76 [[ 8.39117333e-01 5.43675227e-01 -1.73017271e-02 3.02950819e+02] [-5.43563608e-01 8.39295670e-01 1.10173210e-02 -9.08445008e+01] [ 2.05111091e-02 1.59764224e-04 9.99789612e-01 2.75785616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90232058799995 meters Centerline goodness [0,1] 0.9999056959637872 Centerline is valid? [True, True] Translation: X:302.98, Y:-90.87, Z:2.76 [[ 8.37864114e-01 5.45584880e-01 -1.79127401e-02 3.02984864e+02] [-5.45465019e-01 8.38055549e-01 1.14371850e-02 -9.08652489e+01] [ 2.12518265e-02 1.87966234e-04 9.99774137e-01 2.75797305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.932320588 meters Centerline goodness [0,1] 0.9996667142789125 Centerline is valid? [True, True] Translation: X:303.02, Y:-90.89, Z:2.76 [[ 8.36268070e-01 5.47991903e-01 -1.89891882e-02 3.03020357e+02] [-5.47857184e-01 8.36483602e-01 1.21527322e-02 -9.08892301e+01] [ 2.25437434e-02 2.40421222e-04 9.99745829e-01 2.76065200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.05, Y:-90.91, Z:2.76 [[ 8.35997483e-01 5.48448849e-01 -1.76654536e-02 3.03054553e+02] [-5.48331471e-01 8.36184083e-01 1.13480415e-02 -9.09106725e+01] [ 2.09953914e-02 1.99590057e-04 9.99779553e-01 2.76232023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.09, Y:-90.93, Z:2.76 [[ 8.35384354e-01 5.49453314e-01 -1.52982696e-02 3.03088251e+02] [-5.49365089e-01 8.35524401e-01 9.84758895e-03 -9.09322096e+01] [ 1.81928679e-02 1.77813488e-04 9.99834480e-01 2.76346260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02232058799996 meters Centerline goodness [0,1] 0.9997650927883486 Centerline is valid? [True, True] Translation: X:303.14, Y:-90.96, Z:2.77 [[ 8.33581112e-01 5.52178466e-01 -1.55393374e-02 3.03136783e+02] [-5.52088115e-01 8.33725902e-01 9.99167699e-03 -9.09612568e+01] [ 1.84727369e-02 2.50210258e-04 9.99829333e-01 2.76523769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.052320588 meters Centerline goodness [0,1] 0.9999530626613471 Centerline is valid? [True, True] Translation: X:303.17, Y:-90.98, Z:2.76 [[ 8.33043047e-01 5.53001309e-01 -1.51272415e-02 3.03170631e+02] [-5.52913785e-01 8.33180367e-01 9.83983887e-03 -9.09826833e+01] [ 1.80451644e-02 1.67050991e-04 9.99837159e-01 2.76495056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08232058799996 meters Centerline goodness [0,1] 0.9998585105881244 Centerline is valid? [True, True] Translation: X:303.21, Y:-91.00, Z:2.77 [[ 8.32731618e-01 5.53452640e-01 -1.57552413e-02 3.03206203e+02] [-5.53357264e-01 8.32880633e-01 1.02756573e-02 -9.10045034e+01] [ 1.88093250e-02 1.61412502e-04 9.99823076e-01 2.76597452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.24, Y:-91.03, Z:2.77 [[ 8.32499884e-01 5.53832444e-01 -1.46139163e-02 3.03240986e+02] [-5.53749985e-01 8.32628131e-01 9.55767167e-03 -9.10255583e+01] [ 1.74613065e-02 1.35695370e-04 9.99847531e-01 2.76619779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14232058799996 meters Centerline goodness [0,1] 0.9999530780780781 Centerline is valid? [True, True] Translation: X:303.28, Y:-91.05, Z:2.77 [[ 8.31930605e-01 5.54697064e-01 -1.42350031e-02 3.03276348e+02] [-5.54618655e-01 8.32052371e-01 9.32729491e-03 -9.10482365e+01] [ 1.70180912e-02 1.35336177e-04 9.99855173e-01 2.76865591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.31, Y:-91.07, Z:2.77 [[ 8.31773537e-01 5.54917287e-01 -1.48184934e-02 3.03311614e+02] [-5.54831765e-01 8.31905518e-01 9.74282248e-03 -9.10735346e+01] [ 1.77340470e-02 1.17948916e-04 9.99842732e-01 2.77304524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:303.35, Y:-91.09, Z:2.77 [[ 8.32187698e-01 5.54298260e-01 -1.47334495e-02 3.03345850e+02] [-5.54212834e-01 8.32318109e-01 9.73141451e-03 -9.10947011e+01] [ 1.76570229e-02 6.71033355e-05 9.99844100e-01 2.77352482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23232058799994 meters Centerline goodness [0,1] 0.9998085024894676 Centerline is valid? [True, True] Translation: X:303.38, Y:-91.12, Z:2.77 [[ 8.30728589e-01 5.56475671e-01 -1.49946291e-02 3.03380248e+02] [-5.56387055e-01 8.30863900e-01 9.93102816e-03 -9.11160077e+01] [ 1.79848715e-02 9.28284909e-05 9.99838255e-01 2.77395335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26232058799997 meters Centerline goodness [0,1] 0.999811542991755 Centerline is valid? [True, True] Translation: X:303.41, Y:-91.14, Z:2.77 [[ 8.27505247e-01 5.61270597e-01 -1.45045721e-02 3.03413632e+02] [-5.61187995e-01 8.27632339e-01 9.63051665e-03 -9.11381182e+01] [ 1.74097788e-02 1.70488671e-04 9.99848424e-01 2.77297467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29232058799994 meters Centerline goodness [0,1] 0.9998578401175189 Centerline is valid? [True, True] Translation: X:303.45, Y:-91.16, Z:2.77 [[ 8.25864315e-01 5.63702645e-01 -1.36916774e-02 3.03449932e+02] [-5.63629177e-01 8.25977777e-01 9.10288541e-03 -9.11619373e+01] [ 1.64403418e-02 1.99280628e-04 9.99864829e-01 2.77417947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32232058799997 meters Centerline goodness [0,1] 0.9999052850918735 Centerline is valid? [True, True] Translation: X:303.48, Y:-91.19, Z:2.78 [[ 8.23667634e-01 5.66887183e-01 -1.45103559e-02 3.03483222e+02] [-5.66804322e-01 8.23795402e-01 9.69513945e-03 -9.11858414e+01] [ 1.74496148e-02 2.38959863e-04 9.99847715e-01 2.77705093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35232058799994 meters Centerline goodness [0,1] 0.9995296994779664 Centerline is valid? [True, True] Translation: X:303.52, Y:-91.21, Z:2.78 [[ 8.21850562e-01 5.69511176e-01 -1.47876631e-02 3.03517875e+02] [-5.69425036e-01 8.21983542e-01 9.90882160e-03 -9.12086969e+01] [ 1.77984004e-02 2.76895016e-04 9.99841558e-01 2.77837700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38232058799997 meters Centerline goodness [0,1] 0.9993368700265252 Centerline is valid? [True, True] Translation: X:303.55, Y:-91.23, Z:2.78 [[ 8.20410750e-01 5.71577091e-01 -1.50276479e-02 3.03552227e+02] [-5.71487957e-01 8.20548315e-01 1.00984044e-02 -9.12309626e+01] [ 1.81029278e-02 3.03280261e-04 9.99836083e-01 2.77924398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41232058799994 meters Centerline goodness [0,1] 0.9993882352941177 Centerline is valid? [True, True] Translation: X:303.59, Y:-91.25, Z:2.78 [[ 8.19079310e-01 5.73481821e-01 -1.50892235e-02 3.03586599e+02] [-5.73391761e-01 8.19218223e-01 1.01681786e-02 -9.12532015e+01] [ 1.81926324e-02 3.23491725e-04 9.99834448e-01 2.78022634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.442320588 meters Centerline goodness [0,1] 0.9994849463876012 Centerline is valid? [True, True] Translation: X:303.62, Y:-91.28, Z:2.78 [[ 8.18047759e-01 5.74951077e-01 -1.51367820e-02 3.03621104e+02] [-5.74860199e-01 8.18187721e-01 1.02276414e-02 -9.12765666e+01] [ 1.82651226e-02 3.34834393e-04 9.99833123e-01 2.78265223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47232058799995 meters Centerline goodness [0,1] 0.9996248710494232 Centerline is valid? [True, True] Translation: X:303.66, Y:-91.30, Z:2.78 [[ 8.17472326e-01 5.75794918e-01 -1.41141334e-02 3.03663567e+02] [-5.75716050e-01 8.17594094e-01 9.53557738e-03 -9.13016584e+01] [ 1.70301691e-02 3.30662503e-04 9.99854921e-01 2.78398230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.502320588 meters Centerline goodness [0,1] 0.999576031656303 Centerline is valid? [True, True] Translation: X:303.70, Y:-91.32, Z:2.78 [[ 8.17375732e-01 5.75941043e-01 -1.37414386e-02 3.03698925e+02] [-5.75865019e-01 8.17491190e-01 9.36127873e-03 -9.13237504e+01] [ 1.66250497e-02 2.61531757e-04 9.99861760e-01 2.78426712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53232058799995 meters Centerline goodness [0,1] 0.9999531242675667 Centerline is valid? [True, True] Translation: X:303.73, Y:-91.35, Z:2.79 [[ 8.16904819e-01 5.76603242e-01 -1.39720021e-02 3.03734533e+02] [-5.76524257e-01 8.17024256e-01 9.54706329e-03 -9.13466904e+01] [ 1.69203323e-02 2.56156129e-04 9.99856808e-01 2.78552381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.562320588 meters Centerline goodness [0,1] 0.999812038907946 Centerline is valid? [True, True] Translation: X:303.77, Y:-91.37, Z:2.79 [[ 8.17673222e-01 5.75544294e-01 -1.26201119e-02 3.03769314e+02] [-5.75479424e-01 8.17770584e-01 8.64320112e-03 -9.13692755e+01] [ 1.52949014e-02 1.95300635e-04 9.99883007e-01 2.78604240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59232058799995 meters Centerline goodness [0,1] 0.9998584505048599 Centerline is valid? [True, True] Translation: X:303.81, Y:-91.39, Z:2.79 [[ 8.17371787e-01 5.75953810e-01 -1.34376749e-02 3.03805652e+02] [-5.75879963e-01 8.17482214e-01 9.22490609e-03 -9.13934069e+01] [ 1.62981800e-02 1.98309723e-04 9.99867156e-01 2.78911259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.622320588 meters Centerline goodness [0,1] 0.9998100664767331 Centerline is valid? [True, True] Translation: X:303.84, Y:-91.42, Z:2.79 [[ 8.18734558e-01 5.74030478e-01 -1.27567248e-02 3.03841297e+02] [-5.73963097e-01 8.18833925e-01 8.79586541e-03 -9.14154024e+01] [ 1.54947338e-02 1.20410291e-04 9.99879942e-01 2.79080557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65232058799995 meters Centerline goodness [0,1] 0.9999530317974731 Centerline is valid? [True, True] Translation: X:303.88, Y:-91.44, Z:2.79 [[ 8.17472081e-01 5.75867616e-01 -1.07650284e-02 3.03876559e+02] [-5.75819620e-01 8.17542950e-01 7.43574684e-03 -9.14385015e+01] [ 1.30828789e-02 1.20199142e-04 9.99914408e-01 2.79058072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.682320588 meters Centerline goodness [0,1] 0.9999056514765544 Centerline is valid? [True, True] Translation: X:303.91, Y:-91.46, Z:2.79 [[ 8.16553528e-01 5.77174270e-01 -1.04975503e-02 3.03911669e+02] [-5.77128487e-01 8.16620994e-01 7.27067192e-03 -9.14622161e+01] [ 1.27689647e-02 1.21542490e-04 9.99918466e-01 2.79152141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71232058799995 meters Centerline goodness [0,1] 0.9998592210229938 Centerline is valid? [True, True] Translation: X:303.95, Y:-91.49, Z:2.79 [[ 8.15407874e-01 5.78789267e-01 -1.06293546e-02 3.03947237e+02] [-5.78742199e-01 8.15477141e-01 7.38237334e-03 -9.14861959e+01] [ 1.29408341e-02 1.32010694e-04 9.99916255e-01 2.79266937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.742320588 meters Centerline goodness [0,1] 0.999906134134322 Centerline is valid? [True, True] Translation: X:303.98, Y:-91.51, Z:2.79 [[ 8.13479062e-01 5.81483845e-01 -1.13293027e-02 3.03983883e+02] [-5.81430335e-01 8.13557933e-01 7.89027170e-03 -9.15087867e+01] [ 1.38051096e-02 1.68629440e-04 9.99904691e-01 2.79288580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77232058799996 meters Centerline goodness [0,1] 0.9998118620949156 Centerline is valid? [True, True] Translation: X:304.02, Y:-91.53, Z:2.80 [[ 8.12125835e-01 5.83374548e-01 -1.12144713e-02 3.04018439e+02] [-5.83321833e-01 8.12203243e-01 7.84420679e-03 -9.15323736e+01] [ 1.36845405e-02 1.71162946e-04 9.99906348e-01 2.79519653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.802320588 meters Centerline goodness [0,1] 0.9997172878480893 Centerline is valid? [True, True] Translation: X:304.06, Y:-91.56, Z:2.80 [[ 8.09842102e-01 5.86528956e-01 -1.18133094e-02 3.04055359e+02] [-5.86470589e-01 8.09928227e-01 8.27737966e-03 -9.15588396e+01] [ 1.44228556e-02 2.24787985e-04 9.99895960e-01 2.80108638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83232058799996 meters Centerline goodness [0,1] 0.9994781288547301 Centerline is valid? [True, True] Translation: X:304.09, Y:-91.58, Z:2.80 [[ 8.09226525e-01 5.87379529e-01 -1.17354061e-02 3.04091401e+02] [-5.87321390e-01 8.09311589e-01 8.26658800e-03 -9.15825546e+01] [ 1.43532247e-02 2.02912723e-04 9.99896967e-01 2.80234879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.862320588 meters Centerline goodness [0,1] 0.9992939847500706 Centerline is valid? [True, True] Translation: X:304.13, Y:-91.61, Z:2.80 [[ 8.07222004e-01 5.90124014e-01 -1.20948047e-02 3.04128225e+02] [-5.90062283e-01 8.07312572e-01 8.53893201e-03 -9.16069776e+01] [ 1.48033168e-02 2.43874298e-04 9.99890395e-01 2.80298760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89232058799996 meters Centerline goodness [0,1] 0.9991018247140021 Centerline is valid? [True, True] Translation: X:304.17, Y:-91.63, Z:2.80 [[ 8.05740861e-01 5.92140393e-01 -1.23053094e-02 3.04166346e+02] [-5.92076232e-01 8.05834777e-01 8.72053191e-03 -9.16300931e+01] [ 1.50798255e-02 2.59192353e-04 9.99886259e-01 2.80083690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.922320588 meters Centerline goodness [0,1] 0.9993417650101086 Centerline is valid? [True, True] Translation: X:304.20, Y:-91.65, Z:2.80 [[ 8.04349665e-01 5.94036548e-01 -1.19245725e-02 3.04201659e+02] [-5.93976012e-01 8.04438010e-01 8.48436682e-03 -9.16542042e+01] [ 1.46326033e-02 2.58512404e-04 9.99892904e-01 2.80288954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95232058799996 meters Centerline goodness [0,1] 0.9993900722529793 Centerline is valid? [True, True] Translation: X:304.24, Y:-91.68, Z:2.80 [[ 8.03332374e-01 5.95422659e-01 -1.13557438e-02 3.04236738e+02] [-5.95367453e-01 8.03412594e-01 8.11166837e-03 -9.16786559e+01] [ 1.39532187e-02 2.44474433e-04 9.99902619e-01 2.80470480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98232058799994 meters Centerline goodness [0,1] 0.999529655237289 Centerline is valid? [True, True] Translation: X:304.27, Y:-91.70, Z:2.81 [[ 8.02439254e-01 5.96618625e-01 -1.17243427e-02 3.04271910e+02] [-5.96559595e-01 8.02524860e-01 8.39641284e-03 -9.17028236e+01] [ 1.44185328e-02 2.56657901e-04 9.99896015e-01 2.80724560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01232058799997 meters Centerline goodness [0,1] 0.9994802249208524 Centerline is valid? [True, True] Translation: X:304.31, Y:-91.73, Z:2.81 [[ 8.01717936e-01 5.97584860e-01 -1.18611419e-02 3.04308224e+02] [-5.97524122e-01 8.01805632e-01 8.52365709e-03 -9.17265379e+01] [ 1.46039388e-02 2.53749610e-04 9.99893325e-01 2.80856604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04232058799994 meters Centerline goodness [0,1] 0.9995299205565741 Centerline is valid? [True, True] Translation: X:304.34, Y:-91.75, Z:2.81 [[ 8.00280892e-01 5.99496807e-01 -1.24125736e-02 3.04344198e+02] [-5.99429954e-01 8.00377102e-01 8.95687372e-03 -9.17497178e+01] [ 1.53043569e-02 2.72453550e-04 9.99882844e-01 2.80947220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.07232058799997 meters Centerline goodness [0,1] 0.999341641194451 Centerline is valid? [True, True] Translation: X:304.38, Y:-91.77, Z:2.81 [[ 7.98825552e-01 6.01441858e-01 -1.20593752e-02 3.04379214e+02] [-6.01378557e-01 7.98916525e-01 8.73028803e-03 -9.17742496e+01] [ 1.48851948e-02 2.78272499e-04 9.99889171e-01 2.81039809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10232058799994 meters Centerline goodness [0,1] 0.9990897767557727 Centerline is valid? [True, True] Translation: X:304.41, Y:-91.80, Z:2.81 [[ 7.98110486e-01 6.02388079e-01 -1.21759725e-02 3.04414955e+02] [-6.02323200e-01 7.98203312e-01 8.84509062e-03 -9.17983044e+01] [ 1.50470788e-02 2.74511174e-04 9.99886749e-01 2.81327140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.13232058799997 meters Centerline goodness [0,1] 0.9988198640483383 Centerline is valid? [True, True] Translation: X:304.45, Y:-91.82, Z:2.82 [[ 7.95959362e-01 6.05246339e-01 -1.12055053e-02 3.04449566e+02] [-6.05191347e-01 7.96038183e-01 8.16360438e-03 -9.18238807e+01] [ 1.38610017e-02 2.83577512e-04 9.99903891e-01 2.81501395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16232058799994 meters Centerline goodness [0,1] 0.9987241884420923 Centerline is valid? [True, True] Translation: X:304.49, Y:-91.85, Z:2.82 [[ 7.94364040e-01 6.07335336e-01 -1.13825305e-02 3.04485155e+02] [-6.07278355e-01 7.94445530e-01 8.32464056e-03 -9.18476747e+01] [ 1.40986489e-02 2.99569298e-04 9.99900564e-01 2.81669053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.192320588 meters Centerline goodness [0,1] 0.9988258500845388 Centerline is valid? [True, True] Translation: X:304.53, Y:-91.88, Z:2.82 [[ 7.92089653e-01 6.10285369e-01 -1.20727129e-02 3.04526627e+02] [-6.10221454e-01 7.92181567e-01 8.83977317e-03 -9.18761991e+01] [ 1.49585649e-02 3.65135576e-04 9.99888048e-01 2.81902482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22232058799995 meters Centerline goodness [0,1] 0.998655462184874 Centerline is valid? [True, True] Translation: X:304.56, Y:-91.90, Z:2.82 [[ 7.91188397e-01 6.11460599e-01 -1.16985690e-02 3.04564103e+02] [-6.11399708e-01 7.91274815e-01 8.63504403e-03 -9.19019169e+01] [ 1.45367722e-02 3.20554997e-04 9.99894284e-01 2.82064970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.252320588 meters Centerline goodness [0,1] 0.9985861727696875 Centerline is valid? [True, True] Translation: X:304.60, Y:-91.93, Z:2.82 [[ 7.89222646e-01 6.13986413e-01 -1.21778034e-02 3.04599317e+02] [-6.13920082e-01 7.89316516e-01 9.03158134e-03 -9.19270068e+01] [ 1.51574096e-02 3.48269550e-04 9.99885059e-01 2.82186205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28232058799995 meters Centerline goodness [0,1] 0.9991509433962265 Centerline is valid? [True, True] Translation: X:304.64, Y:-91.95, Z:2.82 [[ 7.87471201e-01 6.16224639e-01 -1.25020731e-02 3.04636121e+02] [-6.16154477e-01 7.87570349e-01 9.30626997e-03 -9.19512174e+01] [ 1.55810149e-02 3.74788740e-04 9.99878538e-01 2.82199916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.312320588 meters Centerline goodness [0,1] 0.9983919788119561 Centerline is valid? [True, True] Translation: X:304.67, Y:-91.98, Z:2.82 [[ 7.86055140e-01 6.18029628e-01 -1.25178227e-02 3.04672616e+02] [-6.17958974e-01 7.86154712e-01 9.35280007e-03 -9.19766283e+01] [ 1.56212528e-02 3.83684281e-04 9.99877907e-01 2.82365872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34232058799995 meters Centerline goodness [0,1] 0.9983604253525086 Centerline is valid? [True, True] Translation: X:304.71, Y:-92.00, Z:2.83 [[ 7.84873559e-01 6.19540426e-01 -1.19648352e-02 3.04708898e+02] [-6.19475626e-01 7.84964663e-01 8.96815051e-03 -9.20021647e+01] [ 1.49481046e-02 3.73059579e-04 9.99888201e-01 2.82561189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.372320588 meters Centerline goodness [0,1] 0.9987239472564866 Centerline is valid? [True, True] Translation: X:304.74, Y:-92.03, Z:2.83 [[ 7.83951817e-01 6.20696731e-01 -1.24546150e-02 3.04744634e+02] [-6.20626038e-01 7.84050652e-01 9.37531168e-03 -9.20271180e+01] [ 1.55842743e-02 3.79865742e-04 9.99878486e-01 2.82716332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40232058799995 meters Centerline goodness [0,1] 0.9984934795913564 Centerline is valid? [True, True] Translation: X:304.78, Y:-92.05, Z:2.83 [[ 7.82472224e-01 6.22536195e-01 -1.36346676e-02 3.04780362e+02] [-6.22450984e-01 7.82590895e-01 1.03084343e-02 -9.20534069e+01] [ 1.70877401e-02 4.20848760e-04 9.99853905e-01 2.82893674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.432320588 meters Centerline goodness [0,1] 0.9987250318742031 Centerline is valid? [True, True] Translation: X:304.84, Y:-92.09, Z:2.83 [[ 7.79768206e-01 6.25925519e-01 -1.33712380e-02 3.04835586e+02] [-6.25844587e-01 7.79882674e-01 1.00780531e-02 -9.20897600e+01] [ 1.67361074e-02 5.09771531e-04 9.99859812e-01 2.83072124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46232058799995 meters Centerline goodness [0,1] 0.9984878555902089 Centerline is valid? [True, True] Translation: X:304.87, Y:-92.12, Z:2.83 [[ 7.79492750e-01 6.26224513e-01 -1.52941897e-02 3.04870805e+02] [-6.26114584e-01 7.79642661e-01 1.17409013e-02 -9.21154318e+01] [ 1.92764430e-02 4.23967725e-04 9.99814102e-01 2.83359518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.492320588 meters Centerline goodness [0,1] 0.9987740475292343 Centerline is valid? [True, True] Translation: X:304.91, Y:-92.14, Z:2.83 [[ 7.78983057e-01 6.26860744e-01 -1.51988335e-02 3.04906701e+02] [-6.26751485e-01 7.79131211e-01 1.17103255e-02 -9.21405054e+01] [ 1.91826289e-02 4.03746283e-04 9.99815915e-01 2.83450578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52232058799996 meters Centerline goodness [0,1] 0.9991547708489857 Centerline is valid? [True, True] Translation: X:304.94, Y:-92.17, Z:2.83 [[ 7.79248989e-01 6.26583824e-01 -1.27955254e-02 3.04943094e+02] [-6.26505950e-01 7.79353972e-01 9.88337582e-03 -9.21652668e+01] [ 1.61650069e-02 3.14862170e-04 9.99869288e-01 2.83381063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.552320588 meters Centerline goodness [0,1] 0.9992889647326507 Centerline is valid? [True, True] Translation: X:304.98, Y:-92.19, Z:2.84 [[ 7.78930859e-01 6.26976415e-01 -1.29341160e-02 3.04978428e+02] [-6.26896289e-01 7.79038180e-01 1.00277591e-02 -9.21919751e+01] [ 1.63633386e-02 2.97418355e-04 9.99866067e-01 2.83648036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58232058799996 meters Centerline goodness [0,1] 0.9990601503759399 Centerline is valid? [True, True] Translation: X:305.01, Y:-92.22, Z:2.84 [[ 7.78003093e-01 6.28121180e-01 -1.32276597e-02 3.05013425e+02] [-6.28036881e-01 7.78115476e-01 1.02947093e-02 -9.22191807e+01] [ 1.67589717e-02 2.98142492e-04 9.99859514e-01 2.83894660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.612320588 meters Centerline goodness [0,1] 0.9990601503759399 Centerline is valid? [True, True] Translation: X:305.05, Y:-92.24, Z:2.84 [[ 7.76890886e-01 6.29496679e-01 -1.32092152e-02 3.05048535e+02] [-6.29412178e-01 7.77003116e-01 1.03182813e-02 -9.22449679e+01] [ 1.67589252e-02 2.97862179e-04 9.99859515e-01 2.84040463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64232058799996 meters Centerline goodness [0,1] 0.9995774052683477 Centerline is valid? [True, True] Translation: X:305.08, Y:-92.27, Z:2.84 [[ 7.77350490e-01 6.28906050e-01 -1.42617227e-02 3.05083615e+02] [-6.28806618e-01 7.77481258e-01 1.11862101e-02 -9.22728086e+01] [ 1.81232974e-02 2.72259705e-04 9.99835722e-01 2.84369605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.672320588 meters Centerline goodness [0,1] 0.999578947368421 Centerline is valid? [True, True] Translation: X:305.12, Y:-92.30, Z:2.85 [[ 7.77099460e-01 6.29205703e-01 -1.47177354e-02 3.05119308e+02] [-6.29098994e-01 7.77238779e-01 1.15903769e-02 -9.22991499e+01] [ 1.87319260e-02 2.52036920e-04 9.99824510e-01 2.84569595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70232058799996 meters Centerline goodness [0,1] 0.9998588633797516 Centerline is valid? [True, True] Translation: X:305.16, Y:-92.32, Z:2.85 [[ 7.77799259e-01 6.28321957e-01 -1.54864618e-02 3.05155512e+02] [-6.28202680e-01 7.77953390e-01 1.22440463e-02 -9.23245481e+01] [ 1.97409486e-02 2.05226640e-04 9.99805107e-01 2.84593964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73232058799994 meters Centerline goodness [0,1] 0.9999058734939759 Centerline is valid? [True, True] Translation: X:305.20, Y:-92.36, Z:2.85 [[ 7.76854596e-01 6.29475412e-01 -1.60512318e-02 3.05199225e+02] [-6.29346923e-01 7.77020371e-01 1.27197821e-02 -9.23556266e+01] [ 2.04789241e-02 2.20372148e-04 9.99790261e-01 2.84708371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76232058799997 meters Centerline goodness [0,1] 0.9999529898458067 Centerline is valid? [True, True] Translation: X:305.23, Y:-92.38, Z:2.85 [[ 7.77161030e-01 6.29094961e-01 -1.61327028e-02 3.05234452e+02] [-6.28962987e-01 7.77328446e-01 1.28859624e-02 -9.23820871e+01] [ 2.06469028e-02 1.32405114e-04 9.99786821e-01 2.84758330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79232058799994 meters Centerline goodness [0,1] 0.9999526784024229 Centerline is valid? [True, True] Translation: X:305.27, Y:-92.41, Z:2.85 [[ 7.77094615e-01 6.29189655e-01 -1.56313365e-02 3.05270002e+02] [-6.29064934e-01 7.77251805e-01 1.25275837e-02 -9.24089640e+01] [ 2.00317106e-02 9.80078180e-05 9.99799340e-01 2.84913837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82232058799997 meters Centerline goodness [0,1] 0.9998110087408457 Centerline is valid? [True, True] Translation: X:305.33, Y:-92.45, Z:2.85 [[ 7.72179947e-01 6.35241670e-01 -1.43579348e-02 3.05326765e+02] [-6.35138229e-01 7.72313376e-01 1.14664374e-02 -9.24508119e+01] [ 1.83727840e-02 2.65120235e-04 9.99831171e-01 2.85281447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85232058799994 meters Centerline goodness [0,1] 0.9996647027829669 Centerline is valid? [True, True] Translation: X:305.36, Y:-92.48, Z:2.86 [[ 7.71227382e-01 6.36376567e-01 -1.52705973e-02 3.05361469e+02] [-6.36254972e-01 7.71378539e-01 1.24402325e-02 -9.24787420e+01] [ 1.96960835e-02 1.21745555e-04 9.99806006e-01 2.85704004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88232058799997 meters Centerline goodness [0,1] 0.9997643065899877 Centerline is valid? [True, True] Translation: X:305.40, Y:-92.51, Z:2.86 [[ 7.68313116e-01 6.39848279e-01 -1.70039861e-02 3.05396173e+02] [-6.39697031e-01 7.68501233e-01 1.39127489e-02 -9.25071094e+01] [ 2.19696328e-02 1.88051963e-04 9.99758621e-01 2.85915233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91232058799994 meters Centerline goodness [0,1] 0.9992488615557955 Centerline is valid? [True, True] Translation: X:305.43, Y:-92.53, Z:2.86 [[ 7.66035594e-01 6.42522128e-01 -1.88356727e-02 3.05432130e+02] [-6.42335723e-01 7.66267092e-01 1.54778186e-02 -9.25337164e+01] [ 2.43779970e-02 2.42265481e-04 9.99702783e-01 2.85947114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.942320588 meters Centerline goodness [0,1] 0.9994361962037211 Centerline is valid? [True, True] Translation: X:305.47, Y:-92.56, Z:2.86 [[ 7.64612824e-01 6.44224373e-01 -1.84982882e-02 3.05468720e+02] [-6.44043773e-01 7.64836515e-01 1.52552909e-02 -9.25613494e+01] [ 2.39759965e-02 2.49316235e-04 9.99712503e-01 2.86065632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97232058799995 meters Centerline goodness [0,1] 0.9993887530562348 Centerline is valid? [True, True] Translation: X:305.50, Y:-92.59, Z:2.86 [[ 7.63293960e-01 6.45814047e-01 -1.75084755e-02 3.05503484e+02] [-6.45651483e-01 7.63494700e-01 1.44915603e-02 -9.25890995e+01] [ 2.27264815e-02 2.43052666e-04 9.99741691e-01 2.86406547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.002320588 meters Centerline goodness [0,1] 0.999719442626017 Centerline is valid? [True, True] Translation: X:305.54, Y:-92.62, Z:2.87 [[ 7.61753747e-01 6.47648918e-01 -1.67960787e-02 3.05543361e+02] [-6.47498974e-01 7.61938851e-01 1.39379449e-02 -9.26196470e+01] [ 2.18244799e-02 2.58161970e-04 9.99761784e-01 2.86604852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03232058799995 meters Centerline goodness [0,1] 0.9996221959858324 Centerline is valid? [True, True] Translation: X:305.58, Y:-92.65, Z:2.87 [[ 7.60752106e-01 6.48846217e-01 -1.59631128e-02 3.05578986e+02] [-6.48709307e-01 7.60919537e-01 1.33301920e-02 -9.26475496e+01] [ 2.07958891e-02 2.14448180e-04 9.99783719e-01 2.86677258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.062320588 meters Centerline goodness [0,1] 0.9995278564683664 Centerline is valid? [True, True] Translation: X:305.61, Y:-92.68, Z:2.87 [[ 7.60041804e-01 6.49660775e-01 -1.66533668e-02 3.05614709e+02] [-6.49510758e-01 7.60224201e-01 1.39620590e-02 -9.26753819e+01] [ 2.17308945e-02 2.04792398e-04 9.99763835e-01 2.86803148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09232058799995 meters Centerline goodness [0,1] 0.999294814536223 Centerline is valid? [True, True] Translation: X:305.65, Y:-92.70, Z:2.87 [[ 7.58678780e-01 6.51254650e-01 -1.65496427e-02 3.05654908e+02] [-6.51106040e-01 7.58859231e-01 1.39137259e-02 -9.27048006e+01] [ 2.16202279e-02 2.19523753e-04 9.99766231e-01 2.86887248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.122320588 meters Centerline goodness [0,1] 0.9995766897135601 Centerline is valid? [True, True] Translation: X:305.69, Y:-92.73, Z:2.87 [[ 7.57312899e-01 6.52848310e-01 -1.63173881e-02 3.05689796e+02] [-6.52702303e-01 7.57488645e-01 1.38078568e-02 -9.27329551e+01] [ 2.13746722e-02 1.93528679e-04 9.99771517e-01 2.87057929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15232058799995 meters Centerline goodness [0,1] 0.9999052716335907 Centerline is valid? [True, True] Translation: X:305.73, Y:-92.76, Z:2.87 [[ 7.57448341e-01 6.52717723e-01 -1.52179212e-02 3.05727941e+02] [-6.52590008e-01 7.57601182e-01 1.29124309e-02 -9.27624286e+01] [ 1.99572876e-02 1.50563892e-04 9.99800822e-01 2.87462533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:305.76, Y:-92.79, Z:2.87 [[ 7.56838776e-01 6.53422981e-01 -1.52798925e-02 3.05764295e+02] [-6.53292989e-01 7.56992994e-01 1.30336814e-02 -9.27897124e+01] [ 2.00832785e-02 1.17851120e-04 9.99798304e-01 2.87435627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21232058799995 meters Centerline goodness [0,1] 0.9999045801526718 Centerline is valid? [True, True] Translation: X:305.82, Y:-92.83, Z:2.87 [[ 7.55596440e-01 6.54848652e-01 -1.57245697e-02 3.05816862e+02] [-6.54711061e-01 7.55760028e-01 1.34241103e-02 -9.28255729e+01] [ 2.06747618e-02 1.51839766e-04 9.99786243e-01 2.87387440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.242320588 meters Centerline goodness [0,1] 0.9999531330552561 Centerline is valid? [True, True] Translation: X:305.85, Y:-92.85, Z:2.88 [[ 7.54859166e-01 6.55682138e-01 -1.63882189e-02 3.05852074e+02] [-6.55528888e-01 7.55037040e-01 1.41754996e-02 -9.28543791e+01] [ 2.16683342e-02 4.24450685e-05 9.99765213e-01 2.87626936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27232058799996 meters Centerline goodness [0,1] 0.999952624597309 Centerline is valid? [True, True] Translation: X:305.89, Y:-92.88, Z:2.88 [[ 7.54548447e-01 6.56053716e-01 -1.58165235e-02 3.05887571e+02] [-6.55910029e-01 7.54714198e-01 1.37300133e-02 -9.28844573e+01] [ 2.09445811e-02 1.42561785e-05 9.99780638e-01 2.87933768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.302320588 meters Centerline goodness [0,1] 0.9998590358049055 Centerline is valid? [True, True] Translation: X:305.92, Y:-92.91, Z:2.88 [[ 7.53676613e-01 6.57063407e-01 -1.54674605e-02 3.05923723e+02] [-6.56925130e-01 7.53835313e-01 1.34794140e-02 -9.29122602e+01] [ 2.05167476e-02 1.84444491e-06 9.99789509e-01 2.88163318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33232058799996 meters Centerline goodness [0,1] 0.9998130229514327 Centerline is valid? [True, True] Translation: X:305.96, Y:-92.94, Z:2.88 [[ 7.52554704e-01 6.58330285e-01 -1.62065536e-02 3.05960271e+02] [-6.58177606e-01 7.52729191e-01 1.41775720e-02 -9.29405025e+01] [ 2.15326710e-02 -2.60783897e-06 9.99768145e-01 2.88392125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.00, Y:-92.97, Z:2.88 [[ 7.53846954e-01 6.56875538e-01 -1.51426004e-02 3.05997250e+02] [-6.56740790e-01 7.53999019e-01 1.33046728e-02 -9.29682634e+01] [ 2.01570199e-02 -8.49236866e-05 9.99796823e-01 2.88463516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.03, Y:-93.00, Z:2.89 [[ 7.52900785e-01 6.57940216e-01 -1.59712574e-02 3.06032095e+02] [-6.57789316e-01 7.53070157e-01 1.40909009e-02 -9.29973343e+01] [ 2.12984477e-02 -1.03327874e-04 9.99773157e-01 2.88640986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.422320588 meters Centerline goodness [0,1] 0.9999530406198638 Centerline is valid? [True, True] Translation: X:306.07, Y:-93.03, Z:2.89 [[ 7.51058882e-01 6.60081045e-01 -1.42677684e-02 3.06067483e+02] [-6.59960251e-01 7.51194389e-01 1.26276466e-02 -9.30265776e+01] [ 1.90531377e-02 -6.79461457e-05 9.99818470e-01 2.88605844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.10, Y:-93.06, Z:2.89 [[ 7.48509696e-01 6.62953938e-01 -1.50103724e-02 3.06102175e+02] [-6.62819718e-01 7.48660187e-01 1.33396371e-02 -9.30564843e+01] [ 2.00812331e-02 -3.56769295e-05 9.99798351e-01 2.88919363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48232058799994 meters Centerline goodness [0,1] 0.9998592606492775 Centerline is valid? [True, True] Translation: X:306.14, Y:-93.09, Z:2.89 [[ 7.47617369e-01 6.63967740e-01 -1.46666142e-02 3.06137484e+02] [-6.63838856e-01 7.47761217e-01 1.30818463e-02 -9.30858521e+01] [ 1.96530492e-02 -4.39470911e-05 9.99806859e-01 2.89175036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51232058799997 meters Centerline goodness [0,1] 0.9999531550100716 Centerline is valid? [True, True] Translation: X:306.17, Y:-93.11, Z:2.89 [[ 7.46842121e-01 6.64831125e-01 -1.50473090e-02 3.06173028e+02] [-6.64694564e-01 7.46993689e-01 1.34745977e-02 -9.31147096e+01] [ 2.01985768e-02 -6.15326472e-05 9.99795986e-01 2.89324108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54232058799994 meters Centerline goodness [0,1] 0.9999524126772628 Centerline is valid? [True, True] Translation: X:306.21, Y:-93.14, Z:2.89 [[ 7.46803715e-01 6.64879482e-01 -1.48150572e-02 3.06208835e+02] [-6.64746131e-01 7.46950644e-01 1.33160058e-02 -9.31427659e+01] [ 1.99196555e-02 -9.61905858e-05 9.99801579e-01 2.89414432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.57232058799997 meters Centerline goodness [0,1] 0.9999048117652658 Centerline is valid? [True, True] Translation: X:306.24, Y:-93.17, Z:2.89 [[ 7.46698086e-01 6.65018493e-01 -1.38698625e-02 3.06243868e+02] [-6.64900892e-01 7.46826881e-01 1.25065494e-02 -9.31713362e+01] [ 1.86754728e-02 -1.16532612e-04 9.99825591e-01 2.89446269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.28, Y:-93.20, Z:2.90 [[ 7.44279099e-01 6.67739013e-01 -1.31618179e-02 3.06277702e+02] [-6.67632736e-01 7.44395462e-01 1.19132454e-02 -9.32015337e+01] [ 1.77525362e-02 -7.95190555e-05 9.99842408e-01 2.89554620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.63232058799997 meters Centerline goodness [0,1] 0.9999525504151838 Centerline is valid? [True, True] Translation: X:306.31, Y:-93.23, Z:2.90 [[ 7.43129315e-01 6.69014115e-01 -1.33766722e-02 3.06311758e+02] [-6.68903693e-01 7.43249693e-01 1.21549798e-02 -9.32314174e+01] [ 1.80740606e-02 -8.50163814e-05 9.99836647e-01 2.89820668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66232058799994 meters Centerline goodness [0,1] 0.9999060856498873 Centerline is valid? [True, True] Translation: X:306.35, Y:-93.26, Z:2.90 [[ 7.40876077e-01 6.71492399e-01 -1.41632348e-02 3.06347024e+02] [-6.71368047e-01 7.41011440e-01 1.29224926e-02 -9.32617838e+01] [ 1.91724745e-02 -6.52223678e-05 9.99816189e-01 2.90005813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.692320588 meters Centerline goodness [0,1] 0.9998124443194073 Centerline is valid? [True, True] Translation: X:306.38, Y:-93.29, Z:2.90 [[ 7.39021791e-01 6.73525986e-01 -1.44754418e-02 3.06382581e+02] [-6.73395413e-01 7.39163543e-01 1.32617477e-02 -9.32905580e+01] [ 1.96318505e-02 -5.30244610e-05 9.99807275e-01 2.89983049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72232058799995 meters Centerline goodness [0,1] 0.999905473107099 Centerline is valid? [True, True] Translation: X:306.42, Y:-93.32, Z:2.90 [[ 7.38049677e-01 6.74599481e-01 -1.40789140e-02 3.06417887e+02] [-6.74475288e-01 7.38183946e-01 1.29440371e-02 -9.33213964e+01] [ 1.91248690e-02 -5.74628191e-05 9.99817101e-01 2.90120257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.752320588 meters Centerline goodness [0,1] 0.9999052491946182 Centerline is valid? [True, True] Translation: X:306.45, Y:-93.35, Z:2.90 [[ 7.36436037e-01 6.76375333e-01 -1.33556045e-02 3.06451739e+02] [-6.76263051e-01 7.36557131e-01 1.23239458e-02 -9.33519629e+01] [ 1.81727787e-02 -4.38959914e-05 9.99834860e-01 2.90309522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78232058799995 meters Centerline goodness [0,1] 0.9998121095401381 Centerline is valid? [True, True] Translation: X:306.49, Y:-93.38, Z:2.91 [[ 7.35123358e-01 6.77806624e-01 -1.31083692e-02 3.06486118e+02] [-6.77697918e-01 7.35240218e-01 1.21389326e-02 -9.33837094e+01] [ 1.78656492e-02 -4.00983738e-05 9.99840396e-01 2.90552251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:306.52, Y:-93.41, Z:2.91 [[ 7.33614623e-01 6.79442395e-01 -1.29466883e-02 3.06524411e+02] [-6.79336063e-01 7.33728854e-01 1.20200613e-02 -9.34149878e+01] [ 1.76662980e-02 -2.29405137e-05 9.99843939e-01 2.90735815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84232058799995 meters Centerline goodness [0,1] 0.9999528235127613 Centerline is valid? [True, True] Translation: X:306.56, Y:-93.45, Z:2.91 [[ 7.32225171e-01 6.80944687e-01 -1.26741035e-02 3.06559945e+02] [-6.80841681e-01 7.32334849e-01 1.18437387e-02 -9.34457322e+01] [ 1.73466186e-02 -4.32256730e-05 9.99849535e-01 2.90766807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.872320588 meters Centerline goodness [0,1] 0.999717554017794 Centerline is valid? [True, True] Translation: X:306.59, Y:-93.48, Z:2.91 [[ 7.29624146e-01 6.83740940e-01 -1.21215932e-02 3.06594064e+02] [-6.83646431e-01 7.29724830e-01 1.13679261e-02 -9.34772168e+01] [ 1.66181440e-02 -7.42941558e-06 9.99861909e-01 2.90855183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90232058799995 meters Centerline goodness [0,1] 0.999810946214198 Centerline is valid? [True, True] Translation: X:306.63, Y:-93.51, Z:2.91 [[ 7.27169431e-01 6.86350972e-01 -1.21227830e-02 3.06627193e+02] [-6.86256149e-01 7.27270474e-01 1.14085633e-02 -9.35091934e+01] [ 1.66468206e-02 2.33758627e-05 9.99861432e-01 2.91065029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.932320588 meters Centerline goodness [0,1] 0.9995746892868957 Centerline is valid? [True, True] Translation: X:306.67, Y:-93.55, Z:2.91 [[ 7.24694792e-01 6.88970855e-01 -1.16884241e-02 3.06671021e+02] [-6.88882944e-01 7.24789042e-01 1.10061466e-02 -9.35465649e+01] [ 1.60545559e-02 7.58588345e-05 9.99871114e-01 2.91284999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96232058799995 meters Centerline goodness [0,1] 0.9996697022601803 Centerline is valid? [True, True] Translation: X:306.71, Y:-93.58, Z:2.91 [[ 7.22277078e-01 6.91490388e-01 -1.25245745e-02 3.06705213e+02] [-6.91387372e-01 7.22385660e-01 1.19356787e-02 -9.35774479e+01] [ 1.73009801e-02 3.84655318e-05 9.99850326e-01 2.91442728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.992320588 meters Centerline goodness [0,1] 0.9996219638975522 Centerline is valid? [True, True] Translation: X:306.74, Y:-93.61, Z:2.92 [[ 7.18908981e-01 6.94993488e-01 -1.24068512e-02 3.06740017e+02] [-6.94892038e-01 7.19016026e-01 1.18747619e-02 -9.36081439e+01] [ 1.71736070e-02 8.45491416e-05 9.99852519e-01 2.91513754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02232058799996 meters Centerline goodness [0,1] 0.999623812658704 Centerline is valid? [True, True] Translation: X:306.77, Y:-93.64, Z:2.92 [[ 7.16731861e-01 6.97262753e-01 -1.09586884e-02 3.06773810e+02] [-6.97183337e-01 7.16815628e-01 1.05237619e-02 -9.36394279e+01] [ 1.51931862e-02 9.74995012e-05 9.99884572e-01 2.91663482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.052320588 meters Centerline goodness [0,1] 0.9998574212252269 Centerline is valid? [True, True] Translation: X:306.81, Y:-93.68, Z:2.92 [[ 7.14103401e-01 6.99968324e-01 -1.00338649e-02 3.06812863e+02] [-6.99901886e-01 7.14173877e-01 9.64481956e-03 -9.36751778e+01] [ 1.39169924e-02 1.35322507e-04 9.99903145e-01 2.91823045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08232058799996 meters Centerline goodness [0,1] 0.9997185345029789 Centerline is valid? [True, True] Translation: X:306.85, Y:-93.71, Z:2.92 [[ 7.11409361e-01 7.02692083e-01 -1.09798685e-02 3.06846700e+02] [-7.02611249e-01 7.11494075e-01 1.06589367e-02 -9.37064353e+01] [ 1.53020618e-02 1.31711798e-04 9.99882908e-01 2.91966345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.112320588 meters Centerline goodness [0,1] 0.9997175673131237 Centerline is valid? [True, True] Translation: X:306.88, Y:-93.74, Z:2.92 [[ 7.10021936e-01 7.04079958e-01 -1.18432545e-02 3.06883229e+02] [-7.03985198e-01 7.10120690e-01 1.15518883e-02 -9.37391899e+01] [ 1.65435931e-02 1.35381827e-04 9.99863136e-01 2.92066220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14232058799996 meters Centerline goodness [0,1] 0.9998581426139588 Centerline is valid? [True, True] Translation: X:306.92, Y:-93.77, Z:2.92 [[ 7.08131026e-01 7.05994018e-01 -1.10858598e-02 3.06917229e+02] [-7.05910481e-01 7.08217783e-01 1.08611935e-02 -9.37711007e+01] [ 1.55191406e-02 1.34476525e-04 9.99879562e-01 2.92140556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.172320588 meters Centerline goodness [0,1] 0.9999529212372299 Centerline is valid? [True, True] Translation: X:306.95, Y:-93.80, Z:2.92 [[ 7.06430653e-01 7.07700542e-01 -1.07553001e-02 3.06952716e+02] [-7.07621474e-01 7.06512509e-01 1.05794397e-02 -9.38046897e+01] [ 1.50858292e-02 1.37040765e-04 9.99886193e-01 2.92436298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20232058799996 meters Centerline goodness [0,1] 0.9998112584343887 Centerline is valid? [True, True] Translation: X:306.99, Y:-93.84, Z:2.93 [[ 7.04516769e-01 7.09589946e-01 -1.17571284e-02 3.06987401e+02] [-7.09494589e-01 7.04614850e-01 1.16336098e-02 -9.38365018e+01] [ 1.65393399e-02 1.45545781e-04 9.99863205e-01 2.92715359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23232058799994 meters Centerline goodness [0,1] 0.9999043245311902 Centerline is valid? [True, True] Translation: X:307.04, Y:-93.88, Z:2.93 [[ 7.00147419e-01 7.13898409e-01 -1.19437494e-02 3.07044130e+02] [-7.13801245e-01 7.00249230e-01 1.17812393e-02 -9.38837076e+01] [ 1.67742093e-02 2.76858889e-04 9.99859265e-01 2.92904872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26232058799997 meters Centerline goodness [0,1] 0.9997181378306008 Centerline is valid? [True, True] Translation: X:308.28, Y:-92.60, Z:4.77 [[ 7.62051914e-01 -6.46614135e-01 3.41619694e-02 3.08279273e+02] [-6.45789003e-01 -7.62811650e-01 -3.27864332e-02 -9.26007505e+01] [ 4.72593194e-02 2.92354000e-03 -9.98878376e-01 4.77411936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.18, Y:-94.02, Z:2.93 [[ 7.54209093e-01 6.56512366e-01 -1.26553685e-02 3.07181025e+02] [-6.56422782e-01 7.54315251e-01 1.08458728e-02 -9.40218999e+01] [ 1.66665871e-02 1.27216354e-04 9.99861095e-01 2.93238002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32232058799997 meters Centerline goodness [0,1] 0.9999063626574278 Centerline is valid? [True, True] Translation: X:307.22, Y:-94.05, Z:2.93 [[ 7.52784104e-01 6.58158262e-01 -1.19914136e-02 3.07219449e+02] [-6.58078620e-01 7.52879584e-01 1.02401980e-02 -9.40529332e+01] [ 1.57677614e-02 1.82634659e-04 9.99875664e-01 2.93445778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35232058799994 meters Centerline goodness [0,1] 0.9999056069473287 Centerline is valid? [True, True] Translation: X:307.27, Y:-94.09, Z:2.94 [[ 7.49226350e-01 6.62222164e-01 -1.10309808e-02 3.07274305e+02] [-6.62155708e-01 7.49307501e-01 9.38545621e-03 -9.40922760e+01] [ 1.44808538e-02 2.72395821e-04 9.99895110e-01 2.93544033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38232058799997 meters Centerline goodness [0,1] 0.9999061385395157 Centerline is valid? [True, True] Translation: X:307.31, Y:-94.12, Z:2.94 [[ 7.47417444e-01 6.64264696e-01 -1.09351386e-02 3.07310294e+02] [-6.64196833e-01 7.47497416e-01 9.49634035e-03 -9.41211542e+01] [ 1.44820715e-02 1.65353977e-04 9.99895116e-01 2.93683396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.41232058799994 meters Centerline goodness [0,1] 0.9998117204048012 Centerline is valid? [True, True] Translation: X:307.35, Y:-94.15, Z:2.94 [[ 7.45627980e-01 6.66264422e-01 -1.14295548e-02 3.07346053e+02] [-6.66189884e-01 7.45715553e-01 9.96756924e-03 -9.41501058e+01] [ 1.51642336e-02 1.82155298e-04 9.99885000e-01 2.93829856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.442320588 meters Centerline goodness [0,1] 0.9998545666084933 Centerline is valid? [True, True] Translation: X:307.38, Y:-94.18, Z:2.94 [[ 7.45029077e-01 6.66917613e-01 -1.23520125e-02 3.07381175e+02] [-6.66829855e-01 7.45131442e-01 1.08202842e-02 -9.41794048e+01] [ 1.64201110e-02 1.75264329e-04 9.99865166e-01 2.94171955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.47232058799995 meters Centerline goodness [0,1] 0.99985871049781 Centerline is valid? [True, True] Translation: X:307.42, Y:-94.21, Z:2.94 [[ 7.42843252e-01 6.69352030e-01 -1.23192397e-02 3.07415327e+02] [-6.69264393e-01 7.42945369e-01 1.08328455e-02 -9.42096441e+01] [ 1.64035092e-02 1.97722347e-04 9.99865434e-01 2.94372028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.502320588 meters Centerline goodness [0,1] 0.99985871049781 Centerline is valid? [True, True] Translation: X:307.45, Y:-94.24, Z:2.95 [[ 7.41567785e-01 6.70765209e-01 -1.22985506e-02 3.07450054e+02] [-6.70677379e-01 7.41669735e-01 1.08562401e-02 -9.42384677e+01] [ 1.64034510e-02 1.97721751e-04 9.99865435e-01 2.94522724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53232058799995 meters Centerline goodness [0,1] 0.9998589496450233 Centerline is valid? [True, True] Translation: X:307.49, Y:-94.27, Z:2.95 [[ 7.39916927e-01 6.72579160e-01 -1.26576233e-02 3.07485201e+02] [-6.72485644e-01 7.40025154e-01 1.12174094e-02 -9.42691099e+01] [ 1.69115554e-02 2.12118836e-04 9.99856967e-01 2.94775964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.562320588 meters Centerline goodness [0,1] 0.9997173544375353 Centerline is valid? [True, True] Translation: X:307.52, Y:-94.30, Z:2.95 [[ 7.38529393e-01 6.74081558e-01 -1.37254816e-02 3.07520732e+02] [-6.73970832e-01 7.38656891e-01 1.22194646e-02 -9.42982633e+01] [ 1.83753373e-02 2.26140514e-04 9.99831134e-01 2.94928239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59232058799995 meters Centerline goodness [0,1] 0.9996239894717052 Centerline is valid? [True, True] Translation: X:307.56, Y:-94.33, Z:2.95 [[ 7.37468843e-01 6.75240152e-01 -1.38001059e-02 3.07556576e+02] [-6.75127513e-01 7.37597918e-01 1.23350202e-02 -9.43276076e+01] [ 1.85080303e-02 2.20138080e-04 9.99828688e-01 2.95006075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.622320588 meters Centerline goodness [0,1] 0.999811906329352 Centerline is valid? [True, True] Translation: X:307.59, Y:-94.36, Z:2.95 [[ 7.35880623e-01 6.76981420e-01 -1.32614636e-02 3.07591796e+02] [-6.76876904e-01 7.36000074e-01 1.18974285e-02 -9.43572186e+01] [ 1.78147762e-02 2.21291320e-04 9.99841280e-01 2.95030195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65232058799995 meters Centerline goodness [0,1] 0.9994055285841672 Centerline is valid? [True, True] Translation: X:307.63, Y:-94.39, Z:2.95 [[ 7.35543630e-01 6.77368717e-01 -1.21321668e-02 3.07627716e+02] [-6.77280714e-01 7.35643655e-01 1.09200423e-02 -9.43867394e+01] [ 1.63218465e-02 1.84715036e-04 9.99866773e-01 2.95183647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.682320588 meters Centerline goodness [0,1] 0.9997174609154267 Centerline is valid? [True, True] Translation: X:307.66, Y:-94.42, Z:2.95 [[ 7.32183243e-01 6.81002023e-01 -1.19976493e-02 3.07663676e+02] [-6.80915921e-01 7.32281495e-01 1.08314506e-02 -9.44196209e+01] [ 1.61618963e-02 2.38783786e-04 9.99869360e-01 2.95301079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71232058799995 meters Centerline goodness [0,1] 0.9998113919275745 Centerline is valid? [True, True] Translation: X:307.70, Y:-94.45, Z:2.95 [[ 7.30890878e-01 6.82390408e-01 -1.19103201e-02 3.07699602e+02] [-6.82304756e-01 7.30987880e-01 1.08138267e-02 -9.44494993e+01] [ 1.60855512e-02 2.22740732e-04 9.99870594e-01 2.95496497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.742320588 meters Centerline goodness [0,1] 0.9998115252320595 Centerline is valid? [True, True] Translation: X:307.74, Y:-94.48, Z:2.96 [[ 7.28945897e-01 6.84470225e-01 -1.17639277e-02 3.07740696e+02] [-6.84386720e-01 7.29040771e-01 1.06944719e-02 -9.44834815e+01] [ 1.58964305e-02 2.55384465e-04 9.99873611e-01 2.95693989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.77, Y:-94.51, Z:2.96 [[ 7.28036180e-01 6.85439961e-01 -1.16352796e-02 3.07774698e+02] [-6.85356900e-01 7.28129121e-01 1.06724949e-02 -9.45147744e+01] [ 1.57873404e-02 2.04356726e-04 9.99875351e-01 2.95993886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.802320588 meters Centerline goodness [0,1] 0.9998581627346225 Centerline is valid? [True, True] Translation: X:307.81, Y:-94.54, Z:2.96 [[ 7.27216239e-01 6.86324313e-01 -1.07461590e-02 3.07810201e+02] [-6.86253170e-01 7.27295609e-01 9.88352652e-03 -9.45444315e+01] [ 1.45989388e-02 1.87124720e-04 9.99893412e-01 2.96047152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83232058799996 meters Centerline goodness [0,1] 0.9999059841113148 Centerline is valid? [True, True] Translation: X:307.85, Y:-94.57, Z:2.96 [[ 7.26120247e-01 6.87477494e-01 -1.11391841e-02 3.07846798e+02] [-6.87400456e-01 7.26205660e-01 1.02932911e-02 -9.45743752e+01] [ 1.51657445e-02 1.82913153e-04 9.99884977e-01 2.96118046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.88, Y:-94.60, Z:2.96 [[ 7.26456369e-01 6.87109519e-01 -1.19018222e-02 3.07883697e+02] [-6.87020486e-01 7.26553845e-01 1.10617246e-02 -9.46035641e+01] [ 1.62479309e-02 1.40935399e-04 9.99867984e-01 2.96290559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89232058799996 meters Centerline goodness [0,1] 0.9999059841113148 Centerline is valid? [True, True] Translation: X:307.92, Y:-94.63, Z:2.97 [[ 7.25290021e-01 6.88333877e-01 -1.22824510e-02 3.07918261e+02] [-6.88238496e-01 7.25393999e-01 1.14594582e-02 -9.46344993e+01] [ 1.67975495e-02 1.41824916e-04 9.99858901e-01 2.96585575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:307.95, Y:-94.66, Z:2.97 [[ 7.26522733e-01 6.87056591e-01 -1.08609327e-02 3.07953198e+02] [-6.86981275e-01 7.26603906e-01 1.01731031e-02 -9.46646672e+01] [ 1.48810936e-02 7.02667633e-05 9.99889268e-01 2.96854355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.01, Y:-94.71, Z:2.97 [[ 7.23579167e-01 6.90143535e-01 -1.16228185e-02 3.08006584e+02] [-6.90058221e-01 7.23672490e-01 1.08526022e-02 -9.47063295e+01] [ 1.59009673e-02 1.67704613e-04 9.99873558e-01 2.97112169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.04, Y:-94.74, Z:2.97 [[ 7.22923238e-01 6.90823794e-01 -1.20198874e-02 3.08042276e+02] [-6.90729111e-01 7.23023156e-01 1.14372705e-02 -9.47360589e+01] [ 1.65917955e-02 3.42175234e-05 9.99862346e-01 2.97181306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01232058799997 meters Centerline goodness [0,1] 0.9999527967901818 Centerline is valid? [True, True] Translation: X:308.08, Y:-94.77, Z:2.97 [[ 7.22020375e-01 6.91747605e-01 -1.31083746e-02 3.08078521e+02] [-6.91634032e-01 7.22139357e-01 1.25345595e-02 -9.47672052e+01] [ 1.81368247e-02 1.59906373e-05 9.99835514e-01 2.97459458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.11, Y:-94.80, Z:2.98 [[ 7.22277459e-01 6.91476508e-01 -1.32480882e-02 3.08113701e+02] [-6.91359298e-01 7.22398946e-01 1.27311890e-02 -9.47969740e+01] [ 1.83737231e-02 -3.62618313e-05 9.99831188e-01 2.97633789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.07232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.15, Y:-94.83, Z:2.98 [[ 7.22699176e-01 6.91048582e-01 -1.25601614e-02 3.08149264e+02] [-6.90942235e-01 7.22808308e-01 1.21234770e-02 -9.48271785e+01] [ 1.74565005e-02 -8.32808559e-05 9.99847620e-01 2.97800040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.19, Y:-94.86, Z:2.98 [[ 7.23177822e-01 6.90541109e-01 -1.29156853e-02 3.08186441e+02] [-6.90427780e-01 7.23293135e-01 1.25108488e-02 -9.48581169e+01] [ 1.79810819e-02 -1.30220411e-04 9.99838319e-01 2.97848961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.13232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.22, Y:-94.89, Z:2.98 [[ 7.24046613e-01 6.89624192e-01 -1.32278374e-02 3.08221383e+02] [-6.89503892e-01 7.24167405e-01 1.28822473e-02 -9.48887271e+01] [ 1.84630780e-02 -2.06702155e-04 9.99829521e-01 2.98033988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.26, Y:-94.92, Z:2.98 [[ 7.23001304e-01 6.90732658e-01 -1.25502804e-02 3.08255170e+02] [-6.90623776e-01 7.23110196e-01 1.22655840e-02 -9.49200838e+01] [ 1.75474752e-02 -2.00511217e-04 9.99846011e-01 2.98238560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.29, Y:-94.95, Z:2.98 [[ 7.22873753e-01 6.90898304e-01 -1.06334544e-02 3.08290879e+02] [-6.90819880e-01 7.22951935e-01 1.04111973e-02 -9.49514463e+01] [ 1.48805550e-02 -1.80179565e-04 9.99889262e-01 2.98398045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.32, Y:-94.98, Z:2.98 [[ 7.21907256e-01 6.91920357e-01 -9.80480056e-03 3.08324719e+02] [-6.91853153e-01 7.21973814e-01 9.64499899e-03 -9.49828207e+01] [ 1.37523804e-02 -1.79312568e-04 9.99905415e-01 2.98371993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.36, Y:-95.01, Z:2.99 [[ 7.20208250e-01 6.93665371e-01 -1.13327064e-02 3.08358946e+02] [-6.93574907e-01 7.20297376e-01 1.12044388e-02 -9.50142195e+01] [ 1.59350498e-02 -2.09448483e-04 9.99873007e-01 2.98596999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.39, Y:-95.05, Z:2.99 [[ 7.18426210e-01 6.95508503e-01 -1.14761483e-02 3.08393095e+02] [-6.95415247e-01 7.18517836e-01 1.13909660e-02 -9.50460674e+01] [ 1.61683309e-02 -2.02880040e-04 9.99869263e-01 2.98754323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.61, Y:-93.78, Z:4.83 [[ 7.51211042e-01 -6.59184430e-01 3.40272936e-02 3.09614720e+02] [-6.58394260e-01 -7.51978966e-01 -3.23207805e-02 -9.37779356e+01] [ 4.68931643e-02 1.87635247e-03 -9.98898148e-01 4.82672343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.54, Y:-95.19, Z:3.00 [[ 7.72738199e-01 6.34585993e-01 -1.32775326e-02 3.08536136e+02] [-6.34486196e-01 7.72852212e-01 1.12572424e-02 -9.51903251e+01] [ 1.74052588e-02 -2.74490075e-04 9.99848479e-01 2.99526543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.57, Y:-95.22, Z:3.00 [[ 7.71777044e-01 6.35750184e-01 -1.34869433e-02 3.08570754e+02] [-6.35647663e-01 7.71894841e-01 1.14194002e-02 -9.52174667e+01] [ 1.76703877e-02 -2.40286951e-04 9.99843838e-01 2.99651768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.61, Y:-95.24, Z:3.00 [[ 7.71216328e-01 6.36410628e-01 -1.43835993e-02 3.08606203e+02] [-6.36293252e-01 7.71350398e-01 1.22254059e-02 -9.52449584e+01] [ 1.88751733e-02 -2.76245419e-04 9.99821810e-01 2.99874895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.64, Y:-95.28, Z:3.00 [[ 7.68053617e-01 6.40252021e-01 -1.30763621e-02 3.08642107e+02] [-6.40155139e-01 7.68164901e-01 1.11392319e-02 -9.52755651e+01] [ 1.71767181e-02 -1.84626984e-04 9.99852452e-01 2.99852888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.68, Y:-95.30, Z:3.00 [[ 7.65931902e-01 6.42774080e-01 -1.37769710e-02 3.08675255e+02] [-6.42665741e-01 7.66055774e-01 1.18024015e-02 -9.53048336e+01] [ 1.81402059e-02 -1.85848557e-04 9.99835436e-01 3.00075676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.492320588 meters Centerline goodness [0,1] 0.9999531747518262 Centerline is valid? [True, True] Translation: X:308.71, Y:-95.33, Z:3.00 [[ 7.63938944e-01 6.45159068e-01 -1.29254138e-02 3.08708429e+02] [-6.45063459e-01 7.64048267e-01 1.11076226e-02 -9.53343647e+01] [ 1.70418235e-02 -1.47833360e-04 9.99854767e-01 3.00274778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.74, Y:-95.36, Z:3.01 [[ 7.62617850e-01 6.46716594e-01 -1.31019426e-02 3.08743288e+02] [-6.46617860e-01 7.62730375e-01 1.13012312e-02 -9.53632279e+01] [ 1.73019434e-02 -1.46570592e-04 9.99850299e-01 3.00500962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.78, Y:-95.39, Z:3.01 [[ 7.61243819e-01 6.48323481e-01 -1.35835190e-02 3.08777700e+02] [-6.48216793e-01 7.61364986e-01 1.17621500e-02 -9.53913158e+01] [ 1.79676938e-02 -1.48798855e-04 9.99838557e-01 3.00587220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.81, Y:-95.42, Z:3.01 [[ 7.57862972e-01 6.52270368e-01 -1.36778363e-02 3.08810870e+02] [-6.52162036e-01 7.57986385e-01 1.18877692e-02 -9.54216447e+01] [ 1.81216532e-02 -8.91345057e-05 9.99835785e-01 3.00674198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.612320588 meters Centerline goodness [0,1] 0.9999532928538066 Centerline is valid? [True, True] Translation: X:308.84, Y:-95.45, Z:3.01 [[ 7.55334857e-01 6.55188830e-01 -1.40303354e-02 3.08844541e+02] [-6.55074500e-01 7.55465151e-01 1.22394970e-02 -9.54524814e+01] [ 1.86186112e-02 -5.40037657e-05 9.99826657e-01 3.00992005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:308.88, Y:-95.48, Z:3.01 [[ 7.53880957e-01 6.56868676e-01 -1.36764697e-02 3.08879236e+02] [-6.56759532e-01 7.54005001e-01 1.19739986e-02 -9.54824612e+01] [ 1.81774711e-02 -4.48176620e-05 9.99834775e-01 3.01195780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.672320588 meters Centerline goodness [0,1] 0.9999058734939759 Centerline is valid? [True, True] Translation: X:308.92, Y:-95.51, Z:3.01 [[ 7.50065552e-01 6.61215486e-01 -1.39910230e-02 3.08915977e+02] [-6.61101275e-01 7.50196028e-01 1.22891698e-02 -9.55142630e+01] [ 1.86217993e-02 3.18001551e-05 9.99826599e-01 3.01232257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70232058799996 meters Centerline goodness [0,1] 0.9998117115420825 Centerline is valid? [True, True] Translation: X:308.95, Y:-95.54, Z:3.01 [[ 7.48246558e-01 6.63280449e-01 -1.36431001e-02 3.08951001e+02] [-6.63170976e-01 7.48370928e-01 1.20503830e-02 -9.55430778e+01] [ 1.82028829e-02 3.10504273e-05 9.99834313e-01 3.01270523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73232058799994 meters Centerline goodness [0,1] 0.9999526021423831 Centerline is valid? [True, True] Translation: X:308.99, Y:-95.57, Z:3.01 [[ 7.46939733e-01 6.64762641e-01 -1.31021426e-02 3.08985394e+02] [-6.64661168e-01 7.47054637e-01 1.16146733e-02 -9.55730659e+01] [ 1.75090173e-02 3.30244229e-05 9.99846705e-01 3.01349618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76232058799997 meters Centerline goodness [0,1] 0.999953000892983 Centerline is valid? [True, True] Translation: X:309.02, Y:-95.60, Z:3.02 [[ 7.45003917e-01 6.66916000e-01 -1.38640938e-02 3.09019392e+02] [-6.66801734e-01 7.45132905e-01 1.23450834e-02 -9.56033568e+01] [ 1.85637261e-02 4.74663062e-05 9.99827678e-01 3.01633441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79232058799994 meters Centerline goodness [0,1] 0.9999531000844198 Centerline is valid? [True, True] Translation: X:309.05, Y:-95.63, Z:3.02 [[ 7.42966213e-01 6.69196051e-01 -1.33361012e-02 3.09054105e+02] [-6.69089953e-01 7.43085891e-01 1.19161153e-02 -9.56339937e+01] [ 1.78840859e-02 6.97802016e-05 9.99840065e-01 3.01790436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82232058799997 meters Centerline goodness [0,1] 0.9998114630467572 Centerline is valid? [True, True] Translation: X:309.09, Y:-95.66, Z:3.02 [[ 7.41308689e-01 6.71034139e-01 -1.32140521e-02 3.09089522e+02] [-6.70929451e-01 7.41426448e-01 1.18530193e-02 -9.56635644e+01] [ 1.77510283e-02 7.89505452e-05 9.99842435e-01 3.01797495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85232058799994 meters Centerline goodness [0,1] 0.9999048615735896 Centerline is valid? [True, True] Translation: X:309.13, Y:-95.69, Z:3.02 [[ 7.40254900e-01 6.72196922e-01 -1.31901850e-02 3.09127884e+02] [-6.72092141e-01 7.40372401e-01 1.18685606e-02 -9.56942729e+01] [ 1.77436589e-02 7.92595450e-05 9.99842566e-01 3.01890604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88232058799997 meters Centerline goodness [0,1] 0.9997644620312794 Centerline is valid? [True, True] Translation: X:309.16, Y:-95.72, Z:3.02 [[ 7.37126284e-01 6.75640118e-01 -1.24608553e-02 3.09162339e+02] [-6.75546081e-01 7.37231591e-01 1.12726969e-02 -9.57249553e+01] [ 1.68028224e-02 1.08480805e-04 9.99858817e-01 3.01895103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.91232058799994 meters Centerline goodness [0,1] 0.9998125585754452 Centerline is valid? [True, True] Translation: X:309.22, Y:-95.77, Z:3.02 [[ 7.31823874e-01 6.81365323e-01 -1.32330789e-02 3.09222589e+02] [-6.81261108e-01 7.31943448e-01 1.19202119e-02 -9.57728133e+01] [ 1.78078845e-02 2.91686328e-04 9.99841385e-01 3.02278838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.942320588 meters Centerline goodness [0,1] 0.9999528235127613 Centerline is valid? [True, True] Translation: X:309.27, Y:-95.81, Z:3.03 [[ 7.28514401e-01 6.84898863e-01 -1.34281323e-02 3.09272449e+02] [-6.84787901e-01 7.28638114e-01 1.23299794e-02 -9.58138780e+01] [ 1.82290378e-02 2.12854979e-04 9.99833815e-01 3.02561351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.97232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.31, Y:-95.85, Z:3.03 [[ 7.25932600e-01 6.87651478e-01 -1.25421038e-02 3.09309079e+02] [-6.87552508e-01 7.26040922e-01 1.16674189e-02 -9.58450204e+01] [ 1.71291984e-02 1.53595155e-04 9.99853273e-01 3.02675424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.34, Y:-95.87, Z:3.03 [[ 7.24572226e-01 6.89089379e-01 -1.22848007e-02 3.09344305e+02] [-6.88993729e-01 7.24676346e-01 1.14819318e-02 -9.58747991e+01] [ 1.68145817e-02 1.44661730e-04 9.99858614e-01 3.02856184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03232058799995 meters Centerline goodness [0,1] 0.9998597409883585 Centerline is valid? [True, True] Translation: X:309.38, Y:-95.91, Z:3.03 [[ 7.22020498e-01 6.91731874e-01 -1.39073711e-02 3.09378201e+02] [-6.91608422e-01 7.22154403e-01 1.30693799e-02 -9.59065578e+01] [ 1.90837759e-02 1.82094800e-04 9.99817872e-01 3.03155647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.062320588 meters Centerline goodness [0,1] 0.9998595768582662 Centerline is valid? [True, True] Translation: X:309.44, Y:-95.96, Z:3.03 [[ 7.16701221e-01 6.97232050e-01 -1.43815388e-02 3.09443308e+02] [-6.97101994e-01 7.16845403e-01 1.34713773e-02 -9.59576115e+01] [ 1.97020160e-02 3.70446781e-04 9.99805828e-01 3.03403144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09232058799995 meters Centerline goodness [0,1] 0.9998589164785553 Centerline is valid? [True, True] Translation: X:309.48, Y:-95.99, Z:3.03 [[ 7.15218569e-01 6.98752378e-01 -1.44052671e-02 3.09479400e+02] [-6.98615494e-01 7.15363603e-01 1.38313638e-02 -9.59894817e+01] [ 1.99697021e-02 1.71294591e-04 9.99800571e-01 3.03488359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.52, Y:-96.02, Z:3.03 [[ 7.15184642e-01 6.98834910e-01 -1.18616085e-02 3.09521089e+02] [-6.98741802e-01 7.15282988e-01 1.14079927e-02 -9.60232521e+01] [ 1.64567103e-02 1.29380529e-04 9.99864571e-01 3.03431579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.56, Y:-96.05, Z:3.04 [[ 7.15152892e-01 6.98868812e-01 -1.17781055e-02 3.09556266e+02] [-6.98775523e-01 7.15249872e-01 1.14188195e-02 -9.60540104e+01] [ 1.64045453e-02 6.40500596e-05 9.99865434e-01 3.03598972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.182320588 meters Centerline goodness [0,1] 0.9999526918346107 Centerline is valid? [True, True] Translation: X:309.59, Y:-96.09, Z:3.04 [[ 7.13223323e-01 7.00829634e-01 -1.22603600e-02 3.09590851e+02] [-7.00727831e-01 7.13328690e-01 1.19451661e-02 -9.60856590e+01] [ 1.71171928e-02 7.16044179e-05 9.99853488e-01 3.03898666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21232058799995 meters Centerline goodness [0,1] 0.9999057848125118 Centerline is valid? [True, True] Translation: X:309.62, Y:-96.12, Z:3.04 [[ 7.09518703e-01 7.04575179e-01 -1.25310356e-02 3.09624823e+02] [-7.04468375e-01 7.09629341e-01 1.22681023e-02 -9.61167773e+01] [ 1.75361909e-02 1.23270269e-04 9.99846222e-01 3.03965830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:309.66, Y:-96.15, Z:3.04 [[ 7.07917523e-01 7.06175664e-01 -1.29889569e-02 3.09660452e+02] [-7.06060154e-01 7.08036662e-01 1.27727935e-02 -9.61498360e+01] [ 1.82164936e-02 1.28900509e-04 9.99834058e-01 3.04113758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27232058799996 meters Centerline goodness [0,1] 0.999953093484685 Centerline is valid? [True, True] Translation: X:309.69, Y:-96.18, Z:3.04 [[ 7.07022199e-01 7.07088522e-01 -1.20595642e-02 3.09694939e+02] [-7.06988202e-01 7.07125033e-01 1.19109615e-02 -9.61821410e+01] [ 1.69497239e-02 1.04655399e-04 9.99856338e-01 3.04283992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.302320588 meters Centerline goodness [0,1] 0.999953071472148 Centerline is valid? [True, True] Translation: X:309.73, Y:-96.21, Z:3.04 [[ 7.06443758e-01 7.07674097e-01 -1.16012290e-02 3.09730438e+02] [-7.07580573e-01 7.06539005e-01 1.15050974e-02 -9.62139305e+01] [ 1.63385802e-02 8.10999843e-05 9.99866513e-01 3.04433189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33232058799996 meters Centerline goodness [0,1] 0.9999510715334181 Centerline is valid? [True, True] Translation: X:310.96, Y:-94.91, Z:4.88 [[ 7.60681531e-01 -6.48203812e-01 3.45749505e-02 3.10964652e+02] [-6.47379048e-01 -7.61462587e-01 -3.27886598e-02 -9.49118879e+01] [ 4.75812655e-02 2.55862936e-03 -9.98864093e-01 4.88456239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.362320588 meters Centerline goodness [0,1] 0.9999524963184647 Centerline is valid? [True, True] Translation: X:309.87, Y:-96.35, Z:3.05 [[ 7.62243060e-01 6.47146957e-01 -1.36503744e-02 3.09867514e+02] [-6.47043420e-01 7.62365277e-01 1.15756862e-02 -9.63463001e+01] [ 1.78977416e-02 8.89844319e-06 9.99839823e-01 3.04891747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39232058799996 meters Centerline goodness [0,1] 0.9999519022654033 Centerline is valid? [True, True] Translation: X:309.90, Y:-96.37, Z:3.05 [[ 7.61159576e-01 6.48431744e-01 -1.31291430e-02 3.09903140e+02] [-6.48336478e-01 7.61272797e-01 1.11148918e-02 -9.63741344e+01] [ 1.72021081e-02 5.18959801e-05 9.99852031e-01 3.04938929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.422320588 meters Centerline goodness [0,1] 0.9999519022654033 Centerline is valid? [True, True] Translation: X:309.94, Y:-96.40, Z:3.05 [[ 7.59925523e-01 6.49877946e-01 -1.31093198e-02 3.09938424e+02] [-6.49782493e-01 7.60038586e-01 1.11381874e-02 -9.64022698e+01] [ 1.72020512e-02 5.40136399e-05 9.99852032e-01 3.05088395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45232058799996 meters Centerline goodness [0,1] 0.999858075503832 Centerline is valid? [True, True] Translation: X:309.97, Y:-96.43, Z:3.05 [[ 7.58312356e-01 6.51757694e-01 -1.32014674e-02 3.09973237e+02] [-6.51660416e-01 7.58427257e-01 1.12604628e-02 -9.64319975e+01] [ 1.73514460e-02 6.39256390e-05 9.99849450e-01 3.05338235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48232058799994 meters Centerline goodness [0,1] 0.9999531725591196 Centerline is valid? [True, True] Translation: X:310.01, Y:-96.46, Z:3.06 [[ 7.57214586e-01 6.53036500e-01 -1.30153807e-02 3.10008479e+02] [-6.52941419e-01 7.57326433e-01 1.11435236e-02 -9.64603698e+01] [ 1.71340194e-02 6.02425408e-05 9.99853200e-01 3.05542397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51232058799997 meters Centerline goodness [0,1] 0.999905325443787 Centerline is valid? [True, True] Translation: X:310.04, Y:-96.49, Z:3.06 [[ 7.56301374e-01 6.54092861e-01 -1.30675884e-02 3.10044611e+02] [-6.53996422e-01 7.56414256e-01 1.12318115e-02 -9.64889945e+01] [ 1.72311579e-02 5.15215383e-05 9.99851531e-01 3.05723119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54232058799994 meters Centerline goodness [0,1] 0.9998586905322656 Centerline is valid? [True, True] Translation: X:310.08, Y:-96.52, Z:3.06 [[ 7.54872404e-01 6.55711494e-01 -1.44945280e-02 3.10080374e+02] [-6.55592044e-01 7.55011546e-01 1.25154899e-02 -9.65174355e+01] [ 1.91500865e-02 5.48992925e-05 9.99816619e-01 3.05892396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.57232058799997 meters Centerline goodness [0,1] 0.9999062705033274 Centerline is valid? [True, True] Translation: X:310.12, Y:-96.55, Z:3.06 [[ 7.52864514e-01 6.58007409e-01 -1.48752659e-02 3.10115490e+02] [-6.57881036e-01 7.53011450e-01 1.28957158e-02 -9.65465876e+01] [ 1.96867221e-02 7.74284854e-05 9.99806195e-01 3.06086262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60232058799994 meters Centerline goodness [0,1] 0.9999062001688397 Centerline is valid? [True, True] Translation: X:310.15, Y:-96.58, Z:3.06 [[ 7.51044342e-01 6.60080225e-01 -1.50496672e-02 3.10150536e+02] [-6.59950268e-01 7.51195106e-01 1.30979679e-02 -9.65755523e+01] [ 1.99509460e-02 9.48771447e-05 9.99800956e-01 3.06334163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.63232058799997 meters Centerline goodness [0,1] 0.9996716235868086 Centerline is valid? [True, True] Translation: X:310.19, Y:-96.61, Z:3.07 [[ 7.48693126e-01 6.62758499e-01 -1.44835877e-02 3.10185466e+02] [-6.62637757e-01 7.48833196e-01 1.26509701e-02 -9.66050844e+01] [ 1.92303292e-02 1.25677689e-04 9.99815072e-01 3.06537260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66232058799994 meters Centerline goodness [0,1] 0.9999064239928882 Centerline is valid? [True, True] Translation: X:310.22, Y:-96.63, Z:3.07 [[ 7.47074866e-01 6.64571901e-01 -1.49443288e-02 3.10220880e+02] [-6.64442669e-01 7.47224310e-01 1.31061511e-02 -9.66344264e+01] [ 1.98767455e-02 1.38373584e-04 9.99802428e-01 3.06766747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.692320588 meters Centerline goodness [0,1] 0.9995731967562953 Centerline is valid? [True, True] Translation: X:310.26, Y:-96.66, Z:3.07 [[ 7.45560461e-01 6.66250973e-01 -1.57873216e-02 3.10256564e+02] [-6.66105902e-01 7.45727577e-01 1.39035699e-02 -9.66633134e+01] [ 2.10363081e-02 1.50076079e-04 9.99778701e-01 3.06913347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72232058799995 meters Centerline goodness [0,1] 0.9995306486435745 Centerline is valid? [True, True] Translation: X:310.29, Y:-96.69, Z:3.07 [[ 7.44700141e-01 6.67192763e-01 -1.65986873e-02 3.10291703e+02] [-6.67031294e-01 7.44885090e-01 1.46784281e-02 -9.66921183e+01] [ 2.21574557e-02 1.40816426e-04 9.99754484e-01 3.07106160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.752320588 meters Centerline goodness [0,1] 0.9996237949682577 Centerline is valid? [True, True] Translation: X:310.33, Y:-96.72, Z:3.07 [[ 7.43713653e-01 6.68280842e-01 -1.70504521e-02 3.10326552e+02] [-6.68109377e-01 7.43909066e-01 1.51380998e-02 -9.67208599e+01] [ 2.28004880e-02 1.33155471e-04 9.99740026e-01 3.07262628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78232058799995 meters Centerline goodness [0,1] 0.9996698891770809 Centerline is valid? [True, True] Translation: X:310.36, Y:-96.75, Z:3.07 [[ 7.43480600e-01 6.68570565e-01 -1.58112998e-02 3.10361810e+02] [-6.68422171e-01 7.43648701e-01 1.40858467e-02 -9.67493797e+01] [ 2.11754350e-02 9.60695954e-05 9.99775771e-01 3.07386323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.812320588 meters Centerline goodness [0,1] 0.9999520130524497 Centerline is valid? [True, True] Translation: X:310.41, Y:-96.78, Z:3.07 [[ 7.41250953e-01 6.71104722e-01 -1.28637541e-02 3.10405013e+02] [-6.71006924e-01 7.41362551e-01 1.14575816e-02 -9.67836185e+01] [ 1.72259427e-02 1.38724804e-04 9.99851613e-01 3.07391416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84232058799995 meters Centerline goodness [0,1] 0.9998097683930185 Centerline is valid? [True, True] Translation: X:310.44, Y:-96.82, Z:3.08 [[ 7.40011259e-01 6.72448417e-01 -1.40164935e-02 3.10442414e+02] [-6.72330303e-01 7.40143984e-01 1.26034524e-02 -9.68160319e+01] [ 1.88493950e-02 9.70165905e-05 9.99822330e-01 3.07821548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.872320588 meters Centerline goodness [0,1] 0.9999530912843606 Centerline is valid? [True, True] Translation: X:310.48, Y:-96.85, Z:3.08 [[ 7.39493896e-01 6.73003249e-01 -1.46766723e-02 3.10478481e+02] [-6.72872275e-01 7.39639523e-01 1.32769821e-02 -9.68455113e+01] [ 1.97908990e-02 5.72786310e-05 9.99804139e-01 3.07950301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90232058799995 meters Centerline goodness [0,1] 0.9996676005508334 Centerline is valid? [True, True] Translation: X:310.51, Y:-96.87, Z:3.08 [[ 7.38582692e-01 6.73998921e-01 -1.48681337e-02 3.10514377e+02] [-6.73863617e-01 7.38732328e-01 1.35045409e-02 -9.68747069e+01] [ 2.00856170e-02 4.48741600e-05 9.99798263e-01 3.07991069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.932320588 meters Centerline goodness [0,1] 0.9999062836793028 Centerline is valid? [True, True] Translation: X:310.55, Y:-96.90, Z:3.08 [[ 7.37560950e-01 6.75115732e-01 -1.49195435e-02 3.10550736e+02] [-6.74978630e-01 7.37711832e-01 1.36052354e-02 -9.69038977e+01] [ 2.01914322e-02 3.56827151e-05 9.99796132e-01 3.07945534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96232058799995 meters Centerline goodness [0,1] 0.9998089506615083 Centerline is valid? [True, True] Translation: X:310.62, Y:-96.95, Z:3.08 [[ 7.32069042e-01 6.81054092e-01 -1.54997316e-02 3.10616587e+02] [-6.80908213e-01 7.32233070e-01 1.40973949e-02 -9.69538705e+01] [ 2.09505046e-02 2.33628161e-04 9.99780487e-01 3.08260514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.992320588 meters Centerline goodness [0,1] 0.9995259315445151 Centerline is valid? [True, True] Translation: X:310.65, Y:-96.99, Z:3.08 [[ 7.29526271e-01 6.83778082e-01 -1.54581275e-02 3.10650612e+02] [-6.83626533e-01 7.29690023e-01 1.43956171e-02 -9.69851719e+01] [ 2.11230489e-02 6.56052311e-05 9.99776881e-01 3.08348126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02232058799996 meters Centerline goodness [0,1] 0.9991061767888225 Centerline is valid? [True, True] Translation: X:310.69, Y:-97.02, Z:3.09 [[ 7.27045738e-01 6.86404378e-01 -1.59224670e-02 3.10689914e+02] [-6.86243173e-01 7.27220061e-01 1.48758312e-02 -9.70189560e+01] [ 2.17899731e-02 1.11274666e-04 9.99762564e-01 3.08539338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.052320588 meters Centerline goodness [0,1] 0.9994242395163612 Centerline is valid? [True, True] Translation: X:310.72, Y:-97.05, Z:3.09 [[ 7.25369266e-01 6.88165930e-01 -1.63425818e-02 3.10724066e+02] [-6.87994194e-01 7.25553336e-01 1.53735257e-02 -9.70500274e+01] [ 2.24369513e-02 9.21183337e-05 9.99748256e-01 3.08714335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08232058799996 meters Centerline goodness [0,1] 0.9991085253131892 Centerline is valid? [True, True] Translation: X:310.76, Y:-97.08, Z:3.09 [[ 7.23108206e-01 6.90560464e-01 -1.55166970e-02 3.10758211e+02] [-6.90405059e-01 7.23274658e-01 1.46500046e-02 -9.70811085e+01] [ 2.13395476e-02 1.19267549e-04 9.99772279e-01 3.08770077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.112320588 meters Centerline goodness [0,1] 0.999060856498873 Centerline is valid? [True, True] Translation: X:310.79, Y:-97.11, Z:3.09 [[ 7.21268522e-01 6.92483211e-01 -1.54506085e-02 3.10792802e+02] [-6.92328427e-01 7.21433977e-01 1.46412296e-02 -9.71114073e+01] [ 2.12853996e-02 1.36637445e-04 9.99773431e-01 3.08836326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14232058799996 meters Centerline goodness [0,1] 0.9989581853482976 Centerline is valid? [True, True] Translation: X:310.83, Y:-97.14, Z:3.09 [[ 7.19093397e-01 6.94725213e-01 -1.61729484e-02 3.10827137e+02] [-6.94554562e-01 7.19275227e-01 1.53983255e-02 -9.71424993e+01] [ 2.23304061e-02 1.60160872e-04 9.99750633e-01 3.08994776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.172320588 meters Centerline goodness [0,1] 0.999200112925234 Centerline is valid? [True, True] Translation: X:310.86, Y:-97.17, Z:3.09 [[ 7.17042663e-01 6.96847209e-01 -1.59307140e-02 3.10863901e+02] [-6.96680815e-01 7.17219587e-01 1.52284970e-02 -9.71748868e+01] [ 2.20377557e-02 1.79140782e-04 9.99757123e-01 3.09079443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20232058799996 meters Centerline goodness [0,1] 0.9991900133409567 Centerline is valid? [True, True] Translation: X:310.90, Y:-97.21, Z:3.09 [[ 7.15291607e-01 6.98665551e-01 -1.49787805e-02 3.10899335e+02] [-6.98517379e-01 7.15448404e-01 1.43893200e-02 -9.72066968e+01] [ 2.07698668e-02 1.70378676e-04 9.99784269e-01 3.09151612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.23232058799994 meters Centerline goodness [0,1] 0.999201465545587 Centerline is valid? [True, True] Translation: X:310.93, Y:-97.24, Z:3.09 [[ 7.14156631e-01 6.99859171e-01 -1.33208921e-02 3.10933617e+02] [-6.99741232e-01 7.14280841e-01 1.28487079e-02 -9.72379818e+01] [ 1.85071441e-02 1.45187477e-04 9.99828718e-01 3.09216391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26232058799997 meters Centerline goodness [0,1] 0.9991017397881997 Centerline is valid? [True, True] Translation: X:310.97, Y:-97.27, Z:3.09 [[ 7.12282450e-01 7.01771848e-01 -1.30378516e-02 3.10972095e+02] [-7.01658475e-01 7.12401746e-01 1.26149462e-02 -9.72729704e+01] [ 1.81410023e-02 1.62714302e-04 9.99835425e-01 3.09427596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.29232058799994 meters Centerline goodness [0,1] 0.9985377358490566 Centerline is valid? [True, True] Translation: X:311.01, Y:-97.31, Z:3.10 [[ 7.11218060e-01 7.02853273e-01 -1.28898029e-02 3.11008845e+02] [-7.02741157e-01 7.11334843e-01 1.25541588e-02 -9.73066249e+01] [ 1.79926975e-02 1.29450572e-04 9.99838110e-01 3.09610755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32232058799997 meters Centerline goodness [0,1] 0.9986126393340669 Centerline is valid? [True, True] Translation: X:311.04, Y:-97.34, Z:3.10 [[ 7.09936960e-01 7.04139451e-01 -1.33096257e-02 3.11043933e+02] [-7.04018799e-01 7.10061701e-01 1.30350159e-02 -9.73377335e+01] [ 1.86291244e-02 1.16187124e-04 9.99826456e-01 3.09762630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.35232058799994 meters Centerline goodness [0,1] 0.9990163012928611 Centerline is valid? [True, True] Translation: X:311.08, Y:-97.37, Z:3.10 [[ 7.08357974e-01 7.05735087e-01 -1.29215904e-02 3.11079379e+02] [-7.05620620e-01 7.08475810e-01 1.27108758e-02 -9.73681922e+01] [ 1.81251453e-02 1.13890365e-04 9.99835720e-01 3.09681892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38232058799997 meters Centerline goodness [0,1] 0.9988256846258631 Centerline is valid? [True, True] Translation: X:311.11, Y:-97.40, Z:3.10 [[ 7.06134701e-01 7.07963380e-01 -1.27136577e-02 3.11113466e+02] [-7.07851990e-01 7.06249131e-01 1.25588816e-02 -9.73999079e+01] [ 1.78702380e-02 1.31125785e-04 9.99840306e-01 3.09832102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.41232058799994 meters Centerline goodness [0,1] 0.998811956470085 Centerline is valid? [True, True] Translation: X:311.15, Y:-97.43, Z:3.10 [[ 7.04392110e-01 7.09692994e-01 -1.29463827e-02 3.11148191e+02] [-7.09576680e-01 7.04511061e-01 1.28490984e-02 -9.74322016e+01] [ 1.82397850e-02 1.35647675e-04 9.99833632e-01 3.10063135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.442320588 meters Centerline goodness [0,1] 0.9989626556016598 Centerline is valid? [True, True] Translation: X:312.38, Y:-96.13, Z:4.95 [[ 7.64559490e-01 -6.43756918e-01 3.20283959e-02 3.12382651e+02] [-6.43035211e-01 -7.65224920e-01 -3.06029307e-02 -9.61334264e+01] [ 4.42097750e-02 2.80237480e-03 -9.99018339e-01 4.94809045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.47232058799995 meters Centerline goodness [0,1] 0.9986840868502679 Centerline is valid? [True, True] Translation: X:311.29, Y:-97.57, Z:3.11 [[ 7.59358994e-01 6.50502509e-01 -1.48460149e-02 3.11286360e+02] [-6.50380789e-01 7.59504098e-01 1.25838579e-02 -9.75674149e+01] [ 1.94614403e-02 9.98971989e-05 9.99810603e-01 3.10523402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.502320588 meters Centerline goodness [0,1] 0.998871544103818 Centerline is valid? [True, True] Translation: X:311.32, Y:-97.60, Z:3.11 [[ 7.58164082e-01 6.51933307e-01 -1.30456191e-02 3.11322511e+02] [-6.51839904e-01 7.58276298e-01 1.10361179e-02 -9.75955870e+01] [ 1.70869966e-02 1.36466941e-04 9.99853997e-01 3.10615682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53232058799995 meters Centerline goodness [0,1] 0.9986759351208209 Centerline is valid? [True, True] Translation: X:311.36, Y:-97.62, Z:3.11 [[ 7.56273986e-01 6.54101476e-01 -1.41745508e-02 3.11357523e+02] [-6.53990588e-01 7.56406791e-01 1.20447896e-02 -9.76244931e+01] [ 1.86002411e-02 1.60861795e-04 9.99826988e-01 3.10947238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.562320588 meters Centerline goodness [0,1] 0.9985462389795535 Centerline is valid? [True, True] Translation: X:311.39, Y:-97.65, Z:3.11 [[ 7.53581151e-01 6.57201063e-01 -1.42201246e-02 3.11393312e+02] [-6.57089236e-01 7.53715278e-01 1.21250001e-02 -9.76536582e+01] [ 1.86864881e-02 2.06719279e-04 9.99825371e-01 3.11180556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59232058799995 meters Centerline goodness [0,1] 0.998588633797516 Centerline is valid? [True, True] Translation: X:311.43, Y:-97.68, Z:3.11 [[ 7.51816302e-01 6.59219054e-01 -1.42297956e-02 3.11429212e+02] [-6.59106308e-01 7.51950925e-01 1.21934842e-02 -9.76815171e+01] [ 1.87382851e-02 2.11687848e-04 9.99824401e-01 3.11285372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.622320588 meters Centerline goodness [0,1] 0.9980795083541386 Centerline is valid? [True, True] Translation: X:311.47, Y:-97.71, Z:3.11 [[ 7.50610976e-01 6.60609168e-01 -1.33674696e-02 3.11465800e+02] [-6.60509199e-01 7.50729969e-01 1.14939798e-02 -9.77087364e+01] [ 1.76283884e-02 2.01829238e-04 9.99844588e-01 3.11396260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65232058799995 meters Centerline goodness [0,1] 0.998251583026179 Centerline is valid? [True, True] Translation: X:311.50, Y:-97.74, Z:3.11 [[ 7.48449719e-01 6.63059748e-01 -1.32207864e-02 3.11501797e+02] [-6.62961593e-01 7.48566444e-01 1.14107527e-02 -9.77369392e+01] [ 1.74626479e-02 2.24498993e-04 9.99847491e-01 3.11434698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.682320588 meters Centerline goodness [0,1] 0.998536078579524 Centerline is valid? [True, True] Translation: X:311.54, Y:-97.77, Z:3.12 [[ 7.45979994e-01 6.65829101e-01 -1.36182070e-02 3.11537631e+02] [-6.65724575e-01 7.46104241e-01 1.18005036e-02 -9.77661062e+01] [ 1.80177208e-02 2.63035460e-04 9.99837633e-01 3.11618473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71232058799995 meters Centerline goodness [0,1] 0.9982602153571261 Centerline is valid? [True, True] Translation: X:311.57, Y:-97.80, Z:3.12 [[ 7.44376763e-01 6.67625227e-01 -1.34086021e-02 3.11572778e+02] [-6.67523385e-01 7.44497471e-01 1.16638772e-02 -9.77958430e+01] [ 1.77697690e-02 2.68236291e-04 9.99842069e-01 3.11808639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.742320588 meters Centerline goodness [0,1] 0.9979936944683291 Centerline is valid? [True, True] Translation: X:311.61, Y:-97.82, Z:3.12 [[ 7.42253579e-01 6.69974711e-01 -1.39108439e-02 3.11607966e+02] [-6.69864543e-01 7.42383862e-01 1.21530276e-02 -9.78248538e+01] [ 1.84694072e-02 2.97752868e-04 9.99829382e-01 3.12236418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77232058799996 meters Centerline goodness [0,1] 0.997818457744475 Centerline is valid? [True, True] Translation: X:311.64, Y:-97.85, Z:3.12 [[ 7.40160491e-01 6.72290130e-01 -1.37269497e-02 3.11643859e+02] [-6.72182428e-01 7.40287701e-01 1.20375757e-02 -9.78529345e+01] [ 1.82546354e-02 3.17276421e-04 9.99833320e-01 3.12276672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.802320588 meters Centerline goodness [0,1] 0.9976421767424314 Centerline is valid? [True, True] Translation: X:311.68, Y:-97.88, Z:3.12 [[ 7.37417059e-01 6.75301554e-01 -1.35607291e-02 3.11679228e+02] [-6.75196140e-01 7.37541651e-01 1.19367748e-02 -9.78819959e+01] [ 1.80625251e-02 3.53770593e-04 9.99836797e-01 3.12321994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83232058799996 meters Centerline goodness [0,1] 0.9974441499432033 Centerline is valid? [True, True] Translation: X:311.72, Y:-97.91, Z:3.12 [[ 7.34174288e-01 6.78826869e-01 -1.34979978e-02 3.11719013e+02] [-6.78722514e-01 7.34298241e-01 1.19097180e-02 -9.79141226e+01] [ 1.79961926e-02 4.17586292e-04 9.99837968e-01 3.12437664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.862320588 meters Centerline goodness [0,1] 0.9975769669327252 Centerline is valid? [True, True] Translation: X:311.75, Y:-97.94, Z:3.13 [[ 7.32515979e-01 6.80619973e-01 -1.32963737e-02 3.11754792e+02] [-6.80517629e-01 7.32636536e-01 1.18094025e-02 -9.79437314e+01] [ 1.77791244e-02 3.97840686e-04 9.99841860e-01 3.12650642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89232058799996 meters Centerline goodness [0,1] 0.9976610978520286 Centerline is valid? [True, True] Translation: X:311.79, Y:-97.97, Z:3.13 [[ 7.29935175e-01 6.83359577e-01 -1.46399660e-02 3.11790168e+02] [-6.83234651e-01 7.30081830e-01 1.30741387e-02 -9.79739284e+01] [ 1.96227111e-02 4.59258412e-04 9.99807351e-01 3.12902677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.922320588 meters Centerline goodness [0,1] 0.9971249469764811 Centerline is valid? [True, True] Translation: X:311.83, Y:-98.00, Z:3.13 [[ 7.27640823e-01 6.85796871e-01 -1.48823979e-02 3.11825211e+02] [-6.85667202e-01 7.27792833e-01 1.33446457e-02 -9.80036249e+01] [ 1.99830188e-02 4.94263125e-04 9.99800197e-01 3.13061874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95232058799996 meters Centerline goodness [0,1] 0.9968485418626528 Centerline is valid? [True, True] Translation: X:311.87, Y:-98.04, Z:3.13 [[ 7.25316865e-01 6.88275150e-01 -1.38839255e-02 3.11866626e+02] [-6.88162330e-01 7.25449557e-01 1.24719236e-02 -9.80364946e+01] [ 1.86562027e-02 5.08297979e-04 9.99825829e-01 3.13100592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98232058799994 meters Centerline goodness [0,1] 0.996780912705927 Centerline is valid? [True, True] Translation: X:311.91, Y:-98.07, Z:3.13 [[ 7.23205501e-01 6.90497086e-01 -1.36958798e-02 3.11909811e+02] [-6.90386379e-01 7.23334997e-01 1.23745563e-02 -9.80714876e+01] [ 1.84513042e-02 5.06101660e-04 9.99829632e-01 3.13310349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01232058799997 meters Centerline goodness [0,1] 0.9971706120909176 Centerline is valid? [True, True] Translation: X:311.95, Y:-98.10, Z:3.13 [[ 7.21303501e-01 6.92490077e-01 -1.33698442e-02 3.11947120e+02] [-6.92383066e-01 7.21427247e-01 1.21826734e-02 -9.81029219e+01] [ 1.80817503e-02 4.69648676e-04 9.99836401e-01 3.13404847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04232058799994 meters Centerline goodness [0,1] 0.9962495897988842 Centerline is valid? [True, True] Translation: X:311.98, Y:-98.13, Z:3.14 [[ 7.18969030e-01 6.94873891e-01 -1.52908076e-02 3.11982060e+02] [-6.94732680e-01 7.19131406e-01 1.40186944e-02 -9.81324196e+01] [ 2.07373247e-02 5.44016559e-04 9.99784811e-01 3.13699715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.07232058799997 meters Centerline goodness [0,1] 0.9959575068158315 Centerline is valid? [True, True] Translation: X:312.02, Y:-98.16, Z:3.14 [[ 7.17643936e-01 6.96225687e-01 -1.60303702e-02 3.12017833e+02] [-6.96069300e-01 7.17822734e-01 1.47666021e-02 -9.81622043e+01] [ 2.17878519e-02 5.61086142e-04 9.99762459e-01 3.13882276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10232058799994 meters Centerline goodness [0,1] 0.9960033853676885 Centerline is valid? [True, True] Translation: X:312.05, Y:-98.19, Z:3.14 [[ 7.15512494e-01 6.98417553e-01 -1.59622228e-02 3.12052837e+02] [-6.98261555e-01 7.15690289e-01 1.47719876e-02 -9.81932872e+01] [ 2.17410233e-02 5.76264812e-04 9.99763470e-01 3.14005108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.13232058799997 meters Centerline goodness [0,1] 0.9961364493026762 Centerline is valid? [True, True] Translation: X:312.09, Y:-98.22, Z:3.14 [[ 7.13851572e-01 7.00119193e-01 -1.57812742e-02 3.12087772e+02] [-6.99965977e-01 7.14025753e-01 1.46579473e-02 -9.82240774e+01] [ 2.15305464e-02 5.82756235e-04 9.99768021e-01 3.14250519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16232058799994 meters Centerline goodness [0,1] 0.9962504686914135 Centerline is valid? [True, True] Translation: X:312.12, Y:-98.25, Z:3.14 [[ 7.11658293e-01 7.02368585e-01 -1.48608635e-02 3.12123251e+02] [-7.02232078e-01 7.11813207e-01 1.38587781e-02 -9.82542967e+01] [ 2.03121293e-02 5.73060733e-04 9.99793523e-01 3.14303442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.192320588 meters Centerline goodness [0,1] 0.9964530621896429 Centerline is valid? [True, True] Translation: X:312.16, Y:-98.29, Z:3.14 [[ 7.09676169e-01 7.04383022e-01 -1.42931220e-02 3.12158417e+02] [-7.04255987e-01 7.09819864e-01 1.33890234e-02 -9.82851213e+01] [ 1.95765427e-02 5.64145939e-04 9.99808202e-01 3.14383976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22232058799995 meters Centerline goodness [0,1] 0.9957675480311965 Centerline is valid? [True, True] Translation: X:312.19, Y:-98.32, Z:3.15 [[ 7.08002156e-01 7.06067932e-01 -1.41782554e-02 3.12193151e+02] [-7.05942343e-01 7.08143876e-01 1.33289302e-02 -9.83157721e+01] [ 1.94513750e-02 5.72119519e-04 9.99810640e-01 3.14568567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.252320588 meters Centerline goodness [0,1] 0.9959293137301853 Centerline is valid? [True, True] Translation: X:312.24, Y:-98.35, Z:3.15 [[ 7.05748643e-01 7.08299999e-01 -1.51645801e-02 3.12235737e+02] [-7.08155797e-01 7.05911255e-01 1.43062209e-02 -9.83521842e+01] [ 2.08379440e-02 6.42289335e-04 9.99782660e-01 3.14867068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28232058799995 meters Centerline goodness [0,1] 0.9963769820731191 Centerline is valid? [True, True] Translation: X:312.27, Y:-98.38, Z:3.15 [[ 7.04319787e-01 7.09719771e-01 -1.52146061e-02 3.12270697e+02] [-7.09572358e-01 7.04483845e-01 1.44769223e-02 -9.83826637e+01] [ 2.09930022e-02 5.99481113e-04 9.99779443e-01 3.15002161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.312320588 meters Centerline goodness [0,1] 0.9963769820731191 Centerline is valid? [True, True] Translation: X:312.30, Y:-98.41, Z:3.15 [[ 7.02751374e-01 7.11273501e-01 -1.51826289e-02 3.12304890e+02] [-7.11125729e-01 7.02915106e-01 1.45103432e-02 -9.84130380e+01] [ 2.09929218e-02 5.99594376e-04 9.99779445e-01 3.15154031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34232058799995 meters Centerline goodness [0,1] 0.9959647147147147 Centerline is valid? [True, True] Translation: X:312.34, Y:-98.44, Z:3.15 [[ 7.01330475e-01 7.12696150e-01 -1.41337711e-02 3.12339427e+02] [-7.12567337e-01 7.01472654e-01 1.35611924e-02 -9.84437768e+01] [ 1.95794635e-02 5.60386142e-04 9.99808147e-01 3.15252169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.372320588 meters Centerline goodness [0,1] 0.9973628443607252 Centerline is valid? [True, True] Translation: X:312.38, Y:-98.48, Z:3.16 [[ 6.99417255e-01 7.14590405e-01 -1.32686387e-02 3.12382812e+02] [-7.14476905e-01 6.99542876e-01 1.27481869e-02 -9.84824210e+01] [ 1.83917137e-02 5.63834006e-04 9.99830699e-01 3.15593373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40232058799995 meters Centerline goodness [0,1] 0.9972527472527473 Centerline is valid? [True, True] Translation: X:312.42, Y:-98.52, Z:3.16 [[ 6.98516538e-01 7.15481043e-01 -1.27091700e-02 3.12418076e+02] [-7.15374864e-01 6.98631985e-01 1.23350548e-02 -9.85150485e+01] [ 1.77045306e-02 4.75581006e-04 9.99843149e-01 3.15790093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.432320588 meters Centerline goodness [0,1] 0.9981641011156617 Centerline is valid? [True, True] Translation: X:312.45, Y:-98.55, Z:3.16 [[ 6.97792066e-01 7.16175155e-01 -1.33933033e-02 3.12453056e+02] [-7.16056102e-01 6.97920428e-01 1.30665738e-02 -9.85464901e+01] [ 1.87054155e-02 4.72605069e-04 9.99824927e-01 3.15967653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46232058799995 meters Centerline goodness [0,1] 0.9980742132456553 Centerline is valid? [True, True] Translation: X:312.49, Y:-98.58, Z:3.16 [[ 6.96798264e-01 7.17130738e-01 -1.39887218e-02 3.12488251e+02] [-7.16999746e-01 6.96938505e-01 1.37143924e-02 -9.85770846e+01] [ 1.95842913e-02 4.73745169e-04 9.99808097e-01 3.16011202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.492320588 meters Centerline goodness [0,1] 0.9981154299175501 Centerline is valid? [True, True] Translation: X:312.52, Y:-98.61, Z:3.16 [[ 6.95273794e-01 7.18586820e-01 -1.50776233e-02 3.12523583e+02] [-7.18433406e-01 6.95437078e-01 1.48563532e-02 -9.86093997e+01] [ 2.11611179e-02 5.03035202e-04 9.99775952e-01 3.16248677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52232058799996 meters Centerline goodness [0,1] 0.9988163439231097 Centerline is valid? [True, True] Translation: X:312.56, Y:-98.64, Z:3.16 [[ 6.94083960e-01 7.19744111e-01 -1.46925626e-02 3.12557323e+02] [-7.19597326e-01 6.94239286e-01 1.45431181e-02 -9.86420596e+01] [ 2.06674778e-02 4.78583756e-04 9.99786290e-01 3.16375157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.552320588 meters Centerline goodness [0,1] 0.9989106753812637 Centerline is valid? [True, True] Translation: X:312.59, Y:-98.67, Z:3.17 [[ 6.92904271e-01 7.20873685e-01 -1.49933881e-02 3.12591457e+02] [-7.20719616e-01 6.93066307e-01 1.49107281e-02 -9.86740271e+01] [ 2.11401637e-02 4.74321752e-04 9.99776409e-01 3.16596907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58232058799996 meters Centerline goodness [0,1] 0.9991923606822177 Centerline is valid? [True, True] Translation: X:313.82, Y:-97.38, Z:5.01 [[ 7.71899195e-01 -6.34997569e-01 3.08175336e-02 3.13819405e+02] [-6.34316258e-01 -7.72507114e-01 -2.95912658e-02 -9.73798011e+01] [ 4.25971458e-02 3.29341168e-03 -9.99086901e-01 5.00625599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.612320588 meters Centerline goodness [0,1] 0.9991500212494687 Centerline is valid? [True, True] Translation: X:312.73, Y:-98.81, Z:3.17 [[ 7.52039224e-01 6.58937766e-01 -1.54280694e-02 3.12727159e+02] [-6.58807725e-01 7.52197394e-01 1.30943080e-02 -9.88066279e+01] [ 2.02332877e-02 3.16698138e-04 9.99795236e-01 3.16740940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64232058799996 meters Centerline goodness [0,1] 0.9995739039863649 Centerline is valid? [True, True] Translation: X:312.76, Y:-98.84, Z:3.17 [[ 7.52063408e-01 6.58904440e-01 -1.56706444e-02 3.12762839e+02] [-6.58770483e-01 7.52226582e-01 1.32898139e-02 -9.88354701e+01] [ 2.05445927e-02 3.28575196e-04 9.99788884e-01 3.16947434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.672320588 meters Centerline goodness [0,1] 0.9996134145162849 Centerline is valid? [True, True] Translation: X:312.80, Y:-98.86, Z:3.17 [[ 7.53254794e-01 6.57521690e-01 -1.65058335e-02 3.12797813e+02] [-6.57371465e-01 7.53435570e-01 1.40569886e-02 -9.88642182e+01] [ 2.16788570e-02 2.61969863e-04 9.99764952e-01 3.17319923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70232058799996 meters Centerline goodness [0,1] 0.9998100123491973 Centerline is valid? [True, True] Translation: X:312.84, Y:-98.90, Z:3.17 [[ 7.51860115e-01 6.59129432e-01 -1.59612086e-02 3.12839270e+02] [-6.58988631e-01 7.52029466e-01 1.36259535e-02 -9.88968220e+01] [ 2.09845662e-02 2.73444076e-04 9.99779762e-01 3.17383991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.73232058799994 meters Centerline goodness [0,1] 0.9998093876578509 Centerline is valid? [True, True] Translation: X:312.88, Y:-98.93, Z:3.17 [[ 7.52186448e-01 6.58759046e-01 -1.58765831e-02 3.12875724e+02] [-6.58617601e-01 7.52353962e-01 1.36518055e-02 -9.89262005e+01] [ 2.09380606e-02 1.87894006e-04 9.99780757e-01 3.17431156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76232058799997 meters Centerline goodness [0,1] 0.9998582230623818 Centerline is valid? [True, True] Translation: X:312.91, Y:-98.95, Z:3.18 [[ 7.52247953e-01 6.58702631e-01 -1.52925488e-02 3.12910885e+02] [-6.58570373e-01 7.52403366e-01 1.31999552e-02 -9.89549082e+01] [ 2.02010104e-02 1.41580337e-04 9.99795929e-01 3.17526120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.79232058799994 meters Centerline goodness [0,1] 0.9999529898458067 Centerline is valid? [True, True] Translation: X:312.95, Y:-98.99, Z:3.18 [[ 7.51542124e-01 6.59497957e-01 -1.57124607e-02 3.12945731e+02] [-6.59357371e-01 7.51706345e-01 1.36171965e-02 -9.89850736e+01] [ 2.07916697e-02 1.26230018e-04 9.99783822e-01 3.17638874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82232058799997 meters Centerline goodness [0,1] 0.9999529721595184 Centerline is valid? [True, True] Translation: X:312.98, Y:-99.02, Z:3.18 [[ 7.52368125e-01 6.58560808e-01 -1.54876369e-02 3.12980275e+02] [-6.58422972e-01 7.52527513e-01 1.34733581e-02 -9.90152211e+01] [ 2.05278985e-02 6.04907416e-05 9.99789279e-01 3.17726277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.85232058799994 meters Centerline goodness [0,1] 0.999953095684803 Centerline is valid? [True, True] Translation: X:313.02, Y:-99.04, Z:3.18 [[ 7.51845369e-01 6.59176470e-01 -1.46602463e-02 3.13015909e+02] [-6.59052210e-01 7.51988285e-01 1.27986162e-02 -9.90439981e+01] [ 1.94608801e-02 3.92873651e-05 9.99810618e-01 3.17735396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.05, Y:-99.07, Z:3.18 [[ 7.50868065e-01 6.60314694e-01 -1.34779046e-02 3.13052043e+02] [-6.60209160e-01 7.50989017e-01 1.18051877e-02 -9.90719452e+01] [ 1.79168973e-02 3.40976463e-05 9.99839479e-01 3.17781954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.91232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.09, Y:-99.10, Z:3.18 [[ 7.48564869e-01 6.62893759e-01 -1.49164373e-02 3.13086790e+02] [-6.62763837e-01 7.48713470e-01 1.31239045e-02 -9.91015806e+01] [ 1.98678919e-02 6.19813403e-05 9.99802612e-01 3.17854834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.12, Y:-99.13, Z:3.18 [[ 7.47147088e-01 6.64486365e-01 -1.51360169e-02 3.13121815e+02] [-6.64351859e-01 7.47300385e-01 1.33694047e-02 -9.91310941e+01] [ 2.01949384e-02 6.67291649e-05 9.99796059e-01 3.18099706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.97232058799995 meters Centerline goodness [0,1] 0.9998118709434672 Centerline is valid? [True, True] Translation: X:313.16, Y:-99.16, Z:3.19 [[ 7.43622307e-01 6.68385737e-01 -1.69224758e-02 3.13155389e+02] [-6.68217090e-01 7.43814820e-01 1.50144911e-02 -9.91621098e+01] [ 2.26226600e-02 1.42777035e-04 9.99744065e-01 3.18593117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.002320588 meters Centerline goodness [0,1] 0.9997188378631677 Centerline is valid? [True, True] Translation: X:313.19, Y:-99.19, Z:3.19 [[ 7.42075696e-01 6.70111310e-01 -1.65678570e-02 3.13190986e+02] [-6.69948878e-01 7.42260608e-01 1.47543501e-02 -9.91908713e+01] [ 2.21847245e-02 1.50772611e-04 9.99753877e-01 3.18676510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03232058799995 meters Centerline goodness [0,1] 0.9998586306017624 Centerline is valid? [True, True] Translation: X:313.23, Y:-99.22, Z:3.19 [[ 7.41553399e-01 6.70702821e-01 -1.60088384e-02 3.13227616e+02] [-6.70550188e-01 7.41726169e-01 1.43085465e-02 -9.92191393e+01] [ 2.14709569e-02 1.24178348e-04 9.99769465e-01 3.18659379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.062320588 meters Centerline goodness [0,1] 0.9999058557710412 Centerline is valid? [True, True] Translation: X:313.26, Y:-99.25, Z:3.19 [[ 7.41147249e-01 6.71167967e-01 -1.53073604e-02 3.13263065e+02] [-6.71027515e-01 7.41305302e-01 1.37303840e-02 -9.92483017e+01] [ 2.05628213e-02 9.54236909e-05 9.99788558e-01 3.18831967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.30, Y:-99.28, Z:3.19 [[ 7.40554025e-01 6.71823426e-01 -1.52649996e-02 3.13298016e+02] [-6.71682826e-01 7.40711333e-01 1.37441694e-02 -9.92781901e+01] [ 2.05406132e-02 7.49380256e-05 9.99789017e-01 3.19036763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.33, Y:-99.31, Z:3.19 [[ 7.39812036e-01 6.72616191e-01 -1.62975777e-02 3.13331775e+02] [-6.72454696e-01 7.39991524e-01 1.47385684e-02 -9.93081175e+01] [ 2.19734691e-02 5.56123846e-05 9.99758553e-01 3.19308883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15232058799995 meters Centerline goodness [0,1] 0.9999531022839188 Centerline is valid? [True, True] Translation: X:313.37, Y:-99.34, Z:3.19 [[ 7.38332438e-01 6.74235807e-01 -1.64707819e-02 3.13367987e+02] [-6.74070045e-01 7.38516128e-01 1.49499930e-02 -9.93375824e+01] [ 2.22437587e-02 6.43958539e-05 9.99752575e-01 3.19409025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.40, Y:-99.37, Z:3.19 [[ 7.36939515e-01 6.75768515e-01 -1.60332754e-02 3.13404039e+02] [-6.75610378e-01 7.37113906e-01 1.46187206e-02 -9.93670655e+01] [ 2.16972214e-02 5.91344346e-05 9.99764586e-01 3.19409913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21232058799995 meters Centerline goodness [0,1] 0.999906054770069 Centerline is valid? [True, True] Translation: X:313.45, Y:-99.41, Z:3.20 [[ 7.33855327e-01 6.79122245e-01 -1.57903548e-02 3.13453989e+02] [-6.78969310e-01 7.34025174e-01 1.44124827e-02 -9.94071959e+01] [ 2.13783555e-02 1.44489089e-04 9.99771446e-01 3.19619279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.49, Y:-99.44, Z:3.20 [[ 7.33316156e-01 6.79718895e-01 -1.51538367e-02 3.13488482e+02] [-6.79574652e-01 7.33472714e-01 1.40024683e-02 -9.94375224e+01] [ 2.06326680e-02 2.99270523e-05 9.99787123e-01 3.19845579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27232058799996 meters Centerline goodness [0,1] 0.9999531308586427 Centerline is valid? [True, True] Translation: X:313.52, Y:-99.47, Z:3.20 [[ 7.31828788e-01 6.81303899e-01 -1.58626130e-02 3.13523270e+02] [-6.81144890e-01 7.32000680e-01 1.47188000e-02 -9.94688460e+01] [ 2.16394193e-02 3.30962779e-05 9.99765840e-01 3.20119202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.302320588 meters Centerline goodness [0,1] 0.9999521393701541 Centerline is valid? [True, True] Translation: X:313.56, Y:-99.50, Z:3.20 [[ 7.30554856e-01 6.82654865e-01 -1.64905474e-02 3.13559258e+02] [-6.82481978e-01 7.30740949e-01 1.53627844e-02 -9.94993019e+01] [ 2.25377978e-02 3.11446404e-05 9.99745991e-01 3.20309035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33232058799996 meters Centerline goodness [0,1] 0.9999529278855206 Centerline is valid? [True, True] Translation: X:313.59, Y:-99.53, Z:3.20 [[ 7.27395734e-01 6.85993931e-01 -1.75434320e-02 3.13593817e+02] [-6.85797206e-01 7.27607256e-01 1.64277840e-02 -9.95298429e+01] [ 2.40340885e-02 8.17366958e-05 9.99711136e-01 3.20459607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.362320588 meters Centerline goodness [0,1] 0.9999053478466635 Centerline is valid? [True, True] Translation: X:313.63, Y:-99.56, Z:3.21 [[ 7.25843641e-01 6.87630676e-01 -1.77499611e-02 3.13627864e+02] [-6.87428161e-01 7.26060634e-01 1.66876992e-02 -9.95607462e+01] [ 2.43625219e-02 8.91627337e-05 9.99703186e-01 3.20622952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39232058799996 meters Centerline goodness [0,1] 0.9999530097269865 Centerline is valid? [True, True] Translation: X:313.66, Y:-99.59, Z:3.21 [[ 7.23516768e-01 6.90041840e-01 -1.91244711e-02 3.13662029e+02] [-6.89805534e-01 7.23769468e-01 1.80577272e-02 -9.95923870e+01] [ 2.63022956e-02 1.27097618e-04 9.99654027e-01 3.20921946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.422320588 meters Centerline goodness [0,1] 0.9998129180113184 Centerline is valid? [True, True] Translation: X:313.70, Y:-99.62, Z:3.21 [[ 7.21602808e-01 6.92044512e-01 -1.90730431e-02 3.13698502e+02] [-6.91808404e-01 7.21854813e-01 1.80765675e-02 -9.96246432e+01] [ 2.62777573e-02 1.50789645e-04 9.99654669e-01 3.21145875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45232058799996 meters Centerline goodness [0,1] 0.9998579410929065 Centerline is valid? [True, True] Translation: X:313.74, Y:-99.66, Z:3.21 [[ 7.19105022e-01 6.94643101e-01 -1.89454468e-02 3.13735031e+02] [-6.94408776e-01 7.19354522e-01 1.80422570e-02 -9.96558286e+01] [ 2.61614222e-02 1.81606946e-04 9.99657715e-01 3.21246132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48232058799994 meters Centerline goodness [0,1] 0.9998592672514894 Centerline is valid? [True, True] Translation: X:313.77, Y:-99.69, Z:3.21 [[ 7.17791237e-01 6.96011975e-01 -1.85221856e-02 3.13770059e+02] [-6.95786318e-01 7.18030155e-01 1.77227834e-02 -9.96864801e+01] [ 2.56347573e-02 1.66224690e-04 9.99671362e-01 3.21274773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51232058799997 meters Centerline goodness [0,1] 0.9999529655237289 Centerline is valid? [True, True] Translation: X:313.81, Y:-99.72, Z:3.21 [[ 7.15991773e-01 6.97865429e-01 -1.84289141e-02 3.13809955e+02] [-6.97641109e-01 7.16228880e-01 1.76939066e-02 -9.97207017e+01] [ 2.55472862e-02 1.88076472e-04 9.99673597e-01 3.21438169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54232058799994 meters Centerline goodness [0,1] 0.9999060988778816 Centerline is valid? [True, True] Translation: X:313.84, Y:-99.75, Z:3.22 [[ 7.15217520e-01 6.98638926e-01 -1.91716178e-02 3.13844285e+02] [-6.98393225e-01 7.15474411e-01 1.85275803e-02 -9.97512819e+01] [ 2.66608908e-02 1.38077918e-04 9.99644526e-01 3.21641978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.57232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.88, Y:-99.79, Z:3.22 [[ 7.13711651e-01 7.00188065e-01 -1.87710537e-02 3.13883666e+02] [-6.99951167e-01 7.13958440e-01 1.82128909e-02 -9.97860567e+01] [ 2.61542011e-02 1.40068526e-04 9.99657911e-01 3.21846961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60232058799994 meters Centerline goodness [0,1] 0.9999060812397277 Centerline is valid? [True, True] Translation: X:313.92, Y:-99.82, Z:3.22 [[ 7.12592438e-01 7.01317817e-01 -1.91138012e-02 3.13919026e+02] [-7.01069448e-01 7.12848728e-01 1.86633452e-02 -9.98172940e+01] [ 2.67141854e-02 1.00743356e-04 9.99643107e-01 3.22189553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.63232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:313.95, Y:-99.85, Z:3.22 [[ 7.11110425e-01 7.02847540e-01 -1.80913710e-02 3.13954516e+02] [-7.02623627e-01 7.11340513e-01 1.77401646e-02 -9.98483817e+01] [ 2.53377562e-02 9.62086930e-05 9.99678943e-01 3.22235672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66232058799994 meters Centerline goodness [0,1] 0.999952767806537 Centerline is valid? [True, True] Translation: X:313.99, Y:-99.88, Z:3.22 [[ 7.09757047e-01 7.04207957e-01 -1.83326787e-02 3.13989367e+02] [-7.03976327e-01 7.09993764e-01 1.80606069e-02 -9.98787881e+01] [ 2.57345107e-02 8.71288339e-05 9.99668809e-01 3.22140780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.02, Y:-99.91, Z:3.22 [[ 7.08824205e-01 7.05149959e-01 -1.82148870e-02 3.14023439e+02] [-7.04919579e-01 7.09058201e-01 1.80237592e-02 -9.99093041e+01] [ 2.56248681e-02 6.43537119e-05 9.99671627e-01 3.22372036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.06, Y:-99.94, Z:3.23 [[ 7.07123977e-01 7.06861212e-01 -1.79696603e-02 3.14057185e+02] [-7.06635585e-01 7.07352262e-01 1.78585626e-02 -9.99411940e+01] [ 2.53344050e-02 6.97836269e-05 9.99679030e-01 3.22522870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.752320588 meters Centerline goodness [0,1] 0.9999529721595184 Centerline is valid? [True, True] Translation: X:314.09, Y:-99.97, Z:3.23 [[ 7.05075168e-01 7.08878493e-01 -1.89812976e-02 3.14091517e+02] [-7.08625094e-01 7.05330613e-01 1.89526199e-02 -9.99728892e+01] [ 2.68231949e-02 8.76021190e-05 9.99640190e-01 3.22915929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.32, Y:-98.68, Z:5.07 [[ 7.61045931e-01 -6.48147209e-01 2.67261273e-02 3.15322790e+02] [-6.47623984e-01 -7.61510604e-01 -2.61682130e-02 -9.86825286e+01] [ 3.73130835e-02 2.60673101e-03 -9.99300225e-01 5.06790981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.23, Y:-100.11, Z:3.23 [[ 7.59856948e-01 6.49782170e-01 -2.00137665e-02 3.14229370e+02] [-6.49558788e-01 7.60120470e-01 1.70367904e-02 -1.00107458e+02] [ 2.62830762e-02 5.45943781e-05 9.99654539e-01 3.23333309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84232058799995 meters Centerline goodness [0,1] 0.9999529190207156 Centerline is valid? [True, True] Translation: X:314.26, Y:-100.13, Z:3.23 [[ 7.58982999e-01 6.50808861e-01 -1.98150126e-02 3.14264821e+02] [-6.50590153e-01 7.59241608e-01 1.68710669e-02 -1.00134465e+02] [ 2.60242218e-02 8.65991349e-05 9.99661309e-01 3.23437426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.30, Y:-100.16, Z:3.24 [[ 7.57082257e-01 6.52995465e-01 -2.05761583e-02 3.14303537e+02] [-6.52758680e-01 7.57361808e-01 1.75840110e-02 -1.00164744e+02] [ 2.70658759e-02 1.18723183e-04 9.99633645e-01 3.23674296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90232058799995 meters Centerline goodness [0,1] 0.9999530494389408 Centerline is valid? [True, True] Translation: X:314.34, Y:-100.20, Z:3.24 [[ 7.54927540e-01 6.55448994e-01 -2.17031323e-02 3.14344462e+02] [-6.55183811e-01 7.55239429e-01 1.86434390e-02 -1.00197988e+02] [ 2.86108846e-02 1.45095439e-04 9.99590614e-01 3.24152106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.932320588 meters Centerline goodness [0,1] 0.9999529079350129 Centerline is valid? [True, True] Translation: X:314.38, Y:-100.23, Z:3.24 [[ 7.53769253e-01 6.56777835e-01 -2.17896660e-02 3.14379630e+02] [-6.56507637e-01 7.54084123e-01 1.88376513e-02 -1.00227479e+02] [ 2.88033930e-02 1.05839811e-04 9.99585091e-01 3.24345498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.42, Y:-100.26, Z:3.25 [[ 7.52477256e-01 6.58259492e-01 -2.17352327e-02 3.14418495e+02] [-6.57989248e-01 7.52791093e-01 1.88605434e-02 -1.00258590e+02] [ 2.87772213e-02 1.09419433e-04 9.99585844e-01 3.24513454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.45, Y:-100.29, Z:3.24 [[ 7.50612629e-01 6.60417838e-01 -2.07113473e-02 3.14454909e+02] [-6.60170907e-01 7.50898306e-01 1.80584664e-02 -1.00287483e+02] [ 2.74782489e-02 1.18115947e-04 9.99622395e-01 3.24490226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.49, Y:-100.32, Z:3.25 [[ 7.49605946e-01 6.61553437e-01 -2.09278758e-02 3.14491003e+02] [-6.61299421e-01 7.49898020e-01 1.83312854e-02 -1.00316220e+02] [ 2.78208975e-02 9.83516333e-05 9.99612919e-01 3.24622018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.53, Y:-100.34, Z:3.25 [[ 7.49462984e-01 6.61707416e-01 -2.11785439e-02 3.14526708e+02] [-6.61445303e-01 7.49762158e-01 1.86230612e-02 -1.00344139e+02] [ 2.82018885e-02 5.11533737e-05 9.99602246e-01 3.24740767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.56, Y:-100.37, Z:3.25 [[ 7.48835805e-01 6.62419844e-01 -2.10923515e-02 3.14562381e+02] [-6.62158144e-01 7.49132798e-01 1.86183402e-02 -1.00373372e+02] [ 2.81341304e-02 2.43925446e-05 9.99604157e-01 3.24947461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.60, Y:-100.40, Z:3.25 [[ 7.47183301e-01 6.64283194e-01 -2.10939151e-02 3.14596894e+02] [-6.64020186e-01 7.47480994e-01 1.86910719e-02 -1.00402780e+02] [ 2.81834656e-02 4.11286891e-05 9.99602766e-01 3.25128798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.63, Y:-100.43, Z:3.25 [[ 7.45382050e-01 6.66337865e-01 -1.99862385e-02 3.14631188e+02] [-6.66100795e-01 7.45649949e-01 1.77731572e-02 -1.00433262e+02] [ 2.67456653e-02 6.50570073e-05 9.99642269e-01 3.25374361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.172320588 meters Centerline goodness [0,1] 0.9999523355576739 Centerline is valid? [True, True] Translation: X:314.67, Y:-100.46, Z:3.26 [[ 7.43202779e-01 6.68761801e-01 -2.01812321e-02 3.14666529e+02] [-6.68519100e-01 7.43476727e-01 1.80158338e-02 -1.00463948e+02] [ 2.70525778e-02 1.02121357e-04 9.99634007e-01 3.25633035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.71, Y:-100.50, Z:3.26 [[ 7.40238948e-01 6.72033732e-01 -2.04196850e-02 3.14709152e+02] [-6.71784722e-01 7.40520514e-01 1.82935717e-02 -1.00497575e+02] [ 2.74150929e-02 1.76018121e-04 9.99624120e-01 3.25596888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.23232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.74, Y:-100.53, Z:3.26 [[ 7.38961219e-01 6.73440484e-01 -2.03526944e-02 3.14743584e+02] [-6.73189963e-01 7.39241434e-01 1.83677699e-02 -1.00526746e+02] [ 2.74151548e-02 1.28159957e-04 9.99624126e-01 3.25749251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.78, Y:-100.56, Z:3.26 [[ 7.38136492e-01 6.74365740e-01 -1.96307638e-02 3.14778920e+02] [-6.74131285e-01 7.38397478e-01 1.77812812e-02 -1.00555479e+02] [ 2.64863934e-02 1.08699550e-04 9.99649168e-01 3.25807575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.29232058799994 meters Centerline goodness [0,1] 0.9999530163503101 Centerline is valid? [True, True] Translation: X:314.81, Y:-100.59, Z:3.26 [[ 7.36679334e-01 6.75968353e-01 -1.92443187e-02 3.14813886e+02] [-6.75741889e-01 7.36930643e-01 1.74964859e-02 -1.00585019e+02] [ 2.60087989e-02 1.14892707e-04 9.99661707e-01 3.25863101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.85, Y:-100.62, Z:3.26 [[ 7.35469544e-01 6.77278638e-01 -1.94472616e-02 3.14848410e+02] [-6.77046035e-01 7.35726602e-01 1.77491720e-02 -1.00615674e+02] [ 2.63290027e-02 1.12715941e-04 9.99653325e-01 3.26086352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.35232058799994 meters Centerline goodness [0,1] 0.9999531088811779 Centerline is valid? [True, True] Translation: X:314.88, Y:-100.65, Z:3.26 [[ 7.33907041e-01 6.78977408e-01 -1.92388602e-02 3.14883063e+02] [-6.78748561e-01 7.34159155e-01 1.76274380e-02 -1.00646000e+02] [ 2.60930175e-02 1.21447835e-04 9.99659512e-01 3.26201608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38232058799997 meters Centerline goodness [0,1] 0.9999529544599172 Centerline is valid? [True, True] Translation: X:314.92, Y:-100.68, Z:3.26 [[ 7.32262200e-01 6.80806232e-01 -1.71739423e-02 3.14917974e+02] [-6.80623142e-01 7.32463554e-01 1.57886079e-02 -1.00676490e+02] [ 2.33282695e-02 1.27581790e-04 9.99727851e-01 3.26304130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.41232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.95, Y:-100.71, Z:3.26 [[ 7.30840888e-01 6.82339128e-01 -1.68792873e-02 3.14952533e+02] [-6.82161302e-01 7.31035770e-01 1.55775748e-02 -1.00706737e+02] [ 2.29685516e-02 1.29667999e-04 9.99736180e-01 3.26495356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:314.99, Y:-100.74, Z:3.27 [[ 7.29088134e-01 6.84194100e-01 -1.75762967e-02 3.14991741e+02] [-6.84000430e-01 7.29299945e-01 1.62789019e-02 -1.00739716e+02] [ 2.39563209e-02 1.53440271e-04 9.99712994e-01 3.26690249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.47232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.03, Y:-100.77, Z:3.27 [[ 7.27953704e-01 6.85406383e-01 -1.73636295e-02 3.15026090e+02] [-6.85215318e-01 7.28160749e-01 1.61830683e-02 -1.00771022e+02] [ 2.37354918e-02 1.17300374e-04 9.99718267e-01 3.26897960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.502320588 meters Centerline goodness [0,1] 0.9999528524281 Centerline is valid? [True, True] Translation: X:315.06, Y:-100.80, Z:3.27 [[ 7.25949157e-01 6.87515207e-01 -1.79070322e-02 3.15062546e+02] [-6.87311136e-01 7.26169965e-01 1.67506373e-02 -1.00803865e+02] [ 2.45198668e-02 1.47591611e-04 9.99699332e-01 3.27194941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53232058799995 meters Centerline goodness [0,1] 0.9999529633113828 Centerline is valid? [True, True] Translation: X:315.10, Y:-100.83, Z:3.27 [[ 7.24184908e-01 6.89391064e-01 -1.72098907e-02 3.15097276e+02] [-6.89200935e-01 7.24389358e-01 1.61903802e-02 -1.00834606e+02] [ 2.36281651e-02 1.36243804e-04 9.99720807e-01 3.27308765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.13, Y:-100.86, Z:3.27 [[ 7.22411508e-01 6.91258664e-01 -1.68247722e-02 3.15132265e+02] [-6.91076122e-01 7.22607388e-01 1.58857301e-02 -1.00864177e+02] [ 2.31388532e-02 1.51164056e-04 9.99732249e-01 3.27378050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59232058799995 meters Centerline goodness [0,1] 0.9999530780780781 Centerline is valid? [True, True] Translation: X:315.17, Y:-100.89, Z:3.27 [[ 7.20386309e-01 6.93373174e-01 -1.66495559e-02 3.15166684e+02] [-6.93193406e-01 7.20578666e-01 1.57888533e-02 -1.00894863e+02] [ 2.29448821e-02 1.67288648e-04 9.99736718e-01 3.27456225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.21, Y:-100.93, Z:3.28 [[ 7.18383548e-01 6.95416201e-01 -1.79272047e-02 3.15205437e+02] [-6.95206539e-01 7.18607173e-01 1.70762860e-02 -1.00929699e+02] [ 2.47577438e-02 1.95787004e-04 9.99693461e-01 3.27730353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65232058799995 meters Centerline goodness [0,1] 0.9999063582732466 Centerline is valid? [True, True] Translation: X:315.24, Y:-100.96, Z:3.28 [[ 7.17403345e-01 6.96446918e-01 -1.71502628e-02 3.15239966e+02] [-6.96252957e-01 7.17608298e-01 1.64362583e-02 -1.00960594e+02] [ 2.37541523e-02 1.49494540e-04 9.99717819e-01 3.27893226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.27, Y:-100.99, Z:3.28 [[ 7.16226235e-01 6.97655334e-01 -1.72341139e-02 3.15274929e+02] [-6.97458058e-01 7.16433539e-01 1.65904045e-02 -1.00990581e+02] [ 2.39214814e-02 1.37588663e-04 9.99713831e-01 3.27996429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.31, Y:-101.02, Z:3.28 [[ 7.15428399e-01 6.98477425e-01 -1.70731247e-02 3.15310101e+02] [-6.98282343e-01 7.15632080e-01 1.65074485e-02 -1.01020614e+02] [ 2.37481559e-02 1.11964122e-04 9.99717967e-01 3.27997371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.35, Y:-101.05, Z:3.28 [[ 7.14812528e-01 6.99124976e-01 -1.63498721e-02 3.15345637e+02] [-6.98944743e-01 7.14999484e-01 1.58740375e-02 -1.01050796e+02] [ 2.27880862e-02 8.06962273e-05 9.99740315e-01 3.28089387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.38, Y:-101.08, Z:3.28 [[ 7.13583354e-01 7.00358594e-01 -1.72231596e-02 3.15380627e+02] [-7.00156985e-01 7.13791171e-01 1.68036071e-02 -1.01082094e+02] [ 2.40622899e-02 6.81412197e-05 9.99710459e-01 3.28179805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.41, Y:-101.11, Z:3.28 [[ 7.12169723e-01 7.01790838e-01 -1.74329040e-02 3.15414904e+02] [-7.01583093e-01 7.12383053e-01 1.70747929e-02 -1.01113676e+02] [ 2.44018386e-02 7.04801761e-05 9.99702228e-01 3.28392832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.46, Y:-101.15, Z:3.29 [[ 7.09630177e-01 7.04345778e-01 -1.79453782e-02 3.15459047e+02] [-7.04124826e-01 7.09857036e-01 1.76413473e-02 -1.01152019e+02] [ 2.51642615e-02 1.16953929e-04 9.99683323e-01 3.28617427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.50, Y:-101.18, Z:3.29 [[ 7.07779419e-01 7.06241971e-01 -1.64490917e-02 3.15495679e+02] [-7.06053755e-01 7.07970531e-01 1.63040596e-02 -1.01184907e+02] [ 2.31600834e-02 7.42650857e-05 9.99731767e-01 3.28633253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.53, Y:-101.22, Z:3.29 [[ 7.06638599e-01 7.07367978e-01 -1.71007008e-02 3.15530251e+02] [-7.07162671e-01 7.06845486e-01 1.70415658e-02 -1.01215299e+02] [ 2.41422111e-02 5.07490443e-05 9.99708533e-01 3.28754177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.76, Y:-99.93, Z:5.13 [[ 7.60885595e-01 -6.48291361e-01 2.77744935e-02 3.16758487e+02] [-6.47733581e-01 -7.61388047e-01 -2.70083207e-02 -9.99289053e+01] [ 3.86564284e-02 2.55977007e-03 -9.99249282e-01 5.13038382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95232058799996 meters Centerline goodness [0,1] 0.9999529986839631 Centerline is valid? [True, True] Translation: X:315.67, Y:-101.35, Z:3.29 [[ 7.62090444e-01 6.47190601e-01 -1.90389352e-02 3.15668201e+02] [-6.46988421e-01 7.62328227e-01 1.61758242e-02 -1.01351581e+02] [ 2.49827591e-02 -9.47041418e-06 9.99687882e-01 3.29230395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.70, Y:-101.38, Z:3.29 [[ 7.60385654e-01 6.49212567e-01 -1.83493749e-02 3.15702981e+02] [-6.49025392e-01 7.60607020e-01 1.55885052e-02 -1.01380344e+02] [ 2.40769168e-02 5.59345011e-05 9.99710107e-01 3.29489505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.74, Y:-101.41, Z:3.30 [[ 7.59093339e-01 6.50741987e-01 -1.76682989e-02 3.15740130e+02] [-6.50567739e-01 7.59298928e-01 1.50583967e-02 -1.01408665e+02] [ 2.32146514e-02 6.36966119e-05 9.99730502e-01 3.29640739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.78, Y:-101.44, Z:3.30 [[ 7.57828465e-01 6.52211779e-01 -1.77711238e-02 3.15776421e+02] [-6.52034159e-01 7.58036801e-01 1.52204622e-02 -1.01436543e+02] [ 2.33981306e-02 5.28802946e-05 9.99726225e-01 3.29707370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.07232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.81, Y:-101.46, Z:3.30 [[ 7.57229344e-01 6.52875659e-01 -1.88969348e-02 3.15812079e+02] [-6.52673334e-01 7.57465097e-01 1.62525792e-02 -1.01463853e+02] [ 2.49246819e-02 2.65955079e-05 9.99689332e-01 3.29873789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.85, Y:-101.49, Z:3.30 [[ 7.55784917e-01 6.54584404e-01 -1.75618353e-02 3.15851256e+02] [-6.54409096e-01 7.55988926e-01 1.51485626e-02 -1.01494035e+02] [ 2.31925658e-02 4.35696722e-05 9.99731015e-01 3.29852846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.13232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.89, Y:-101.53, Z:3.30 [[ 7.53837290e-01 6.56801339e-01 -1.84754267e-02 3.15893628e+02] [-6.56606109e-01 7.54063656e-01 1.60131183e-02 -1.01528151e+02] [ 2.44490854e-02 5.97922817e-05 9.99701075e-01 3.30261063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.93, Y:-101.56, Z:3.31 [[ 7.51753918e-01 6.59175142e-01 -1.88196453e-02 3.15927729e+02] [-6.58970090e-01 7.51989448e-01 1.64405041e-02 -1.01557930e+02] [ 2.49893463e-02 4.23700145e-05 9.99687717e-01 3.30572756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:315.96, Y:-101.59, Z:3.31 [[ 7.51090146e-01 6.59934772e-01 -1.86999906e-02 3.15963505e+02] [-6.59731001e-01 7.51322897e-01 1.63984675e-02 -1.01586579e+02] [ 2.48716500e-02 2.02361269e-05 9.99690652e-01 3.30670830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.00, Y:-101.61, Z:3.31 [[ 7.50366181e-01 6.60772536e-01 -1.81727853e-02 3.15999347e+02] [-6.60578917e-01 7.50586208e-01 1.59949302e-02 -1.01614903e+02] [ 2.42092526e-02 2.50414785e-06 9.99706913e-01 3.30668868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.04, Y:-101.64, Z:3.31 [[ 7.49526999e-01 6.61701950e-01 -1.89685804e-02 3.16035198e+02] [-6.61489586e-01 7.49766983e-01 1.67630161e-02 -1.01643618e+02] [ 2.53141358e-02 -1.68147800e-05 9.99679546e-01 3.30944874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28232058799995 meters Centerline goodness [0,1] 0.9999531572044219 Centerline is valid? [True, True] Translation: X:316.07, Y:-101.67, Z:3.31 [[ 7.47450951e-01 6.64063228e-01 -1.83604210e-02 3.16070066e+02] [-6.63863512e-01 7.47676420e-01 1.62852158e-02 -1.01673685e+02] [ 2.45420668e-02 1.64135274e-05 9.99698798e-01 3.31107280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.11, Y:-101.70, Z:3.31 [[ 7.45890907e-01 6.65811825e-01 -1.84761599e-02 3.16105818e+02] [-6.65608616e-01 7.46119704e-01 1.64486269e-02 -1.01703601e+02] [ 2.47371172e-02 2.90100062e-05 9.99693990e-01 3.31341701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.14, Y:-101.73, Z:3.32 [[ 7.43828075e-01 6.68090638e-01 -1.93570348e-02 3.16140785e+02] [-6.67866245e-01 7.44079900e-01 1.73141921e-02 -1.01733896e+02] [ 2.59706302e-02 4.91279454e-05 9.99662705e-01 3.31523494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.18, Y:-101.76, Z:3.32 [[ 7.42852634e-01 6.69142370e-01 -2.04561082e-02 3.16176277e+02] [-6.68889740e-01 7.43134233e-01 1.83855487e-02 -1.01762687e+02] [ 2.75041839e-02 2.51275487e-05 9.99621688e-01 3.31623978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.21, Y:-101.79, Z:3.32 [[ 7.40774047e-01 6.71477414e-01 -1.92845511e-02 3.16214615e+02] [-6.71252174e-01 7.41025019e-01 1.73908093e-02 -1.01792995e+02] [ 2.59678706e-02 6.21366510e-05 9.99662776e-01 3.31559129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.25, Y:-101.83, Z:3.32 [[ 7.38450280e-01 6.74020823e-01 -1.96752034e-02 3.16251285e+02] [-6.73784937e-01 7.38712340e-01 1.78307792e-02 -1.01825273e+02] [ 2.65526320e-02 8.97118270e-05 9.99647413e-01 3.31777200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.29, Y:-101.86, Z:3.32 [[ 7.36721871e-01 6.75924335e-01 -1.91619091e-02 3.16285778e+02] [-6.75699047e-01 7.36971021e-01 1.74502699e-02 -1.01855841e+02] [ 2.59168337e-02 9.16882313e-05 9.99664098e-01 3.31922931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.32, Y:-101.88, Z:3.32 [[ 7.35371938e-01 6.77379391e-01 -1.96283743e-02 3.16321765e+02] [-6.77141657e-01 7.35633844e-01 1.79450250e-02 -1.01884629e+02] [ 2.65948865e-02 9.49221002e-05 9.99646289e-01 3.31985715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.36, Y:-101.92, Z:3.32 [[ 7.33912120e-01 6.78988131e-01 -1.86578916e-02 3.16359788e+02] [-6.78772342e-01 7.34149240e-01 1.71172562e-02 -1.01915151e+02] [ 2.53200908e-02 1.01899001e-04 9.99679390e-01 3.31929602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.39, Y:-101.95, Z:3.32 [[ 7.32540867e-01 6.80412156e-01 -2.05712538e-02 3.16393908e+02] [-6.80147479e-01 7.32829646e-01 1.89767224e-02 -1.01945981e+02] [ 2.79872172e-02 9.02617679e-05 9.99608277e-01 3.32290232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.43, Y:-101.98, Z:3.33 [[ 7.31729407e-01 6.81278423e-01 -2.07794419e-02 3.16428913e+02] [-6.81006539e-01 7.32024388e-01 1.92455030e-02 -1.01977026e+02] [ 2.83226042e-02 6.84353070e-05 9.99598832e-01 3.32552187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.46, Y:-102.01, Z:3.33 [[ 7.30092386e-01 6.83048089e-01 -2.02587196e-02 3.16463318e+02] [-6.82788354e-01 7.30373398e-01 1.88351497e-02 -1.02007459e+02] [ 2.76617429e-02 8.10183866e-05 9.99617337e-01 3.32751603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.50, Y:-102.04, Z:3.33 [[ 7.28635015e-01 6.84641316e-01 -1.89019447e-02 3.16498680e+02] [-6.84414152e-01 7.28880141e-01 1.76354378e-02 -1.02036948e+02] [ 2.58512015e-02 8.69609354e-05 9.99665798e-01 3.32854673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.53, Y:-102.07, Z:3.33 [[ 7.27141517e-01 6.86213372e-01 -1.94016087e-02 3.16533790e+02] [-6.85972354e-01 7.27400303e-01 1.81859654e-02 -1.02067827e+02] [ 2.65921887e-02 8.51966822e-05 9.99646362e-01 3.33033369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.57, Y:-102.10, Z:3.33 [[ 7.25333132e-01 6.88122388e-01 -1.94788783e-02 3.16567959e+02] [-6.87878231e-01 7.25594630e-01 1.83295335e-02 -1.02098248e+02] [ 2.67467319e-02 1.04078459e-04 9.99642237e-01 3.33184792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.73232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.60, Y:-102.13, Z:3.34 [[ 7.22857258e-01 6.90710250e-01 -1.99181966e-02 3.16604559e+02] [-6.90453662e-01 7.23131613e-01 1.88258120e-02 -1.02131098e+02] [ 2.74066590e-02 1.44216946e-04 9.99624357e-01 3.33560474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.64, Y:-102.16, Z:3.34 [[ 7.21918182e-01 6.91710012e-01 -1.92717005e-02 3.16640644e+02] [-6.91467579e-01 7.22175358e-01 1.83122770e-02 -1.02162959e+02] [ 2.65843326e-02 1.05790369e-04 9.99646569e-01 3.33766052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.79232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.68, Y:-102.20, Z:3.34 [[ 7.20265393e-01 6.93438186e-01 -1.90064646e-02 3.16677562e+02] [-6.93200722e-01 7.20516114e-01 1.81462944e-02 -1.02195196e+02] [ 2.62777975e-02 1.05147128e-04 9.99654674e-01 3.33956782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.72, Y:-102.23, Z:3.34 [[ 7.17816476e-01 6.95961877e-01 -1.94054746e-02 3.16722235e+02] [-6.95713040e-01 7.18078718e-01 1.86097009e-02 -1.02231691e+02] [ 2.68863007e-02 1.42291733e-04 9.99638488e-01 3.34005401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.85232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.76, Y:-102.26, Z:3.34 [[ 7.16556505e-01 6.97246066e-01 -1.98670180e-02 3.16757655e+02] [-6.96981203e-01 7.16831861e-01 1.92168125e-02 -1.02261952e+02] [ 2.76401584e-02 7.70060892e-05 9.99617935e-01 3.34054912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.79, Y:-102.29, Z:3.34 [[ 7.15745488e-01 6.98075287e-01 -1.99822580e-02 3.16792812e+02] [-6.97805264e-01 7.16024365e-01 1.94144561e-02 -1.02292185e+02] [ 2.78605356e-02 4.79154904e-05 9.99611819e-01 3.34117195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91232058799994 meters Centerline goodness [0,1] 0.9999528790877391 Centerline is valid? [True, True] Translation: X:316.83, Y:-102.33, Z:3.34 [[ 7.13752391e-01 7.00126640e-01 -1.94990105e-02 3.16828934e+02] [-6.99868099e-01 7.14018685e-01 1.90252933e-02 -1.02325530e+02] [ 2.72427725e-02 6.73868024e-05 9.99628845e-01 3.34336371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.86, Y:-102.36, Z:3.34 [[ 7.12057108e-01 7.01861286e-01 -1.91157089e-02 3.16862931e+02] [-7.01610976e-01 7.12313646e-01 1.87432071e-02 -1.02356728e+02] [ 2.67715117e-02 6.55573632e-05 9.99641577e-01 3.34489745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.90, Y:-102.39, Z:3.35 [[ 7.10939281e-01 7.02995169e-01 -1.90560051e-02 3.16898143e+02] [-7.02744612e-01 7.11194622e-01 1.87675242e-02 -1.02386730e+02] [ 2.67460072e-02 4.89347325e-05 9.99642260e-01 3.34583896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:316.93, Y:-102.42, Z:3.35 [[ 7.09215250e-01 7.04731387e-01 -1.91677059e-02 3.16933568e+02] [-7.04476240e-01 7.09474220e-01 1.89620297e-02 -1.02418292e+02] [ 2.69621307e-02 5.50327164e-05 9.99636454e-01 3.34695949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03232058799995 meters Centerline goodness [0,1] 0.9999525459118304 Centerline is valid? [True, True] Translation: X:316.97, Y:-102.45, Z:3.35 [[ 7.07460189e-01 7.06473694e-01 -1.98746110e-02 3.16967828e+02] [-7.06197450e-01 7.07739299e-01 1.97546447e-02 -1.02449887e+02] [ 2.80221801e-02 5.97748832e-05 9.99607300e-01 3.35032517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.062320588 meters Centerline goodness [0,1] 0.9999528034736643 Centerline is valid? [True, True] Translation: X:317.00, Y:-102.48, Z:3.35 [[ 7.06018930e-01 7.07933346e-01 -1.91741621e-02 3.17002346e+02] [-7.07674578e-01 7.06279247e-01 1.91394002e-02 -1.02481150e+02] [ 2.70917324e-02 5.62882482e-05 9.99632950e-01 3.35074775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.22, Y:-101.20, Z:5.19 [[ 7.59962848e-01 -6.49374530e-01 2.77342566e-02 3.18217798e+02] [-6.48818311e-01 -7.60464587e-01 -2.69890796e-02 -1.01201850e+02] [ 3.86169409e-02 2.51620429e-03 -9.99250920e-01 5.19014893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.14, Y:-102.61, Z:3.35 [[ 7.62200860e-01 6.47078370e-01 -1.84236927e-02 3.17136456e+02] [-6.46888543e-01 7.62423493e-01 1.56725892e-02 -1.02611396e+02] [ 2.41880496e-02 -2.75851940e-05 9.99707426e-01 3.35301700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.17, Y:-102.64, Z:3.35 [[ 7.61177338e-01 6.48273976e-01 -1.87059644e-02 3.17171672e+02] [-6.48078628e-01 7.61407153e-01 1.59134985e-02 -1.02639323e+02] [ 2.45591620e-02 9.94136391e-06 9.99698378e-01 3.35435144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.21, Y:-102.67, Z:3.36 [[ 7.60268600e-01 6.49346328e-01 -1.84662137e-02 3.17206269e+02] [-6.49154872e-01 7.60492831e-01 1.57672397e-02 -1.02667227e+02] [ 2.42818223e-02 9.53049394e-08 9.99705153e-01 3.35585850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.21232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.24, Y:-102.69, Z:3.36 [[ 7.60004397e-01 6.49641259e-01 -1.89618246e-02 3.17242471e+02] [-6.49437931e-01 7.60240905e-01 1.62523828e-02 -1.02694567e+02] [ 2.49737731e-02 -3.73542878e-05 9.99688106e-01 3.35861876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.28, Y:-102.72, Z:3.36 [[ 7.59201456e-01 6.50571391e-01 -1.92357747e-02 3.17278386e+02] [-6.50360869e-01 7.59445102e-01 1.65492451e-02 -1.02721131e+02] [ 2.53749803e-02 -5.40157910e-05 9.99678002e-01 3.35924411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.32, Y:-102.75, Z:3.36 [[ 7.59432283e-01 6.50295237e-01 -1.94605344e-02 3.17315804e+02] [-6.50078058e-01 7.59681573e-01 1.68055696e-02 -1.02747845e+02] [ 2.57123913e-02 -1.11825641e-04 9.99669376e-01 3.35895540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.35, Y:-102.78, Z:3.36 [[ 7.58790523e-01 6.51028269e-01 -1.99783771e-02 3.17350800e+02] [-6.50797832e-01 7.59053472e-01 1.73207593e-02 -1.02777601e+02] [ 2.64409604e-02 -1.40943469e-04 9.99650367e-01 3.36154454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.33232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.39, Y:-102.81, Z:3.36 [[ 7.58188419e-01 6.51712067e-01 -2.05354196e-02 3.17387229e+02] [-6.51466997e-01 7.58466448e-01 1.78717573e-02 -1.02807456e+02] [ 2.72226667e-02 -1.72011277e-04 9.99629380e-01 3.36416254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.42, Y:-102.83, Z:3.36 [[ 7.58237962e-01 6.51720582e-01 -1.83159874e-02 3.17423858e+02] [-6.51524011e-01 7.58459123e-01 1.60069251e-02 -1.02833994e+02] [ 2.43239703e-02 -2.03752682e-04 9.99704108e-01 3.36450687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.46, Y:-102.86, Z:3.36 [[ 7.58009187e-01 6.52001555e-01 -1.77776279e-02 3.17460131e+02] [-6.51815160e-01 7.58217593e-01 1.55909850e-02 -1.02860679e+02] [ 2.36446567e-02 -2.30382453e-04 9.99720399e-01 3.36458252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.55, Y:-102.92, Z:3.37 [[ 7.49117867e-01 6.62183966e-01 -1.82979670e-02 3.17553057e+02] [-6.61990858e-01 7.49341295e-01 1.59914719e-02 -1.02924546e+02] [ 2.43007186e-02 1.33589603e-04 9.99704685e-01 3.36899870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.59, Y:-102.95, Z:3.37 [[ 7.49623949e-01 6.61607279e-01 -1.84321392e-02 3.17586963e+02] [-6.61396636e-01 7.49850453e-01 1.66969535e-02 -1.02953316e+02] [ 2.48681739e-02 -3.25481380e-04 9.99690686e-01 3.37080747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.62, Y:-102.98, Z:3.37 [[ 7.47635033e-01 6.63807515e-01 -2.00360027e-02 3.17621927e+02] [-6.63557456e-01 7.47903387e-01 1.82215966e-02 -1.02982297e+02] [ 2.70806270e-02 -3.28064979e-04 9.99633199e-01 3.37430196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.66, Y:-103.01, Z:3.37 [[ 7.45794504e-01 6.65912081e-01 -1.87525411e-02 3.17657427e+02] [-6.65692191e-01 7.46030175e-01 1.71139095e-02 -1.03010634e+02] [ 2.53863206e-02 -2.80039495e-04 9.99677676e-01 3.37428542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.69, Y:-103.04, Z:3.38 [[ 7.44041828e-01 6.67848507e-01 -1.94969287e-02 3.17691839e+02] [-6.67609691e-01 7.44297183e-01 1.78606671e-02 -1.03040018e+02] [ 2.64397290e-02 -2.72744821e-04 9.99650372e-01 3.37661902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.57232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.73, Y:-103.07, Z:3.38 [[ 7.42846148e-01 6.69179958e-01 -1.94366620e-02 3.17730351e+02] [-6.68941478e-01 7.43100337e-01 1.78658282e-02 -1.03071826e+02] [ 2.63988443e-02 -2.69572240e-04 9.99651453e-01 3.37920370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.77, Y:-103.10, Z:3.38 [[ 7.42414342e-01 6.69616716e-01 -2.08422341e-02 3.17769654e+02] [-6.69339795e-01 7.42706761e-01 1.92589300e-02 -1.03102067e+02] [ 2.83757696e-02 -3.47569104e-04 9.99597266e-01 3.38002055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.63232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.80, Y:-103.13, Z:3.38 [[ 7.41590662e-01 6.70531484e-01 -2.07561784e-02 3.17803836e+02] [-6.70254500e-01 7.41880976e-01 1.92749124e-02 -1.03131233e+02] [ 2.83230495e-02 -3.82173058e-04 9.99598749e-01 3.38091353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.84, Y:-103.16, Z:3.38 [[ 7.42383898e-01 6.69718517e-01 -1.85271744e-02 3.17838500e+02] [-6.69496220e-01 7.42614934e-01 1.72589381e-02 -1.03159517e+02] [ 2.53171868e-02 -4.08884539e-04 9.99679385e-01 3.38213175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.87, Y:-103.19, Z:3.38 [[ 7.42843458e-01 6.69199697e-01 -1.88510629e-02 3.17872564e+02] [-6.68967717e-01 7.43082454e-01 1.76255813e-02 -1.03187878e+02] [ 2.58029278e-02 -4.82295262e-04 9.99666933e-01 3.38425891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.91, Y:-103.22, Z:3.38 [[ 7.43066546e-01 6.68959323e-01 -1.85884974e-02 3.17907248e+02] [-6.68732178e-01 7.43298827e-01 1.74392963e-02 -1.03216727e+02] [ 2.54829881e-02 -5.27831325e-04 9.99675117e-01 3.38484743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.94, Y:-103.25, Z:3.39 [[ 7.43915659e-01 6.68015934e-01 -1.85527244e-02 3.17941244e+02] [-6.67787766e-01 7.44146723e-01 1.74686875e-02 -1.03245501e+02] [ 2.54753107e-02 -6.05947830e-04 9.99675268e-01 3.38525052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:317.98, Y:-103.27, Z:3.39 [[ 7.44289142e-01 6.67622715e-01 -1.77082684e-02 3.17975457e+02] [-6.67413368e-01 7.44499503e-01 1.67298288e-02 -1.03274963e+02] [ 2.43530108e-02 -6.33094873e-04 9.99703221e-01 3.38759514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.02, Y:-103.31, Z:3.39 [[ 7.42180197e-01 6.69977390e-01 -1.72873554e-02 3.18015654e+02] [-6.69777468e-01 7.42381281e-01 1.63761344e-02 -1.03310122e+02] [ 2.38054488e-02 -5.75361516e-04 9.99716445e-01 3.38922450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.05, Y:-103.34, Z:3.39 [[ 7.41195781e-01 6.71112855e-01 -1.53736778e-02 3.18051622e+02] [-6.70953286e-01 7.41355006e-01 1.46438444e-02 -1.03341748e+02] [ 2.12250252e-02 -5.38936078e-04 9.99774579e-01 3.38920955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.09, Y:-103.37, Z:3.39 [[ 7.39455452e-01 6.73000581e-01 -1.66088226e-02 3.18085123e+02] [-6.72812888e-01 7.39641721e-01 1.59041669e-02 -1.03372335e+02] [ 2.29880917e-02 -5.85793028e-04 9.99735567e-01 3.39145016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.12, Y:-103.40, Z:3.39 [[ 7.37318729e-01 6.75286397e-01 -1.86915390e-02 3.18118108e+02] [-6.75047492e-01 7.37555341e-01 1.79722779e-02 -1.03404168e+02] [ 2.59224792e-02 -6.33620577e-04 9.99663755e-01 3.39494672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.15, Y:-103.44, Z:3.40 [[ 7.34030609e-01 6.78839328e-01 -1.93967035e-02 3.18150680e+02] [-6.78581377e-01 7.34286613e-01 1.87212391e-02 -1.03436479e+02] [ 2.69514531e-02 -5.79720766e-04 9.99636576e-01 3.39764107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.19, Y:-103.47, Z:3.40 [[ 7.31610826e-01 6.81458641e-01 -1.89662677e-02 3.18186043e+02] [-6.81211244e-01 7.31856442e-01 1.83681495e-02 -1.03469898e+02] [ 2.63977194e-02 -5.18302180e-04 9.99651385e-01 3.39940919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.22, Y:-103.50, Z:3.40 [[ 7.30435199e-01 6.82739423e-01 -1.82016473e-02 3.18220057e+02] [-6.82509903e-01 7.30661767e-01 1.77091719e-02 -1.03501195e+02] [ 2.53899976e-02 -5.12597990e-04 9.99677491e-01 3.40011603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.25, Y:-103.53, Z:3.40 [[ 7.28817482e-01 6.84448151e-01 -1.88628281e-02 3.18253583e+02] [-6.84200366e-01 7.29061354e-01 1.84228623e-02 -1.03531854e+02] [ 2.63616531e-02 -5.20950221e-04 9.99652335e-01 3.40219515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.29, Y:-103.56, Z:3.40 [[ 7.27447476e-01 6.85909978e-01 -1.86459596e-02 3.18287074e+02] [-6.85666613e-01 7.27686225e-01 1.82771439e-02 -1.03562624e+02] [ 2.61048833e-02 -5.10750250e-04 9.99659079e-01 3.40259538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.32, Y:-103.59, Z:3.40 [[ 7.25507964e-01 6.87962544e-01 -1.85938839e-02 3.18321085e+02] [-6.87719456e-01 7.25746032e-01 1.82933707e-02 -1.03593918e+02] [ 2.60795913e-02 -4.84610409e-04 9.99659752e-01 3.40270734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.35, Y:-103.62, Z:3.40 [[ 7.24468581e-01 6.89091183e-01 -1.72805204e-02 3.18354949e+02] [-6.88880152e-01 7.24674503e-01 1.70587803e-02 -1.03624949e+02] [ 2.42778077e-02 -4.54342853e-04 9.99705147e-01 3.40296559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.39, Y:-103.66, Z:3.40 [[ 7.22173576e-01 6.91537499e-01 -1.55310308e-02 3.18391213e+02] [-6.91366699e-01 7.22340470e-01 1.53731266e-02 -1.03658747e+02] [ 2.18497856e-02 -3.64428284e-04 9.99761199e-01 3.40302400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.42, Y:-103.69, Z:3.41 [[ 7.20006688e-01 6.93783009e-01 -1.59845241e-02 3.18424824e+02] [-6.93600722e-01 7.20184005e-01 1.59071205e-02 -1.03691536e+02] [ 2.25478885e-02 -3.66355664e-04 9.99745697e-01 3.40553306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.62, Y:-102.45, Z:5.25 [[ 7.50098033e-01 -6.60707475e-01 2.86107132e-02 3.19621200e+02] [-6.60131129e-01 -7.50641184e-01 -2.76533054e-02 -1.02445518e+02] [ 3.97471252e-02 1.85586762e-03 -9.99208047e-01 5.25136926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.23232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.56, Y:-103.83, Z:3.41 [[ 7.71930534e-01 6.35479707e-01 -1.69938803e-02 3.18562878e+02] [-6.35316068e-01 7.72117496e-01 1.44245294e-02 -1.03831371e+02] [ 2.22877680e-02 -3.38249510e-04 9.99751540e-01 3.40969003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.60, Y:-103.86, Z:3.41 [[ 7.70069325e-01 6.37747809e-01 -1.64610921e-02 3.18596803e+02] [-6.37594933e-01 7.70245198e-01 1.39655260e-02 -1.03859507e+02] [ 2.15855607e-02 -2.58914263e-04 9.99766971e-01 3.41081131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.29232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.63, Y:-103.89, Z:3.41 [[ 7.68176982e-01 6.40016957e-01 -1.68052989e-02 3.18631194e+02] [-6.39857013e-01 7.68360747e-01 1.43096506e-02 -1.03886975e+02] [ 2.20709510e-02 -2.39355839e-04 9.99756378e-01 3.41214432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.67, Y:-103.91, Z:3.41 [[ 7.67023050e-01 6.41394148e-01 -1.70055141e-02 3.18665795e+02] [-6.41229555e-01 7.67211502e-01 1.45316786e-02 -1.03914875e+02] [ 2.23673596e-02 -2.41694152e-04 9.99749790e-01 3.41328991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.35232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.70, Y:-103.94, Z:3.41 [[ 7.64807060e-01 6.44058233e-01 -1.60982481e-02 3.18699523e+02] [-6.43910379e-01 7.64976442e-01 1.38010025e-02 -1.03942911e+02] [ 2.12034298e-02 -1.89275102e-04 9.99775164e-01 3.41497513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.73, Y:-103.97, Z:3.42 [[ 7.62418616e-01 6.46833100e-01 -1.80220612e-02 3.18732791e+02] [-6.46647065e-01 7.62631569e-01 1.55132935e-02 -1.03972441e+02] [ 2.37787046e-02 -1.73710784e-04 9.99717232e-01 3.41967609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.41232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.77, Y:-104.00, Z:3.42 [[ 7.60901369e-01 6.48615097e-01 -1.80987083e-02 3.18767913e+02] [-6.48426661e-01 7.61116568e-01 1.56344036e-02 -1.04001645e+02] [ 2.39159369e-02 -1.60554114e-04 9.99713960e-01 3.42169661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.80, Y:-104.03, Z:3.42 [[ 7.59837969e-01 6.49873563e-01 -1.76242415e-02 3.18802318e+02] [-6.49693877e-01 7.60042319e-01 1.52820002e-02 -1.04028727e+02] [ 2.33265373e-02 -1.61482158e-04 9.99727886e-01 3.42296770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.47232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.84, Y:-104.06, Z:3.42 [[ 7.58262228e-01 6.51709690e-01 -1.76882084e-02 3.18839821e+02] [-6.51528036e-01 7.58468496e-01 1.53869865e-02 -1.04057778e+02] [ 2.34437970e-02 -1.43007000e-04 9.99725146e-01 3.42465875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.88, Y:-104.09, Z:3.43 [[ 7.57214152e-01 6.52924260e-01 -1.77943578e-02 3.18875025e+02] [-6.52738960e-01 7.57423187e-01 1.55552534e-02 -1.04085254e+02] [ 2.36342615e-02 -1.63587420e-04 9.99720658e-01 3.42530585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.91, Y:-104.11, Z:3.43 [[ 7.56411234e-01 6.53840574e-01 -1.82906718e-02 3.18909772e+02] [-6.53643595e-01 7.56632322e-01 1.60493414e-02 -1.04113906e+02] [ 2.43330241e-02 -1.84321688e-04 9.99703891e-01 3.42711187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.95, Y:-104.15, Z:3.43 [[ 7.55152084e-01 6.55286246e-01 -1.85813205e-02 3.18950774e+02] [-6.55082127e-01 7.55380635e-01 1.63555226e-02 -1.04145926e+02] [ 2.47535187e-02 -1.78616088e-04 9.99693569e-01 3.42868530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:318.99, Y:-104.17, Z:3.43 [[ 7.54481973e-01 6.56062346e-01 -1.84160295e-02 3.18986065e+02] [-6.55859463e-01 7.54706661e-01 1.63162617e-02 -1.04173274e+02] [ 2.46031851e-02 -2.31998036e-04 9.99697269e-01 3.42917759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.02, Y:-104.20, Z:3.43 [[ 7.53584689e-01 6.57105482e-01 -1.79583441e-02 3.19024493e+02] [-6.56911617e-01 7.53798601e-01 1.59623186e-02 -1.04203135e+02] [ 2.40259017e-02 -2.31913985e-04 9.99711309e-01 3.42918358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.06, Y:-104.23, Z:3.43 [[ 7.54036024e-01 6.56610461e-01 -1.70990278e-02 3.19062376e+02] [-6.56433032e-01 7.54229819e-01 1.52661218e-02 -1.04234046e+02] [ 2.29204919e-02 -2.86839112e-04 9.99737250e-01 3.42996934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.10, Y:-104.26, Z:3.43 [[ 7.54257278e-01 6.56374848e-01 -1.63712450e-02 3.19095570e+02] [-6.56210540e-01 7.54434852e-01 1.46895308e-02 -1.04263412e+02] [ 2.19928763e-02 -3.36701983e-04 9.99758071e-01 3.43332072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.13, Y:-104.29, Z:3.43 [[ 7.53371538e-01 6.57394802e-01 -1.62295985e-02 3.19129717e+02] [-6.57232442e-01 7.53546253e-01 1.46137499e-02 -1.04292690e+02] [ 2.18367564e-02 -3.42964623e-04 9.99761491e-01 3.43456378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.16, Y:-104.32, Z:3.44 [[ 7.52970549e-01 6.57835161e-01 -1.69780425e-02 3.19164079e+02] [-6.57656248e-01 7.53161835e-01 1.53463280e-02 -1.04322208e+02] [ 2.28825678e-02 -3.89617289e-04 9.99738084e-01 3.43709370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.20, Y:-104.35, Z:3.44 [[ 7.52017982e-01 6.58928761e-01 -1.67881996e-02 3.19197922e+02] [-6.58752893e-01 7.52205247e-01 1.52280039e-02 -1.04351540e+02] [ 2.26623415e-02 -3.92457717e-04 9.99743099e-01 3.43828361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.23, Y:-104.38, Z:3.44 [[ 7.50825405e-01 6.60314772e-01 -1.56720580e-02 3.19231642e+02] [-6.60160852e-01 7.50988863e-01 1.42610496e-02 -1.04380499e+02] [ 2.11863227e-02 -3.61479244e-04 9.99775479e-01 3.43952549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.27, Y:-104.41, Z:3.44 [[ 7.49638659e-01 6.61663029e-01 -1.56178280e-02 3.19265602e+02] [-6.61509366e-01 7.49801244e-01 1.42636794e-02 -1.04410536e+02] [ 2.11480162e-02 -3.61265963e-04 9.99776290e-01 3.44147845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.30, Y:-104.44, Z:3.44 [[ 7.48880808e-01 6.62515031e-01 -1.58545937e-02 3.19299676e+02] [-6.62355728e-01 7.49048521e-01 1.45327948e-02 -1.04439760e+02] [ 2.15040550e-02 -3.81950164e-04 9.99768688e-01 3.44266188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.34, Y:-104.47, Z:3.45 [[ 7.45449491e-01 6.66349570e-01 -1.68317212e-02 3.19335581e+02] [-6.66169781e-01 7.45639419e-01 1.54815635e-02 -1.04473459e+02] [ 2.28665280e-02 -3.27939585e-04 9.99738473e-01 3.44609374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.37, Y:-104.50, Z:3.45 [[ 7.44256921e-01 6.67702682e-01 -1.59613284e-02 3.19368938e+02] [-6.67539726e-01 7.44427983e-01 1.47543866e-02 -1.04503861e+02] [ 2.17336030e-02 -3.26233573e-04 9.99763744e-01 3.44800901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.40, Y:-104.53, Z:3.45 [[ 7.41682770e-01 6.70527545e-01 -1.73054801e-02 3.19402696e+02] [-6.70335248e-01 7.41884569e-01 1.60605505e-02 -1.04534747e+02] [ 2.36077102e-02 -3.11360289e-04 9.99721251e-01 3.45098912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.44, Y:-104.56, Z:3.45 [[ 7.40631463e-01 6.71684645e-01 -1.74577655e-02 3.19438415e+02] [-6.71487814e-01 7.40837117e-01 1.62629156e-02 -1.04564012e+02] [ 2.38569114e-02 -3.22150166e-04 9.99715331e-01 3.45156094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01232058799997 meters Centerline goodness [0,1] 0.9999053209619391 Centerline is valid? [True, True] Translation: X:319.47, Y:-104.59, Z:3.45 [[ 7.38078891e-01 6.74477772e-01 -1.78685668e-02 3.19473150e+02] [-6.74270884e-01 7.38295100e-01 1.67069080e-02 -1.04594600e+02] [ 2.44607134e-02 -2.82761747e-04 9.99700752e-01 3.45265722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04232058799994 meters Centerline goodness [0,1] 0.9999053209619391 Centerline is valid? [True, True] Translation: X:319.51, Y:-104.62, Z:3.45 [[ 7.36823040e-01 6.75850476e-01 -1.78309436e-02 3.19507055e+02] [-6.75643020e-01 7.37038703e-01 1.67469422e-02 -1.04624508e+02] [ 2.44605244e-02 -2.92180239e-04 9.99700754e-01 3.45413095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.07232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.54, Y:-104.66, Z:3.46 [[ 7.34400662e-01 6.78484339e-01 -1.77389362e-02 3.19539433e+02] [-6.78278288e-01 7.34614825e-01 1.67219681e-02 -1.04657653e+02] [ 2.43768790e-02 -2.48689216e-04 9.99702809e-01 3.45553735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10232058799994 meters Centerline goodness [0,1] 0.9999530273850346 Centerline is valid? [True, True] Translation: X:319.57, Y:-104.69, Z:3.46 [[ 7.33523693e-01 6.79436131e-01 -1.75936295e-02 3.19572875e+02] [-6.79232172e-01 7.33734608e-01 1.66487564e-02 -1.04688103e+02] [ 2.42208215e-02 -2.62098113e-04 9.99706599e-01 3.45826907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.13232058799997 meters Centerline goodness [0,1] 0.999858503914725 Centerline is valid? [True, True] Translation: X:319.61, Y:-104.72, Z:3.46 [[ 7.31490368e-01 6.81605978e-01 -1.83066313e-02 3.19606209e+02] [-6.81384113e-01 7.31719366e-01 1.73913812e-02 -1.04718710e+02] [ 2.52493860e-02 -2.47780058e-04 9.99681153e-01 3.46063970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16232058799994 meters Centerline goodness [0,1] 0.9998590424282291 Centerline is valid? [True, True] Translation: X:319.64, Y:-104.75, Z:3.46 [[ 7.28615791e-01 6.84682038e-01 -1.81530887e-02 3.19644332e+02] [-6.84463433e-01 7.28841871e-01 1.73013137e-02 -1.04751803e+02] [ 2.50766298e-02 -1.80884960e-04 9.99685516e-01 3.46192250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.192320588 meters Centerline goodness [0,1] 0.9999050242188242 Centerline is valid? [True, True] Translation: X:319.68, Y:-104.78, Z:3.46 [[ 7.27702803e-01 6.85656633e-01 -1.79892268e-02 3.19678868e+02] [-6.85439687e-01 7.27925087e-01 1.72482723e-02 -1.04783043e+02] [ 2.49212018e-02 -2.21086109e-04 9.99689394e-01 3.46369359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.71, Y:-104.82, Z:3.47 [[ 7.25806225e-01 6.87636234e-01 -1.90192854e-02 3.19713075e+02] [-6.87392418e-01 7.26055344e-01 1.83112491e-02 -1.04815121e+02] [ 2.64005322e-02 -2.16705997e-04 9.99651422e-01 3.46566272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.252320588 meters Centerline goodness [0,1] 0.9999525346497057 Centerline is valid? [True, True] Translation: X:319.75, Y:-104.85, Z:3.47 [[ 7.24181544e-01 6.89344811e-01 -1.91003098e-02 3.19747825e+02] [-6.89097602e-01 7.24433357e-01 1.84609549e-02 -1.04845904e+02] [ 2.65628650e-02 -2.07105131e-04 9.99647123e-01 3.46676613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28232058799995 meters Centerline goodness [0,1] 0.9999050918236606 Centerline is valid? [True, True] Translation: X:319.78, Y:-104.88, Z:3.47 [[ 7.22709206e-01 6.90893540e-01 -1.89081786e-02 3.19781834e+02] [-6.90649967e-01 7.22956483e-01 1.83451911e-02 -1.04877076e+02] [ 2.63443643e-02 -1.99305631e-04 9.99652907e-01 3.46863351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.312320588 meters Centerline goodness [0,1] 0.9999528235127613 Centerline is valid? [True, True] Translation: X:319.82, Y:-104.91, Z:3.47 [[ 7.21599669e-01 6.92047642e-01 -1.90782617e-02 3.19815425e+02] [-6.91798137e-01 7.21851797e-01 1.85827970e-02 -1.04908962e+02] [ 2.66318583e-02 -2.11034299e-04 9.99645287e-01 3.47110304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34232058799995 meters Centerline goodness [0,1] 0.9999531286618233 Centerline is valid? [True, True] Translation: X:319.85, Y:-104.94, Z:3.47 [[ 7.19819544e-01 6.93904493e-01 -1.88779978e-02 3.19848666e+02] [-6.93658962e-01 7.20067023e-01 1.84587837e-02 -1.04941435e+02] [ 2.64020567e-02 -1.92100904e-04 9.99651386e-01 3.47497773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.88, Y:-104.97, Z:3.48 [[ 7.18725346e-01 6.95039744e-01 -1.88050988e-02 3.19883521e+02] [-6.94794628e-01 7.18971289e-01 1.84583489e-02 -1.04972466e+02] [ 2.63496122e-02 -2.00801547e-04 9.99652769e-01 3.47572395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.92, Y:-105.00, Z:3.48 [[ 7.16659668e-01 6.97138292e-01 -1.99279303e-02 3.19917532e+02] [-6.96861576e-01 7.16936654e-01 1.96412452e-02 -1.05003952e+02] [ 2.79797278e-02 -1.89079360e-04 9.99608473e-01 3.47715620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.95, Y:-105.04, Z:3.48 [[ 7.15481830e-01 6.98374622e-01 -1.89377269e-02 3.19951163e+02] [-6.98123350e-01 7.15732390e-01 1.87332605e-02 -1.05035561e+02] [ 2.66371783e-02 -1.82438169e-04 9.99645151e-01 3.47903935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:319.99, Y:-105.07, Z:3.48 [[ 7.14085145e-01 6.99814747e-01 -1.84858073e-02 3.19985754e+02] [-6.99574078e-01 7.14324359e-01 1.83526416e-02 -1.05068454e+02] [ 2.60483117e-02 -1.73157126e-04 9.99660670e-01 3.48137638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.492320588 meters Centerline goodness [0,1] 0.9999528324135654 Centerline is valid? [True, True] Translation: X:320.02, Y:-105.10, Z:3.48 [[ 7.12590133e-01 7.01327081e-01 -1.88580642e-02 3.20024626e+02] [-7.01074898e-01 7.12839598e-01 1.88067787e-02 -1.05103929e+02] [ 2.66324781e-02 -1.80609545e-04 9.99645276e-01 3.48435474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.23, Y:-103.84, Z:5.31 [[ 7.53455952e-01 -6.57037627e-01 2.46106518e-02 3.21233168e+02] [-6.56590712e-01 -7.53854659e-01 -2.43267324e-02 -1.03837029e+02] [ 3.45364330e-02 2.16999597e-03 -9.99401084e-01 5.30628635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.16, Y:-105.24, Z:3.49 [[ 7.66971509e-01 6.41382309e-01 -1.95815928e-02 3.20158612e+02] [-6.41165498e-01 7.67221401e-01 1.66770968e-02 -1.05235893e+02] [ 2.57198119e-02 -2.35816343e-04 9.99669163e-01 3.48593155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.19, Y:-105.26, Z:3.49 [[ 7.65011313e-01 6.43685316e-01 -2.06616798e-02 3.20192720e+02] [-6.43444543e-01 7.65290261e-01 1.76050273e-02 -1.05264499e+02] [ 2.71442799e-02 -1.73399958e-04 9.99631511e-01 3.48794871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.23, Y:-105.29, Z:3.49 [[ 7.64924509e-01 6.43806564e-01 -2.00899170e-02 3.20228256e+02] [-6.43577382e-01 7.65188254e-01 1.71781622e-02 -1.05292557e+02] [ 2.64319821e-02 -2.10581093e-04 9.99650592e-01 3.48990509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.26, Y:-105.32, Z:3.49 [[ 7.63771761e-01 6.45204741e-01 -1.90667306e-02 3.20262304e+02] [-6.44997322e-01 7.64009688e-01 1.63600673e-02 -1.05320414e+02] [ 2.51227599e-02 -1.97367210e-04 9.99684354e-01 3.49083499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.30, Y:-105.35, Z:3.49 [[ 7.63121772e-01 6.45991828e-01 -1.84314707e-02 3.20296761e+02] [-6.45796916e-01 7.63344297e-01 1.58690785e-02 -1.05348216e+02] [ 2.43208531e-02 -2.07052345e-04 9.99704183e-01 3.49202501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.33, Y:-105.38, Z:3.49 [[ 7.61127488e-01 6.48344780e-01 -1.82754874e-02 3.20330294e+02] [-6.48152499e-01 7.61346844e-01 1.57899134e-02 -1.05376339e+02] [ 2.41512926e-02 -1.72834315e-04 9.99708300e-01 3.49306249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.37, Y:-105.41, Z:3.49 [[ 7.59939893e-01 6.49760012e-01 -1.74151178e-02 3.20366071e+02] [-6.49584666e-01 7.60139397e-01 1.50950027e-02 -1.05405042e+02] [ 2.30460462e-02 -1.58701283e-04 9.99734392e-01 3.49346542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.40, Y:-105.44, Z:3.50 [[ 7.58292245e-01 6.51685381e-01 -1.72926443e-02 3.20403613e+02] [-6.51511831e-01 7.58489383e-01 1.50395832e-02 -1.05437226e+02] [ 2.29173637e-02 -1.38036926e-04 9.99737353e-01 3.49712640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.44, Y:-105.47, Z:3.50 [[ 7.57395149e-01 6.52742286e-01 -1.67360726e-02 3.20438008e+02] [-6.52578299e-01 7.57580017e-01 1.46314947e-02 -1.05465701e+02] [ 2.22295095e-02 -1.60225288e-04 9.99752881e-01 3.49830640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.47, Y:-105.49, Z:3.50 [[ 7.56478427e-01 6.53801612e-01 -1.68475809e-02 3.20472817e+02] [-6.53634463e-01 7.56665992e-01 1.47839742e-02 -1.05493857e+02] [ 2.24137776e-02 -1.71598057e-04 9.99748765e-01 3.50037445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.52, Y:-105.53, Z:3.50 [[ 7.55850658e-01 6.54501861e-01 -1.78072006e-02 3.20515783e+02] [-6.54314118e-01 7.56060365e-01 1.56767432e-02 -1.05525904e+02] [ 2.37237761e-02 -1.97773951e-04 9.99718532e-01 3.50258996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.55, Y:-105.55, Z:3.50 [[ 7.55456208e-01 6.54998248e-01 -1.62238311e-02 3.20550989e+02] [-6.54840561e-01 7.55630360e-01 1.43735634e-02 -1.05554453e+02] [ 2.16738781e-02 -2.34575048e-04 9.99765066e-01 3.50244354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.58, Y:-105.58, Z:3.51 [[ 7.53946944e-01 6.56733364e-01 -1.62878540e-02 3.20584802e+02] [-6.56573687e-01 7.54122826e-01 1.44829557e-02 -1.05584545e+02] [ 2.17944827e-02 -2.25203825e-04 9.99762447e-01 3.50586401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.62, Y:-105.61, Z:3.51 [[ 7.53195136e-01 6.57588606e-01 -1.65623497e-02 3.20619253e+02] [-6.57422479e-01 7.53377173e-01 1.47824034e-02 -1.05613396e+02] [ 2.21984362e-02 -2.45573385e-04 9.99753554e-01 3.50820664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.97232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.66, Y:-105.65, Z:3.51 [[ 7.50580445e-01 6.60563047e-01 -1.68954797e-02 3.20656843e+02] [-6.60389791e-01 7.50770552e-01 1.51295103e-02 -1.05645018e+02] [ 2.26786240e-02 -1.98312241e-04 9.99742787e-01 3.50979471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.69, Y:-105.67, Z:3.51 [[ 7.48494519e-01 6.62905925e-01 -1.76547436e-02 3.20692007e+02] [-6.62715328e-01 7.48702675e-01 1.58965080e-02 -1.05672620e+02] [ 2.37560431e-02 -1.98379904e-04 9.99717766e-01 3.50989714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.73, Y:-105.70, Z:3.51 [[ 7.47405999e-01 6.64123669e-01 -1.80007179e-02 3.20726685e+02] [-6.63924417e-01 7.47622705e-01 1.62683570e-02 -1.05700790e+02] [ 2.42619464e-02 -2.07951464e-04 9.99705614e-01 3.51150360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.76, Y:-105.73, Z:3.51 [[ 7.45625283e-01 6.66120539e-01 -1.80655851e-02 3.20761147e+02] [-6.65918987e-01 7.45844080e-01 1.63863022e-02 -1.05730242e+02] [ 2.43893622e-02 -1.87825134e-04 9.99702518e-01 3.51419152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.80, Y:-105.76, Z:3.51 [[ 7.45842497e-01 6.65937196e-01 -1.57041454e-02 3.20796607e+02] [-6.65783929e-01 7.46007781e-01 1.42881019e-02 -1.05760042e+02] [ 2.12303931e-02 -2.01105964e-04 9.99774590e-01 3.51449983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.83, Y:-105.79, Z:3.52 [[ 7.45056276e-01 6.66800406e-01 -1.63818256e-02 3.20831661e+02] [-6.66632506e-01 7.45236315e-01 1.49644919e-02 -1.05790405e+02] [ 2.21866607e-02 -2.28731164e-04 9.99753820e-01 3.51638790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.87, Y:-105.82, Z:3.52 [[ 7.45040282e-01 6.66765295e-01 -1.84125057e-02 3.20867168e+02] [-6.66551276e-01 7.45267699e-01 1.68953669e-02 -1.05818861e+02] [ 2.49874900e-02 -3.14849696e-04 9.99687714e-01 3.51862835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.90, Y:-105.85, Z:3.52 [[ 7.44282237e-01 6.67602409e-01 -1.87343483e-02 3.20902172e+02] [-6.67379428e-01 7.44517903e-01 1.72566097e-02 -1.05848469e+02] [ 2.54686120e-02 -3.40869405e-04 9.99675564e-01 3.52041459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.94, Y:-105.88, Z:3.52 [[ 7.43715452e-01 6.68244369e-01 -1.83518418e-02 3.20937071e+02] [-6.68029058e-01 7.43941756e-01 1.69659236e-02 -1.05877694e+02] [ 2.49900843e-02 -3.58255953e-04 9.99687635e-01 3.52205148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:320.97, Y:-105.91, Z:3.52 [[ 7.43747123e-01 6.68227689e-01 -1.76627456e-02 3.20971702e+02] [-6.68026838e-01 7.43956722e-01 1.63871635e-02 -1.05907354e+02] [ 2.40906748e-02 -3.88717611e-04 9.99709702e-01 3.52315741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.01, Y:-105.94, Z:3.53 [[ 7.43053464e-01 6.68981263e-01 -1.83199048e-02 3.21006207e+02] [-6.68763753e-01 7.43279145e-01 1.70632843e-02 -1.05937939e+02] [ 2.50318207e-02 -4.27244245e-04 9.99686564e-01 3.52584721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.04, Y:-105.97, Z:3.53 [[ 7.40752677e-01 6.71509373e-01 -1.89903561e-02 3.21040407e+02] [-6.71274702e-01 7.40995950e-01 1.77560552e-02 -1.05968426e+02] [ 2.59951344e-02 -4.05099748e-04 9.99661987e-01 3.52712291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.08, Y:-106.00, Z:3.53 [[ 7.38639896e-01 6.73806480e-01 -1.98980454e-02 3.21076873e+02] [-6.73547764e-01 7.38907758e-01 1.86744649e-02 -1.06001572e+02] [ 2.72857956e-02 -3.91420767e-04 9.99627597e-01 3.52994785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.12, Y:-106.04, Z:3.53 [[ 7.35880683e-01 6.76820358e-01 -1.98449989e-02 3.21118216e+02] [-6.76561815e-01 7.36148142e-01 1.87088930e-02 -1.06037447e+02] [ 2.72714187e-02 -3.41144512e-04 9.99628007e-01 3.53242094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.39232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.15, Y:-106.07, Z:3.53 [[ 7.34635996e-01 6.78191800e-01 -1.91268232e-02 3.21151888e+02] [-6.77948761e-01 7.34884850e-01 1.81585955e-02 -1.06067905e+02] [ 2.63710232e-02 -3.72951746e-04 9.99652155e-01 3.53287065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.19, Y:-106.10, Z:3.54 [[ 7.33663621e-01 6.79242187e-01 -1.91766078e-02 3.21185828e+02] [-6.78996401e-01 7.33914097e-01 1.82752689e-02 -1.06099153e+02] [ 2.64873164e-02 -3.87052286e-04 9.99649075e-01 3.53506072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.45232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.22, Y:-106.13, Z:3.54 [[ 7.32459674e-01 6.80512943e-01 -2.01236133e-02 3.21220010e+02] [-6.80240652e-01 7.32735944e-01 1.92533851e-02 -1.06129736e+02] [ 2.78474725e-02 -4.13428357e-04 9.99612098e-01 3.53788164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48232058799994 meters Centerline goodness [0,1] 0.9999531330552561 Centerline is valid? [True, True] Translation: X:321.25, Y:-106.16, Z:3.54 [[ 7.30540407e-01 6.82553221e-01 -2.07801396e-02 3.21253997e+02] [-6.82261474e-01 7.30835781e-01 1.99585295e-02 -1.06160002e+02] [ 2.88096282e-02 -4.03023588e-04 9.99584835e-01 3.53801775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.51232058799997 meters Centerline goodness [0,1] 0.9998587371097613 Centerline is valid? [True, True] Translation: X:321.29, Y:-106.19, Z:3.54 [[ 7.28717318e-01 6.84488614e-01 -2.11283699e-02 3.21291767e+02] [-6.84185623e-01 7.29023448e-01 2.03677468e-02 -1.06193869e+02] [ 2.93445678e-02 -3.86602915e-04 9.99569281e-01 3.54023111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.33, Y:-106.23, Z:3.54 [[ 7.27641024e-01 6.85642176e-01 -2.08169852e-02 3.21325934e+02] [-6.85345259e-01 7.27938619e-01 2.01802428e-02 -1.06225012e+02] [ 2.89899130e-02 -4.17150406e-04 9.99579617e-01 3.54271697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.57232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.36, Y:-106.26, Z:3.54 [[ 7.25384027e-01 6.88030193e-01 -2.07958519e-02 3.21359380e+02] [-6.87732593e-01 7.25681963e-01 2.02378288e-02 -1.06257512e+02] [ 2.90154119e-02 -3.78212588e-04 9.99578893e-01 3.54396654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.39, Y:-106.29, Z:3.55 [[ 7.23122130e-01 6.90392494e-01 -2.12741570e-02 3.21393734e+02] [-6.90079648e-01 7.23434919e-01 2.07845316e-02 -1.06289480e+02] [ 2.97399527e-02 -3.48891981e-04 9.99557609e-01 3.54564581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.63232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.43, Y:-106.32, Z:3.55 [[ 7.21180565e-01 6.92380655e-01 -2.25304764e-02 3.21428040e+02] [-6.92027884e-01 7.21532333e-01 2.21020219e-02 -1.06321305e+02] [ 3.15594796e-02 -3.47830690e-04 9.99501815e-01 3.54709084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.46, Y:-106.35, Z:3.55 [[ 7.18510179e-01 6.95135404e-01 -2.30193992e-02 3.21461135e+02] [-6.94765695e-01 7.18878767e-01 2.26704030e-02 -1.06354525e+02] [ 3.23071571e-02 -2.95826421e-04 9.99477944e-01 3.54954319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.692320588 meters Centerline goodness [0,1] 0.9999048660990344 Centerline is valid? [True, True] Translation: X:321.50, Y:-106.39, Z:3.55 [[ 7.15481971e-01 6.98276983e-01 -2.22441994e-02 3.21496750e+02] [-6.97930672e-01 7.15827641e-01 2.19901038e-02 -1.06387965e+02] [ 3.12781961e-02 -2.08613722e-04 9.99510696e-01 3.54999793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72232058799995 meters Centerline goodness [0,1] 0.9999528012460471 Centerline is valid? [True, True] Translation: X:321.54, Y:-106.42, Z:3.55 [[ 7.12708659e-01 7.01102675e-01 -2.23921230e-02 3.21535310e+02] [-7.00749352e-01 7.13060313e-01 2.22561178e-02 -1.06423243e+02] [ 3.15707580e-02 -1.70862183e-04 9.99501505e-01 3.55170589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.752320588 meters Centerline goodness [0,1] 0.9998593002532595 Centerline is valid? [True, True] Translation: X:321.57, Y:-106.46, Z:3.55 [[ 7.09966144e-01 7.03868164e-01 -2.27526307e-02 3.21568305e+02] [-7.03500453e-01 7.10330618e-01 2.27491784e-02 -1.06455533e+02] [ 3.21743127e-02 -1.44660464e-04 9.99482262e-01 3.55398506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78232058799995 meters Centerline goodness [0,1] 0.9999526335733232 Centerline is valid? [True, True] Translation: X:322.78, Y:-105.18, Z:5.36 [[ 7.56343554e-01 -6.53823735e-01 2.14231557e-02 3.22783079e+02] [-6.53471035e-01 -7.56643285e-01 -2.15996685e-02 -1.05180366e+02] [ 3.03320628e-02 2.33735835e-03 -9.99537144e-01 5.36385393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.812320588 meters Centerline goodness [0,1] 0.9999524375743163 Centerline is valid? [True, True] Translation: X:321.70, Y:-106.59, Z:3.56 [[ 7.64836489e-01 6.43753566e-01 -2.46270221e-02 3.21699833e+02] [-6.43411660e-01 7.65232844e-01 2.09792740e-02 -1.06589466e+02] [ 3.23508887e-02 -2.00401081e-04 9.99476553e-01 3.55969179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:321.73, Y:-106.62, Z:3.56 [[ 7.62289638e-01 6.46734960e-01 -2.54636694e-02 3.21734487e+02] [-6.46370308e-01 7.62714810e-01 2.17150337e-02 -1.06618183e+02] [ 3.34653892e-02 -9.41853886e-05 9.99439873e-01 3.56185338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.872320588 meters Centerline goodness [0,1] 0.999905303030303 Centerline is valid? [True, True] Translation: X:321.77, Y:-106.65, Z:3.56 [[ 7.59765257e-01 6.49695711e-01 -2.55389568e-02 3.21769005e+02] [-6.49327834e-01 7.60194372e-01 2.18605064e-02 -1.06647087e+02] [ 3.36172485e-02 -2.56977482e-05 9.99434780e-01 3.56254813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90232058799995 meters Centerline goodness [0,1] 0.9999528568734678 Centerline is valid? [True, True] Translation: X:321.80, Y:-106.68, Z:3.56 [[ 7.58166068e-01 6.51531387e-01 -2.62881124e-02 3.21803084e+02] [-6.51139735e-01 7.58621679e-01 2.25874855e-02 -1.06675617e+02] [ 3.46591877e-02 -7.83047654e-06 9.99399190e-01 3.56498783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.932320588 meters Centerline goodness [0,1] 0.9999528568734678 Centerline is valid? [True, True] Translation: X:321.84, Y:-106.70, Z:3.57 [[ 7.56936352e-01 6.52961302e-01 -2.62468579e-02 3.21838222e+02] [-6.52568850e-01 7.57391271e-01 2.26353314e-02 -1.06703977e+02] [ 3.46591366e-02 -5.62331291e-06 9.99399192e-01 3.56644129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96232058799995 meters Centerline goodness [0,1] 0.9996714077829414 Centerline is valid? [True, True] Translation: X:321.87, Y:-106.73, Z:3.57 [[ 7.55057344e-01 6.55180818e-01 -2.50300555e-02 3.21872976e+02] [-6.54822521e-01 7.55472101e-01 2.16649636e-02 -1.06733438e+02] [ 3.31039772e-02 3.19542243e-05 9.99451913e-01 3.56707001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.992320588 meters Centerline goodness [0,1] 0.9997648607975922 Centerline is valid? [True, True] Translation: X:321.91, Y:-106.76, Z:3.57 [[ 7.52012867e-01 6.58631111e-01 -2.61095240e-02 3.21906331e+02] [-6.58240201e-01 7.52465975e-01 2.26890564e-02 -1.06763227e+02] [ 3.45902469e-02 1.23875981e-04 9.99401571e-01 3.57095489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02232058799996 meters Centerline goodness [0,1] 0.9998588899341486 Centerline is valid? [True, True] Translation: X:321.94, Y:-106.79, Z:3.57 [[ 7.49293719e-01 6.61674245e-01 -2.73151280e-02 3.21940904e+02] [-6.61245064e-01 7.49791405e-01 2.38288636e-02 -1.06792422e+02] [ 3.62475935e-02 2.07175699e-04 9.99342819e-01 3.57377946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.052320588 meters Centerline goodness [0,1] 0.9997163656991586 Centerline is valid? [True, True] Translation: X:321.98, Y:-106.82, Z:3.58 [[ 7.47483300e-01 6.63699578e-01 -2.77774389e-02 3.21976413e+02] [-6.63253666e-01 7.47999206e-01 2.43261551e-02 -1.06821267e+02] [ 3.69227611e-02 2.40093540e-04 9.99318094e-01 3.57516620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08232058799996 meters Centerline goodness [0,1] 0.9996692340405424 Centerline is valid? [True, True] Translation: X:322.03, Y:-106.86, Z:3.58 [[ 7.43464513e-01 6.68202641e-01 -2.76721770e-02 3.22034629e+02] [-6.67758564e-01 7.43979231e-01 2.43598866e-02 -1.06864170e+02] [ 3.68648655e-02 3.67621996e-04 9.99320192e-01 3.57676200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.112320588 meters Centerline goodness [0,1] 0.9996682621676698 Centerline is valid? [True, True] Translation: X:322.07, Y:-106.89, Z:3.58 [[ 7.42374933e-01 6.69420875e-01 -2.74799934e-02 3.22070171e+02] [-6.68973751e-01 7.42883330e-01 2.44638036e-02 -1.06893698e+02] [ 3.67910099e-02 2.22079697e-04 9.99322957e-01 3.57792141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14232058799996 meters Centerline goodness [0,1] 0.9995751310012746 Centerline is valid? [True, True] Translation: X:322.11, Y:-106.92, Z:3.58 [[ 7.42616719e-01 6.69234790e-01 -2.54008737e-02 3.22106454e+02] [-6.68849854e-01 7.43050993e-01 2.26957094e-02 -1.06922180e+02] [ 3.40629027e-02 1.35157384e-04 9.99419682e-01 3.57842801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.172320588 meters Centerline goodness [0,1] 0.999620187057874 Centerline is valid? [True, True] Translation: X:322.14, Y:-106.95, Z:3.58 [[ 7.41844495e-01 6.70118466e-01 -2.46573870e-02 3.22141415e+02] [-6.69753512e-01 7.42254154e-01 2.21134517e-02 -1.06951137e+02] [ 3.31206802e-02 1.09629122e-04 9.99451354e-01 3.58007905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20232058799996 meters Centerline goodness [0,1] 0.9996708205972255 Centerline is valid? [True, True] Translation: X:322.18, Y:-106.98, Z:3.58 [[ 7.41788964e-01 6.70204406e-01 -2.39830429e-02 3.22176640e+02] [-6.69856608e-01 7.42176563e-01 2.15887551e-02 -1.06979812e+02] [ 3.22685312e-02 5.08994799e-05 9.99479234e-01 3.58201778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.23232058799994 meters Centerline goodness [0,1] 0.9996223030074123 Centerline is valid? [True, True] Translation: X:322.21, Y:-107.01, Z:3.58 [[ 7.41220061e-01 6.70825767e-01 -2.41993945e-02 3.22212350e+02] [-6.70469248e-01 7.41614988e-01 2.18677272e-02 -1.07009379e+02] [ 3.26160685e-02 1.61517306e-05 9.99467954e-01 3.58438426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.25, Y:-107.04, Z:3.59 [[ 7.42118382e-01 6.69840063e-01 -2.39707385e-02 3.22249714e+02] [-6.69486991e-01 7.42505409e-01 2.17459774e-02 -1.07037490e+02] [ 3.23647299e-02 -8.99919815e-05 9.99476121e-01 3.58712543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.29232058799994 meters Centerline goodness [0,1] 0.9999529566730959 Centerline is valid? [True, True] Translation: X:322.29, Y:-107.07, Z:3.59 [[ 7.41665096e-01 6.70346432e-01 -2.38442209e-02 3.22286036e+02] [-6.69994605e-01 7.42048276e-01 2.17160176e-02 -1.07066867e+02] [ 3.22508180e-02 -1.30512883e-04 9.99479799e-01 3.58886817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.33, Y:-107.10, Z:3.59 [[ 7.39625975e-01 6.72563814e-01 -2.47251757e-02 3.22330790e+02] [-6.72183464e-01 7.40039124e-01 2.26160414e-02 -1.07103445e+02] [ 3.35083284e-02 -1.07557450e-04 9.99438432e-01 3.59190679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.35232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.37, Y:-107.13, Z:3.59 [[ 7.40898101e-01 6.71156130e-01 -2.48888002e-02 3.22365942e+02] [-6.70764138e-01 7.41315965e-01 2.29371342e-02 -1.07132313e+02] [ 3.38448631e-02 -2.99564632e-04 9.99427054e-01 3.59345751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.41, Y:-107.17, Z:3.59 [[ 7.38020010e-01 6.74325337e-01 -2.47347120e-02 3.22413439e+02] [-6.73936795e-01 7.38434351e-01 2.28889846e-02 -1.07170474e+02] [ 3.36995832e-02 -2.22896114e-04 9.99431983e-01 3.59458939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.41232058799994 meters Centerline goodness [0,1] 0.9999529301012002 Centerline is valid? [True, True] Translation: X:322.45, Y:-107.20, Z:3.60 [[ 7.36948072e-01 6.75512237e-01 -2.43054733e-02 3.22449080e+02] [-6.75131808e-01 7.37348716e-01 2.26696371e-02 -1.07198668e+02] [ 3.32352268e-02 -2.96947241e-04 9.99447513e-01 3.59604777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.48, Y:-107.23, Z:3.60 [[ 7.36265826e-01 6.76275444e-01 -2.37520065e-02 3.22483018e+02] [-6.75909895e-01 7.36648779e-01 2.22348962e-02 -1.07229030e+02] [ 3.25338009e-02 -3.16577998e-04 9.99470586e-01 3.59944768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.47232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.52, Y:-107.26, Z:3.60 [[ 7.35947016e-01 6.76662295e-01 -2.25860233e-02 3.22516912e+02] [-6.76329602e-01 7.36293435e-01 2.12190033e-02 -1.07259876e+02] [ 3.09880402e-02 -3.40466019e-04 9.99519697e-01 3.60221566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.55, Y:-107.29, Z:3.60 [[ 7.36332451e-01 6.76234513e-01 -2.28342933e-02 3.22552154e+02] [-6.75891713e-01 7.36686300e-01 2.15334159e-02 -1.07288721e+02] [ 3.13833501e-02 -4.22243269e-04 9.99507332e-01 3.60406486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.59, Y:-107.32, Z:3.60 [[ 7.34760861e-01 6.77952620e-01 -2.25104907e-02 3.22587641e+02] [-6.77617864e-01 7.35105491e-01 2.13060185e-02 -1.07318000e+02] [ 3.09920565e-02 -4.01317870e-04 9.99519550e-01 3.60308349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.62, Y:-107.35, Z:3.60 [[ 7.34057652e-01 6.78702862e-01 -2.28426850e-02 3.22623393e+02] [-6.78355932e-01 7.34412851e-01 2.17023775e-02 -1.07347085e+02] [ 3.15054271e-02 -4.35325440e-04 9.99503486e-01 3.60300784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.59232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.66, Y:-107.38, Z:3.60 [[ 7.33247108e-01 6.79604574e-01 -2.20522581e-02 3.22658007e+02] [-6.79279356e-01 7.33578511e-01 2.10267912e-02 -1.07376920e+02] [ 3.04669661e-02 -4.38190140e-04 9.99535678e-01 3.60438880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.69, Y:-107.41, Z:3.60 [[ 7.31854628e-01 6.81165021e-01 -2.00752921e-02 3.22691480e+02] [-6.80894306e-01 7.32129814e-01 1.92062389e-02 -1.07407721e+02] [ 2.77803380e-02 -3.87022770e-04 9.99613977e-01 3.60466418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.65232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.73, Y:-107.44, Z:3.61 [[ 7.30558080e-01 6.82557754e-01 -1.99951047e-02 3.22726461e+02] [-6.82287771e-01 7.30831557e-01 1.91998130e-02 -1.07438921e+02] [ 2.77180347e-02 -3.84163145e-04 9.99615708e-01 3.60814113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.76, Y:-107.47, Z:3.61 [[ 7.27945212e-01 6.85334412e-01 -2.03103847e-02 3.22758741e+02] [-6.85054768e-01 7.28228418e-01 1.95789864e-02 -1.07470699e+02] [ 2.82087525e-02 -3.38703521e-04 9.99601997e-01 3.61068926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.71232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.79, Y:-107.50, Z:3.62 [[ 7.26851694e-01 6.86401460e-01 -2.32303731e-02 3.22793783e+02] [-6.86033075e-01 7.27222709e-01 2.24889361e-02 -1.07501775e+02] [ 3.23300934e-02 -4.09317032e-04 9.99477162e-01 3.61600041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.83, Y:-107.53, Z:3.62 [[ 7.25982587e-01 6.87331717e-01 -2.28996374e-02 3.22828516e+02] [-6.86971514e-01 7.26343535e-01 2.22532956e-02 -1.07531197e+02] [ 3.19283995e-02 -4.24106579e-04 9.99490069e-01 3.61623813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.77232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.86, Y:-107.56, Z:3.62 [[ 7.25234942e-01 6.88118369e-01 -2.29649490e-02 3.22863253e+02] [-6.87753840e-01 7.25598309e-01 2.23997396e-02 -1.07560496e+02] [ 3.20770004e-02 -4.50841970e-04 9.99485299e-01 3.61637859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.90, Y:-107.59, Z:3.62 [[ 7.25355290e-01 6.88038591e-01 -2.15081285e-02 3.22897416e+02] [-6.87716627e-01 7.25673940e-01 2.10516681e-02 -1.07590554e+02] [ 3.00922484e-02 -4.78441227e-04 9.99547011e-01 3.61602223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.83232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.93, Y:-107.62, Z:3.62 [[ 7.25022565e-01 6.88422729e-01 -2.04065026e-02 3.22931552e+02] [-6.88131055e-01 7.25309524e-01 2.00435721e-02 -1.07622424e+02] [ 2.85994813e-02 -4.89693883e-04 9.99590831e-01 3.61808414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:322.97, Y:-107.65, Z:3.62 [[ 7.27016694e-01 6.86324692e-01 -2.01281833e-02 3.22967004e+02] [-6.86037998e-01 7.27295012e-01 1.98451846e-02 -1.07652733e+02] [ 2.82593675e-02 -6.19081905e-04 9.99600433e-01 3.62019671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.89232058799996 meters Centerline goodness [0,1] 0.9997657640775789 Centerline is valid? [True, True] Translation: X:323.00, Y:-107.68, Z:3.62 [[ 7.25953915e-01 6.87428633e-01 -2.08035503e-02 3.23000605e+02] [-6.87120478e-01 7.26251642e-01 2.05912858e-02 -1.07683466e+02] [ 2.92636520e-02 -6.53779157e-04 9.99571514e-01 3.62139345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.922320588 meters Centerline goodness [0,1] 0.9993296624371558 Centerline is valid? [True, True] Translation: X:323.04, Y:-107.71, Z:3.62 [[ 7.25983854e-01 6.87400090e-01 -2.07017135e-02 3.23035097e+02] [-6.87092765e-01 7.26278609e-01 2.05648660e-02 -1.07713617e+02] [ 2.91715024e-02 -7.05763111e-04 9.99574172e-01 3.62271600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.95232058799996 meters Centerline goodness [0,1] 0.9994825964252116 Centerline is valid? [True, True] Translation: X:323.07, Y:-107.75, Z:3.62 [[ 7.24049728e-01 6.89452548e-01 -2.01786161e-02 3.23066594e+02] [-6.89159324e-01 7.24330553e-01 2.01165709e-02 -1.07746186e+02] [ 2.84854092e-02 -6.59116266e-04 9.99593991e-01 3.62247725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98232058799994 meters Centerline goodness [0,1] 0.9993003405009562 Centerline is valid? [True, True] Translation: X:324.27, Y:-106.50, Z:5.42 [[ 7.45505301e-01 -6.66029672e-01 2.50264382e-02 3.24272029e+02] [-6.65577832e-01 -7.45923375e-01 -2.45859515e-02 -1.06500069e+02] [ 3.50427785e-02 1.67191467e-03 -9.99384415e-01 5.42040081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.01232058799997 meters Centerline goodness [0,1] 0.9997176869147885 Centerline is valid? [True, True] Translation: X:323.21, Y:-107.89, Z:3.63 [[ 7.76379735e-01 6.29936595e-01 -2.03566548e-02 3.23207456e+02] [-6.29699413e-01 7.76646326e-01 1.72954894e-02 -1.07888525e+02] [ 2.67049828e-02 -6.09293935e-04 9.99643173e-01 3.62551963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04232058799994 meters Centerline goodness [0,1] 0.9996712071395021 Centerline is valid? [True, True] Translation: X:323.26, Y:-107.93, Z:3.63 [[ 7.73163568e-01 6.33861205e-01 -2.09301378e-02 3.23256712e+02] [-6.33612067e-01 7.73446663e-01 1.77766258e-02 -1.07927206e+02] [ 2.74562587e-02 -4.82651533e-04 9.99622889e-01 3.62859395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.07232058799997 meters Centerline goodness [0,1] 0.9996247302748851 Centerline is valid? [True, True] Translation: X:323.30, Y:-107.96, Z:3.63 [[ 7.71943234e-01 6.35356767e-01 -2.06257933e-02 3.23295839e+02] [-6.35110794e-01 7.72218540e-01 1.76863294e-02 -1.07958127e+02] [ 2.71647491e-02 -5.53178386e-04 9.99630817e-01 3.63045956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10232058799994 meters Centerline goodness [0,1] 0.9996252576353757 Centerline is valid? [True, True] Translation: X:323.33, Y:-107.98, Z:3.63 [[ 7.71172471e-01 6.36258553e-01 -2.16349961e-02 3.23329676e+02] [-6.35985472e-01 7.71475642e-01 1.86497458e-02 -1.07984922e+02] [ 2.85569328e-02 -6.22627330e-04 9.99591974e-01 3.63323793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.13232058799997 meters Centerline goodness [0,1] 0.9996257835157639 Centerline is valid? [True, True] Translation: X:323.37, Y:-108.02, Z:3.63 [[ 7.70198118e-01 6.37451996e-01 -2.12087697e-02 3.23371830e+02] [-6.37188484e-01 7.70489832e-01 1.83372427e-02 -1.08016791e+02] [ 2.80302533e-02 -6.09325984e-04 9.99606890e-01 3.63405473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16232058799994 meters Centerline goodness [0,1] 0.9995788291450232 Centerline is valid? [True, True] Translation: X:323.42, Y:-108.06, Z:3.63 [[ 7.66517213e-01 6.41908713e-01 -2.01138487e-02 3.23424316e+02] [-6.41671078e-01 7.66780913e-01 1.74716896e-02 -1.08058112e+02] [ 2.66381450e-02 -4.85875869e-04 9.99645024e-01 3.63472568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.192320588 meters Centerline goodness [0,1] 0.999386039482384 Centerline is valid? [True, True] Translation: X:323.46, Y:-108.09, Z:3.64 [[ 7.64806779e-01 6.43962758e-01 -1.95590662e-02 3.23457877e+02] [-6.43733699e-01 7.65056640e-01 1.71831993e-02 -1.08087158e+02] [ 2.60291339e-02 -5.50997323e-04 9.99661033e-01 3.63641838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22232058799995 meters Centerline goodness [0,1] 0.9994384125795582 Centerline is valid? [True, True] Translation: X:323.49, Y:-108.12, Z:3.64 [[ 7.62144408e-01 6.47086283e-01 -2.03775243e-02 3.23490221e+02] [-6.46836997e-01 7.62416605e-01 1.79671684e-02 -1.08117049e+02] [ 2.71624711e-02 -5.12640308e-04 9.99630901e-01 3.63908982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.252320588 meters Centerline goodness [0,1] 0.9994362226920367 Centerline is valid? [True, True] Translation: X:323.52, Y:-108.15, Z:3.64 [[ 7.60172350e-01 6.49344564e-01 -2.21277186e-02 3.23524691e+02] [-6.49049393e-01 7.60494156e-01 1.95837528e-02 -1.08145030e+02] [ 2.95446042e-02 -5.25045037e-04 9.99563325e-01 3.64008481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28232058799995 meters Centerline goodness [0,1] 0.9994329458463284 Centerline is valid? [True, True] Translation: X:323.56, Y:-108.17, Z:3.64 [[ 7.59557709e-01 6.50068783e-01 -2.19696279e-02 3.23558655e+02] [-6.49776157e-01 7.59875175e-01 1.95106177e-02 -1.08173504e+02] [ 2.93774183e-02 -5.44099749e-04 9.99568242e-01 3.64480648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.312320588 meters Centerline goodness [0,1] 0.9992972593113141 Centerline is valid? [True, True] Translation: X:323.59, Y:-108.20, Z:3.65 [[ 7.56336856e-01 6.53775286e-01 -2.30745678e-02 3.23591905e+02] [-6.53451891e-01 7.56688607e-01 2.05664309e-02 -1.08204504e+02] [ 3.09060868e-02 -4.77029772e-04 9.99522179e-01 3.64594151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34232058799995 meters Centerline goodness [0,1] 0.9993899005068518 Centerline is valid? [True, True] Translation: X:323.63, Y:-108.23, Z:3.65 [[ 7.54489164e-01 6.55922167e-01 -2.26321153e-02 3.23625870e+02] [-6.55609789e-01 7.54828404e-01 2.02456069e-02 -1.08233599e+02] [ 3.03629058e-02 -4.37254671e-04 9.99538845e-01 3.64691915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.372320588 meters Centerline goodness [0,1] 0.9996240954797482 Centerline is valid? [True, True] Translation: X:323.66, Y:-108.26, Z:3.65 [[ 7.53152669e-01 6.57458455e-01 -2.25707131e-02 3.23661181e+02] [-6.57146256e-01 7.53490674e-01 2.02633070e-02 -1.08264448e+02] [ 3.03291044e-02 -4.29104116e-04 9.99539875e-01 3.64919786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40232058799995 meters Centerline goodness [0,1] 0.9995782963171211 Centerline is valid? [True, True] Translation: X:323.71, Y:-108.30, Z:3.65 [[ 7.50420971e-01 6.60610091e-01 -2.15098649e-02 3.23705374e+02] [-6.60325935e-01 7.50729108e-01 1.93769374e-02 -1.08301857e+02] [ 2.89486820e-02 -3.37338520e-04 9.99580842e-01 3.65129500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.432320588 meters Centerline goodness [0,1] 0.9994365138993239 Centerline is valid? [True, True] Translation: X:323.74, Y:-108.33, Z:3.65 [[ 7.49530340e-01 6.61653727e-01 -2.04600868e-02 3.23739974e+02] [-6.61393305e-01 7.49809441e-01 1.85660310e-02 -1.08330338e+02] [ 2.76254499e-02 -3.83639055e-04 9.99618271e-01 3.65154688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46232058799995 meters Centerline goodness [0,1] 0.9993374662817661 Centerline is valid? [True, True] Translation: X:323.77, Y:-108.36, Z:3.65 [[ 7.48159668e-01 6.63203517e-01 -2.04501000e-02 3.23774937e+02] [-6.62942071e-01 7.48439011e-01 1.86240979e-02 -1.08358934e+02] [ 2.76572199e-02 -3.76567246e-04 9.99617395e-01 3.65267852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.492320588 meters Centerline goodness [0,1] 0.9993830090175605 Centerline is valid? [True, True] Translation: X:323.81, Y:-108.39, Z:3.65 [[ 7.47007653e-01 6.64475592e-01 -2.12544979e-02 3.23808799e+02] [-6.64191581e-01 7.47309862e-01 1.94297217e-02 -1.08388708e+02] [ 2.87942718e-02 -3.97092199e-04 9.99585280e-01 3.65497449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52232058799996 meters Centerline goodness [0,1] 0.9994326509384899 Centerline is valid? [True, True] Translation: X:323.84, Y:-108.42, Z:3.66 [[ 7.45555918e-01 6.66116761e-01 -2.08526596e-02 3.23841737e+02] [-6.65842113e-01 7.45847382e-01 1.91301597e-02 -1.08419478e+02] [ 2.82958216e-02 -3.78024848e-04 9.99599522e-01 3.65713705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.552320588 meters Centerline goodness [0,1] 0.9998106777735706 Centerline is valid? [True, True] Translation: X:323.88, Y:-108.45, Z:3.66 [[ 7.43989676e-01 6.67881433e-01 -2.03409199e-02 3.23875934e+02] [-6.67618949e-01 7.44267605e-01 1.87262068e-02 -1.08451233e+02] [ 2.76459736e-02 -3.52121000e-04 9.99617715e-01 3.66040635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58232058799996 meters Centerline goodness [0,1] 0.9995792032915654 Centerline is valid? [True, True] Translation: X:323.91, Y:-108.48, Z:3.66 [[ 7.42288825e-01 6.69767079e-01 -2.04783057e-02 3.23911131e+02] [-6.69499684e-01 7.42571172e-01 1.89269008e-02 -1.08481122e+02] [ 2.78832145e-02 -3.39007770e-04 9.99611130e-01 3.66178897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.612320588 meters Centerline goodness [0,1] 0.999392693637298 Centerline is valid? [True, True] Translation: X:323.95, Y:-108.51, Z:3.66 [[ 7.41252481e-01 6.70952001e-01 -1.91878291e-02 3.23946642e+02] [-6.70716059e-01 7.41500715e-01 1.77948801e-02 -1.08511060e+02] [ 2.61672993e-02 -3.20913891e-04 9.99657526e-01 3.66063880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64232058799996 meters Centerline goodness [0,1] 0.9993927220068202 Centerline is valid? [True, True] Translation: X:323.99, Y:-108.54, Z:3.66 [[ 7.39458653e-01 6.72906353e-01 -1.99484407e-02 3.23985024e+02] [-6.72650122e-01 7.39727613e-01 1.85707356e-02 -1.08544883e+02] [ 2.72527784e-02 -3.13970059e-04 9.99628525e-01 3.66232174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.672320588 meters Centerline goodness [0,1] 0.999435718988056 Centerline is valid? [True, True] Translation: X:324.02, Y:-108.58, Z:3.66 [[ 7.37487650e-01 6.75063982e-01 -2.00146609e-02 3.24018559e+02] [-6.74803849e-01 7.37759121e-01 1.87415193e-02 -1.08575357e+02] [ 2.74177233e-02 -3.15668828e-04 9.99624014e-01 3.66452375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70232058799996 meters Centerline goodness [0,1] 0.9998589761669722 Centerline is valid? [True, True] Translation: X:324.05, Y:-108.61, Z:3.66 [[ 7.35102073e-01 6.77663859e-01 -1.99157521e-02 3.24052666e+02] [-6.77405348e-01 7.35371758e-01 1.87182427e-02 -1.08605370e+02] [ 2.73301582e-02 -2.68782079e-04 9.99626425e-01 3.66448537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.73232058799994 meters Centerline goodness [0,1] 0.999530229717668 Centerline is valid? [True, True] Translation: X:324.09, Y:-108.64, Z:3.67 [[ 7.33489464e-01 6.79415886e-01 -1.96789185e-02 3.24086414e+02] [-6.79162256e-01 7.33753358e-01 1.85644838e-02 -1.08636464e+02] [ 2.70524777e-02 -2.51674580e-04 9.99633983e-01 3.66681088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76232058799997 meters Centerline goodness [0,1] 0.9994338554444234 Centerline is valid? [True, True] Translation: X:324.12, Y:-108.67, Z:3.67 [[ 7.30250721e-01 6.82902830e-01 -1.94321608e-02 3.24119260e+02] [-6.82654946e-01 7.30509203e-01 1.83991718e-02 -1.08669522e+02] [ 2.67602188e-02 -1.70547842e-04 9.99641867e-01 3.67036898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.79232058799994 meters Centerline goodness [0,1] 0.9993914427488063 Centerline is valid? [True, True] Translation: X:324.15, Y:-108.70, Z:3.67 [[ 7.28836643e-01 6.84431322e-01 -1.87326911e-02 3.24153599e+02] [-6.84199754e-01 7.29077321e-01 1.78032555e-02 -1.08700812e+02] [ 2.58426859e-02 -1.58762325e-04 9.99666009e-01 3.67109877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82232058799997 meters Centerline goodness [0,1] 0.999625923501356 Centerline is valid? [True, True] Translation: X:324.19, Y:-108.73, Z:3.67 [[ 7.27777398e-01 6.85547004e-01 -1.91144891e-02 3.24188353e+02] [-6.85304381e-01 7.28028348e-01 1.82381728e-02 -1.08732290e+02] [ 2.64190146e-02 -1.74086878e-04 9.99650942e-01 3.67286651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.85232058799994 meters Centerline goodness [0,1] 0.999625923501356 Centerline is valid? [True, True] Translation: X:324.22, Y:-108.76, Z:3.67 [[ 7.26446307e-01 6.86958333e-01 -1.90790581e-02 3.24222535e+02] [-6.86715226e-01 7.26696785e-01 1.82751501e-02 -1.08763008e+02] [ 2.64189568e-02 -1.74035610e-04 9.99650943e-01 3.67434295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88232058799997 meters Centerline goodness [0,1] 0.9995229690406907 Centerline is valid? [True, True] Translation: X:324.26, Y:-108.79, Z:3.68 [[ 7.26502104e-01 6.86914302e-01 -1.85319908e-02 3.24259552e+02] [-6.86683290e-01 7.26738395e-01 1.78147211e-02 -1.08794979e+02] [ 2.57050959e-02 -2.16823990e-04 9.99669546e-01 3.67546809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.91232058799994 meters Centerline goodness [0,1] 0.9994810831210491 Centerline is valid? [True, True] Translation: X:324.29, Y:-108.83, Z:3.68 [[ 7.24587701e-01 6.88939120e-01 -1.83181208e-02 3.24293244e+02] [-6.88711846e-01 7.24819182e-01 1.76959499e-02 -1.08826712e+02] [ 2.54687574e-02 -2.06360873e-04 9.99675597e-01 3.67684334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.942320588 meters Centerline goodness [0,1] 0.9994812299566119 Centerline is valid? [True, True] Translation: X:324.33, Y:-108.86, Z:3.68 [[ 7.23289668e-01 6.90316883e-01 -1.77385851e-02 3.24327703e+02] [-6.90102612e-01 7.23507126e-01 1.71995117e-02 -1.08858089e+02] [ 2.47071060e-02 -1.98785196e-04 9.99694713e-01 3.67755178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.97232058799995 meters Centerline goodness [0,1] 0.9996710835447796 Centerline is valid? [True, True] Translation: X:324.36, Y:-108.89, Z:3.68 [[ 7.21712655e-01 6.91970272e-01 -1.75495216e-02 3.24361366e+02] [-6.91759436e-01 7.21925971e-01 1.70814326e-02 -1.08890119e+02] [ 2.44892990e-02 -1.87838922e-04 9.99700074e-01 3.67963822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.002320588 meters Centerline goodness [0,1] 0.9996716851930022 Centerline is valid? [True, True] Translation: X:324.40, Y:-108.92, Z:3.68 [[ 7.20505137e-01 6.93246751e-01 -1.67716934e-02 3.24395072e+02] [-6.93053132e-01 7.20700291e-01 1.63843649e-02 -1.08921696e+02] [ 2.34457720e-02 -1.81344461e-04 9.99725094e-01 3.68146710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.03232058799995 meters Centerline goodness [0,1] 0.9994373065741349 Centerline is valid? [True, True] Translation: X:324.43, Y:-108.95, Z:3.68 [[ 7.18213267e-01 6.95617996e-01 -1.68910453e-02 3.24427894e+02] [-6.95420732e-01 7.18411847e-01 1.65657424e-02 -1.08954054e+02] [ 2.36581556e-02 -1.51352896e-04 9.99720095e-01 3.68291906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.062320588 meters Centerline goodness [0,1] 0.9994837619673362 Centerline is valid? [True, True] Translation: X:324.46, Y:-108.99, Z:3.68 [[ 7.15448878e-01 6.98424773e-01 -1.83231998e-02 3.24464163e+02] [-6.98191667e-01 7.15683465e-01 1.80436480e-02 -1.08986165e+02] [ 2.57157418e-02 -1.16202273e-04 9.99669289e-01 3.68328767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.09232058799995 meters Centerline goodness [0,1] 0.9994379654348743 Centerline is valid? [True, True] Translation: X:324.50, Y:-109.02, Z:3.68 [[ 7.13362925e-01 7.00549188e-01 -1.85518737e-02 3.24500900e+02] [-7.00308671e-01 7.13604109e-01 1.83559484e-02 -1.09019091e+02] [ 2.60979380e-02 -1.02415066e-04 9.99659386e-01 3.68411469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.122320588 meters Centerline goodness [0,1] 0.9996262555477692 Centerline is valid? [True, True] Translation: X:324.53, Y:-109.05, Z:3.69 [[ 7.11742867e-01 7.02208540e-01 -1.80349236e-02 3.24534751e+02] [-7.01979306e-01 7.11971316e-01 1.79415453e-02 -1.09050832e+02] [ 2.54390546e-02 -1.09623679e-04 9.99676369e-01 3.68606316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.15232058799995 meters Centerline goodness [0,1] 0.9999053970956908 Centerline is valid? [True, True] Translation: X:325.74, Y:-107.75, Z:5.47 [[ 7.59442368e-01 -6.50044182e-01 2.62650121e-02 3.25740635e+02] [-6.49544126e-01 -7.59892674e-01 -2.56037531e-02 -1.07751997e+02] [ 3.66021610e-02 2.38429057e-03 -9.99327072e-01 5.47473344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.65, Y:-109.17, Z:3.69 [[ 7.63554099e-01 6.45427580e-01 -2.02083043e-02 3.24653292e+02] [-6.45200067e-01 7.63821469e-01 1.71358439e-02 -1.09170413e+02] [ 2.64954829e-02 -4.57445927e-05 9.99648932e-01 3.69081928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.21232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.69, Y:-109.20, Z:3.69 [[ 7.61066087e-01 6.48310627e-01 -2.17196211e-02 3.24688828e+02] [-6.48048627e-01 7.61375944e-01 1.84295768e-02 -1.09197766e+02] [ 2.84848875e-02 4.92446812e-05 9.99594222e-01 3.69180864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.72, Y:-109.23, Z:3.70 [[ 7.58594938e-01 6.51203994e-01 -2.16120012e-02 3.24722830e+02] [-6.50943822e-01 7.58902726e-01 1.84063438e-02 -1.09227433e+02] [ 2.83876913e-02 1.05239416e-04 9.99596983e-01 3.69558616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.27232058799996 meters Centerline goodness [0,1] 0.9999531330552561 Centerline is valid? [True, True] Translation: X:324.76, Y:-109.26, Z:3.70 [[ 7.56022829e-01 6.54228518e-01 -2.03599724e-02 3.24757039e+02] [-6.53997099e-01 7.56296913e-01 1.74003881e-02 -1.09256827e+02] [ 2.67820144e-02 1.60272324e-04 9.99641285e-01 3.69695855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.302320588 meters Centerline goodness [0,1] 0.9999531132783196 Centerline is valid? [True, True] Translation: X:324.80, Y:-109.29, Z:3.70 [[ 7.53051874e-01 6.57631836e-01 -2.08144979e-02 3.24796805e+02] [-6.57389500e-01 7.53339440e-01 1.78531261e-02 -1.09287864e+02] [ 2.74211663e-02 2.38902285e-04 9.99623941e-01 3.69949679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.33232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:324.83, Y:-109.32, Z:3.70 [[ 7.50701210e-01 6.60346287e-01 -1.97604238e-02 3.24833252e+02] [-6.60126335e-01 7.50961197e-01 1.70441307e-02 -1.09316196e+02] [ 2.60943400e-02 2.49326573e-04 9.99659454e-01 3.69839390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.362320588 meters Centerline goodness [0,1] 0.9999064852480479 Centerline is valid? [True, True] Translation: X:324.87, Y:-109.34, Z:3.70 [[ 7.47685078e-01 6.63742758e-01 -2.03119411e-02 3.24868488e+02] [-6.63509723e-01 7.47960858e-01 1.75898389e-02 -1.09344945e+02] [ 2.68676651e-02 3.25510281e-04 9.99638946e-01 3.69961429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.39232058799996 meters Centerline goodness [0,1] 0.9995771471527908 Centerline is valid? [True, True] Translation: X:324.90, Y:-109.37, Z:3.70 [[ 7.46751483e-01 6.64803752e-01 -1.99547884e-02 3.24904329e+02] [-6.64577513e-01 7.47017989e-01 1.73451545e-02 -1.09373931e+02] [ 2.64377097e-02 3.08983777e-04 9.99650415e-01 3.70143660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.422320588 meters Centerline goodness [0,1] 0.9998587171517378 Centerline is valid? [True, True] Translation: X:324.94, Y:-109.40, Z:3.70 [[ 7.45742437e-01 6.65869423e-01 -2.20483550e-02 3.24939911e+02] [-6.65591200e-01 7.46068234e-01 1.92495345e-02 -1.09403123e+02] [ 2.92672537e-02 3.19996350e-04 9.99571571e-01 3.70489078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.45232058799996 meters Centerline goodness [0,1] 0.9998118886380737 Centerline is valid? [True, True] Translation: X:324.98, Y:-109.43, Z:3.71 [[ 7.44665943e-01 6.67069682e-01 -2.21511442e-02 3.24975807e+02] [-6.66787157e-01 7.44995263e-01 1.94150764e-02 -1.09431764e+02] [ 2.94537063e-02 3.12352239e-04 9.99566097e-01 3.70547772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48232058799994 meters Centerline goodness [0,1] 0.9998593728027001 Centerline is valid? [True, True] Translation: X:325.01, Y:-109.46, Z:3.71 [[ 7.44942398e-01 6.66783911e-01 -2.14485296e-02 3.25011548e+02] [-6.66516913e-01 7.45251071e-01 1.88691848e-02 -1.09459912e+02] [ 2.85662085e-02 2.39351931e-04 9.99591874e-01 3.70516545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.51232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.05, Y:-109.49, Z:3.71 [[ 7.45184350e-01 6.66492763e-01 -2.20834866e-02 3.25047704e+02] [-6.66207326e-01 7.45511479e-01 1.95047071e-02 -1.09489593e+02] [ 2.94632389e-02 1.77578130e-04 9.99565849e-01 3.70741907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.08, Y:-109.52, Z:3.71 [[ 7.47451207e-01 6.63993466e-01 -2.07212501e-02 3.25083190e+02] [-6.63739325e-01 7.47738374e-01 1.83693237e-02 -1.09518804e+02] [ 2.76911848e-02 2.33353424e-05 9.99616525e-01 3.71028127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.57232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.12, Y:-109.55, Z:3.71 [[ 7.47056243e-01 6.64412178e-01 -2.15273598e-02 3.25118262e+02] [-6.64135835e-01 7.47366348e-01 1.91607785e-02 -1.09548015e+02] [ 2.88194788e-02 -1.70881230e-05 9.99584632e-01 3.71203010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.15, Y:-109.58, Z:3.71 [[ 7.45975793e-01 6.65593380e-01 -2.24848371e-02 3.25153789e+02] [-6.65290007e-01 7.46314579e-01 2.00936643e-02 -1.09577524e+02] [ 3.01549717e-02 -3.04497529e-05 9.99545235e-01 3.71330300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.63232058799997 meters Centerline goodness [0,1] 0.999953020764822 Centerline is valid? [True, True] Translation: X:325.19, Y:-109.61, Z:3.71 [[ 7.44846815e-01 6.66834435e-01 -2.31313174e-02 3.25190923e+02] [-6.66511325e-01 7.45205901e-01 2.07561965e-02 -1.09608730e+02] [ 3.10785408e-02 -4.29018516e-05 9.99516945e-01 3.71398250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.23, Y:-109.64, Z:3.72 [[ 7.44598186e-01 6.67140510e-01 -2.22953161e-02 3.25225958e+02] [-6.66837686e-01 7.44931897e-01 2.00990115e-02 -1.09638660e+02] [ 3.00173568e-02 -9.83305243e-05 9.99549373e-01 3.71534453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.30, Y:-109.69, Z:3.72 [[ 7.37241183e-01 6.75262781e-01 -2.22624080e-02 3.25302489e+02] [-6.74962532e-01 7.37577212e-01 2.01354489e-02 -1.09694457e+02] [ 3.00169640e-02 1.81609123e-04 9.99549373e-01 3.71830476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.34, Y:-109.73, Z:3.72 [[ 7.35911549e-01 6.76697053e-01 -2.27000156e-02 3.25336498e+02] [-6.76371087e-01 7.36261563e-01 2.10015376e-02 -1.09726440e+02] [ 3.09248276e-02 -1.01639852e-04 9.99521708e-01 3.72202318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.37, Y:-109.76, Z:3.72 [[ 7.33811903e-01 6.79018357e-01 -2.13110739e-02 3.25370683e+02] [-6.78729938e-01 7.34121290e-01 1.97889640e-02 -1.09757381e+02] [ 2.90819829e-02 -5.69134188e-05 9.99577028e-01 3.72287952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78232058799995 meters Centerline goodness [0,1] 0.9999529566730959 Centerline is valid? [True, True] Translation: X:325.41, Y:-109.79, Z:3.73 [[ 7.31306350e-01 6.81681615e-01 -2.23874480e-02 3.25406886e+02] [-6.81361950e-01 7.31648943e-01 2.08738572e-02 -1.09790251e+02] [ 3.06090773e-02 -1.12290749e-05 9.99531432e-01 3.72548911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.44, Y:-109.82, Z:3.73 [[ 7.29180257e-01 6.83939761e-01 -2.28594879e-02 3.25441313e+02] [-6.83604304e-01 7.29538486e-01 2.14185239e-02 -1.09821418e+02] [ 3.13258563e-02 8.87958290e-06 9.99509225e-01 3.72741101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.47, Y:-109.85, Z:3.73 [[ 7.26197837e-01 6.87110546e-01 -2.27111987e-02 3.25474607e+02] [-6.86778378e-01 7.26552882e-01 2.13627887e-02 -1.09853482e+02] [ 3.11794842e-02 8.39492582e-05 9.99513798e-01 3.72872016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.51, Y:-109.89, Z:3.73 [[ 7.24013745e-01 6.89389453e-01 -2.33726251e-02 3.25510706e+02] [-6.89035944e-01 7.24390894e-01 2.20748698e-02 -1.09885970e+02] [ 3.21490992e-02 1.22069694e-04 9.99483077e-01 3.73133974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.55, Y:-109.92, Z:3.73 [[ 7.22689704e-01 6.90810388e-01 -2.23741003e-02 3.25545582e+02] [-6.90484114e-01 7.23035958e-01 2.12294807e-02 -1.09916041e+02] [ 3.08428248e-02 1.06633691e-04 9.99524241e-01 3.73102923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.932320588 meters Centerline goodness [0,1] 0.999906445878941 Centerline is valid? [True, True] Translation: X:325.61, Y:-109.97, Z:3.73 [[ 7.17621446e-01 6.96041214e-01 -2.33685532e-02 3.25611638e+02] [-6.95684685e-01 7.18001779e-01 2.22769927e-02 -1.09966264e+02] [ 3.22843678e-02 2.70696853e-04 9.99478687e-01 3.73281564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96232058799995 meters Centerline goodness [0,1] 0.999952807928268 Centerline is valid? [True, True] Translation: X:325.65, Y:-110.00, Z:3.73 [[ 7.16296716e-01 6.97416552e-01 -2.30036685e-02 3.25645876e+02] [-6.97060233e-01 7.16665995e-01 2.22908579e-02 -1.09997885e+02] [ 3.20319602e-02 6.80742322e-05 9.99486843e-01 3.73465572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.68, Y:-110.03, Z:3.74 [[ 7.14719623e-01 6.99018011e-01 -2.34452651e-02 3.25679481e+02] [-6.98645382e-01 7.15104059e-01 2.28213895e-02 -1.10029360e+02] [ 3.27183666e-02 6.90312818e-05 9.99464609e-01 3.73914762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02232058799996 meters Centerline goodness [0,1] 0.9999500199920032 Centerline is valid? [True, True] Translation: X:325.71, Y:-110.06, Z:3.74 [[ 7.13166828e-01 7.00571277e-01 -2.43507909e-02 3.25714107e+02] [-7.00166502e-01 7.13582427e-01 2.38115156e-02 -1.10059736e+02] [ 3.40579603e-02 6.80250501e-05 9.99419857e-01 3.74146729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.052320588 meters Centerline goodness [0,1] 0.9999063538886548 Centerline is valid? [True, True] Translation: X:325.76, Y:-110.10, Z:3.74 [[ 7.10084929e-01 7.03673331e-01 -2.49647084e-02 3.25761176e+02] [-7.03245472e-01 7.10523627e-01 2.45353244e-02 -1.10099616e+02] [ 3.50028686e-02 1.34154044e-04 9.99387203e-01 3.74293192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08232058799996 meters Centerline goodness [0,1] 0.999952845758476 Centerline is valid? [True, True] Translation: X:325.80, Y:-110.13, Z:3.74 [[ 7.10004052e-01 7.03792791e-01 -2.38736879e-02 3.25796030e+02] [-7.03395034e-01 7.10405312e-01 2.36583867e-02 -1.10130087e+02] [ 3.36105967e-02 -4.91692338e-06 9.99435004e-01 3.74374023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:325.83, Y:-110.16, Z:3.75 [[ 7.09902055e-01 7.03934464e-01 -2.27011833e-02 3.25830919e+02] [-7.03571875e-01 7.10264927e-01 2.25909339e-02 -1.10160404e+02] [ 3.20263912e-02 -6.54362952e-05 9.99487021e-01 3.74566002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14232058799996 meters Centerline goodness [0,1] 0.9998575904300769 Centerline is valid? [True, True] Translation: X:325.87, Y:-110.19, Z:3.75 [[ 7.08632567e-01 7.05187663e-01 -2.34573113e-02 3.25867665e+02] [-7.04797624e-01 7.09020700e-01 2.34511509e-02 -1.10193186e+02] [ 3.31691816e-02 -8.55919759e-05 9.99449748e-01 3.74824505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.10, Y:-108.91, Z:5.52 [[ 7.57041501e-01 -6.53078720e-01 1.93997811e-02 3.27098764e+02] [-6.52781383e-01 -7.57286350e-01 -1.98456479e-02 -1.08912545e+02] [ 2.76519597e-02 2.36016315e-03 -9.99614825e-01 5.52318243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.01, Y:-110.33, Z:3.75 [[ 7.64553407e-01 6.44045136e-01 -2.57672533e-02 3.26006888e+02] [-6.43671066e-01 7.64987467e-01 2.19484276e-02 -1.10328604e+02] [ 3.38474039e-02 -1.95109692e-04 9.99426993e-01 3.75175852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.23232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.04, Y:-110.36, Z:3.75 [[ 7.63028119e-01 6.45835485e-01 -2.61651855e-02 3.26043719e+02] [-6.45449873e-01 7.63476593e-01 2.23148801e-02 -1.10357162e+02] [ 3.43882481e-02 -1.38565347e-04 9.99408540e-01 3.75329986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26232058799997 meters Centerline goodness [0,1] 0.999953216374269 Centerline is valid? [True, True] Translation: X:326.08, Y:-110.38, Z:3.76 [[ 7.62096474e-01 6.46951253e-01 -2.57495531e-02 3.26078076e+02] [-6.46575169e-01 7.62531344e-01 2.20567668e-02 -1.10384926e+02] [ 3.39044943e-02 -1.60362594e-04 9.99425065e-01 3.75526046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.29232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.11, Y:-110.41, Z:3.76 [[ 7.61040526e-01 6.48167707e-01 -2.63807049e-02 3.26114917e+02] [-6.47770744e-01 7.61497599e-01 2.26819292e-02 -1.10413822e+02] [ 3.47905375e-02 -1.73218478e-04 9.99394611e-01 3.75778441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.15, Y:-110.44, Z:3.76 [[ 7.59416464e-01 6.50045507e-01 -2.69717083e-02 3.26149613e+02] [-6.49628008e-01 7.59895262e-01 2.32946550e-02 -1.10441814e+02] [ 3.56382592e-02 -1.68767359e-04 9.99364741e-01 3.75912807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.35232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.19, Y:-110.47, Z:3.76 [[ 7.57854406e-01 6.51823992e-01 -2.79675252e-02 3.26185451e+02] [-6.51372879e-01 7.58370265e-01 2.42469415e-02 -1.10470087e+02] [ 3.70144777e-02 -1.58364025e-04 9.99314717e-01 3.76004350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.22, Y:-110.50, Z:3.76 [[ 7.56421109e-01 6.53516458e-01 -2.72643548e-02 3.26220028e+02] [-6.53085696e-01 7.56912293e-01 2.37245490e-02 -1.10498108e+02] [ 3.61411085e-02 -1.39789549e-04 9.99346687e-01 3.76011746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.41232058799994 meters Centerline goodness [0,1] 0.9999060371153394 Centerline is valid? [True, True] Translation: X:326.27, Y:-110.54, Z:3.77 [[ 7.53784456e-01 6.56489263e-01 -2.88243360e-02 3.26270514e+02] [-6.56005165e-01 7.54335363e-01 2.52068230e-02 -1.10537044e+02] [ 3.82912246e-02 -9.15980922e-05 9.99266618e-01 3.76623855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.30, Y:-110.57, Z:3.77 [[ 7.52916158e-01 6.57515132e-01 -2.81266862e-02 3.26304908e+02] [-6.57047272e-01 7.53441314e-01 2.48005737e-02 -1.10565119e+02] [ 3.74985599e-02 -1.92190233e-04 9.99296663e-01 3.76777372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.47232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.34, Y:-110.60, Z:3.77 [[ 7.51973339e-01 6.58594091e-01 -2.81055249e-02 3.26344408e+02] [-6.58123975e-01 7.52498357e-01 2.48808351e-02 -1.10595406e+02] [ 3.75357323e-02 -2.12804866e-04 9.99295263e-01 3.76915745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.502320588 meters Centerline goodness [0,1] 0.9999532382511106 Centerline is valid? [True, True] Translation: X:326.38, Y:-110.62, Z:3.77 [[ 7.51331246e-01 6.59321477e-01 -2.82231892e-02 3.26379413e+02] [-6.58843035e-01 7.51861100e-01 2.51145523e-02 -1.10623695e+02] [ 3.77784818e-02 -2.74696241e-04 9.99286101e-01 3.77061078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.41, Y:-110.65, Z:3.77 [[ 7.51225249e-01 6.59439052e-01 -2.82977377e-02 3.26414830e+02] [-6.58954659e-01 7.51757954e-01 2.52732160e-02 -1.10651212e+02] [ 3.79391950e-02 -3.38951881e-04 9.99279992e-01 3.77259396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.45, Y:-110.68, Z:3.77 [[ 7.50671213e-01 6.60043892e-01 -2.88927317e-02 3.26450013e+02] [-6.59535647e-01 7.51226937e-01 2.59001735e-02 -1.10679175e+02] [ 3.88002496e-02 -3.86728130e-04 9.99246912e-01 3.77467534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59232058799995 meters Centerline goodness [0,1] 0.9999531572044219 Centerline is valid? [True, True] Translation: X:326.49, Y:-110.71, Z:3.78 [[ 7.49530632e-01 6.61332889e-01 -2.90282919e-02 3.26488576e+02] [-6.60816868e-01 7.50092429e-01 2.61230863e-02 -1.10710059e+02] [ 3.90499581e-02 -3.97668502e-04 9.99237180e-01 3.77594392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.52, Y:-110.74, Z:3.78 [[ 7.48393132e-01 6.62567155e-01 -3.02073551e-02 3.26523713e+02] [-6.62004094e-01 7.49002382e-01 2.73132199e-02 -1.10739789e+02] [ 4.07222233e-02 -4.43633467e-04 9.99170408e-01 3.78005533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.65232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.56, Y:-110.77, Z:3.78 [[ 7.48034207e-01 6.62998621e-01 -2.96252053e-02 3.26557937e+02] [-6.62453472e-01 7.48620460e-01 2.68850375e-02 -1.10768133e+02] [ 4.00027776e-02 -4.85607604e-04 9.99199451e-01 3.78209928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.59, Y:-110.80, Z:3.78 [[ 7.47205761e-01 6.63917320e-01 -2.99556909e-02 3.26592167e+02] [-6.63356632e-01 7.47805808e-01 2.72846502e-02 -1.10796650e+02] [ 4.05157915e-02 -5.15941581e-04 9.99178765e-01 3.78458404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.71232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.63, Y:-110.82, Z:3.79 [[ 7.46963735e-01 6.64153535e-01 -3.07451033e-02 3.26627747e+02] [-6.63558803e-01 7.47595967e-01 2.81066712e-02 -1.10824023e+02] [ 4.16520602e-02 -5.93480144e-04 9.99132000e-01 3.78509334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.66, Y:-110.85, Z:3.79 [[ 7.45778108e-01 6.65486907e-01 -3.06951150e-02 3.26661391e+02] [-6.64891061e-01 7.46409288e-01 2.81611829e-02 -1.10853016e+02] [ 4.16520174e-02 -5.93086105e-04 9.99132002e-01 3.78650718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.77232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.70, Y:-110.88, Z:3.79 [[ 7.44768386e-01 6.66642832e-01 -3.01228350e-02 3.26695566e+02] [-6.66065942e-01 7.45377075e-01 2.77340314e-02 -1.10882015e+02] [ 4.09415639e-02 -5.91635320e-04 9.99161368e-01 3.78685447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.73, Y:-110.91, Z:3.79 [[ 7.43717633e-01 6.67819818e-01 -3.00128896e-02 3.26733534e+02] [-6.67243704e-01 7.44322729e-01 2.77401333e-02 -1.10913409e+02] [ 4.08646867e-02 -6.04914621e-04 9.99164507e-01 3.78918805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.83232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.77, Y:-110.94, Z:3.79 [[ 7.42166009e-01 6.69567017e-01 -2.94894071e-02 3.26767481e+02] [-6.69007309e-01 7.42751413e-01 2.73780648e-02 -1.10943117e+02] [ 4.02347480e-02 -5.90440205e-04 9.99190080e-01 3.79091053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.80, Y:-110.97, Z:3.79 [[ 7.41968394e-01 6.69788768e-01 -2.94263174e-02 3.26802689e+02] [-6.69227662e-01 7.42551401e-01 2.74181148e-02 -1.10972514e+02] [ 4.02148985e-02 -6.50468995e-04 9.99190842e-01 3.79331838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.89232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.84, Y:-111.00, Z:3.80 [[ 7.40830194e-01 6.71014653e-01 -3.01655214e-02 3.26837047e+02] [-6.70421632e-01 7.41443778e-01 2.82127419e-02 -1.11001446e+02] [ 4.12972014e-02 -6.77232963e-04 9.99146677e-01 3.79615560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.87, Y:-111.03, Z:3.80 [[ 7.38948091e-01 6.73083588e-01 -3.02357965e-02 3.26870609e+02] [-6.72485284e-01 7.39566140e-01 2.83807567e-02 -1.11031626e+02] [ 4.14639928e-02 -6.38777832e-04 9.99139795e-01 3.79819358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.95232058799996 meters Centerline goodness [0,1] 0.9999530229717668 Centerline is valid? [True, True] Translation: X:326.91, Y:-111.07, Z:3.80 [[ 7.36858123e-01 6.75393928e-01 -2.97178263e-02 3.26910749e+02] [-6.74813124e-01 7.37456914e-01 2.80097966e-02 -1.11066071e+02] [ 4.08332630e-02 -5.85266964e-04 9.99165803e-01 3.79925261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.95, Y:-111.10, Z:3.80 [[ 7.29668471e-01 6.83206978e-01 -2.84982026e-02 3.26950288e+02] [-6.82672720e-01 7.30224732e-01 2.70147843e-02 -1.11102042e+02] [ 3.92667815e-02 -2.56890881e-04 9.99228730e-01 3.80049954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.01232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:326.99, Y:-111.14, Z:3.80 [[ 7.25998971e-01 6.87103969e-01 -2.85241984e-02 3.26986893e+02] [-6.86565608e-01 7.26559089e-01 2.71947734e-02 -1.11135773e+02] [ 3.94101524e-02 -1.59643832e-04 9.99223105e-01 3.80277252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.02, Y:-111.17, Z:3.81 [[ 7.22775711e-01 6.90424099e-01 -3.01634787e-02 3.27020568e+02] [-6.89819175e-01 7.23404837e-01 2.88954743e-02 -1.11166315e+02] [ 4.17705382e-02 -7.76009913e-05 9.99127227e-01 3.80630468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.07232058799997 meters Centerline goodness [0,1] 0.9997664533607361 Centerline is valid? [True, True] Translation: X:327.06, Y:-111.20, Z:3.81 [[ 7.20565497e-01 6.92784545e-01 -2.88952981e-02 3.27055792e+02] [-6.92227268e-01 7.21144628e-01 2.77819318e-02 -1.11196869e+02] [ 4.00845820e-02 -1.65882864e-05 9.99196290e-01 3.80561987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.09, Y:-111.23, Z:3.81 [[ 7.19025681e-01 6.94494726e-01 -2.60604364e-02 3.27094988e+02] [-6.94039189e-01 7.19497794e-01 2.51501181e-02 -1.11228036e+02] [ 3.62170509e-02 3.38333143e-06 9.99343947e-01 3.80511289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.13232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.13, Y:-111.26, Z:3.81 [[ 7.17727131e-01 6.95925798e-01 -2.35594704e-02 3.27129155e+02] [-6.95550874e-01 7.18113698e-01 2.28407145e-02 -1.11258986e+02] [ 3.28138209e-02 -6.59019332e-06 9.99461482e-01 3.80572384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.17, Y:-111.29, Z:3.81 [[ 7.16736014e-01 6.96986184e-01 -2.23549804e-02 3.27168235e+02] [-6.96646603e-01 7.17084555e-01 2.17543286e-02 -1.11292532e+02] [ 3.11928776e-02 -1.85896085e-05 9.99513384e-01 3.80719801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.20, Y:-111.32, Z:3.81 [[ 7.17571293e-01 6.96112575e-01 -2.27754940e-02 3.27204520e+02] [-6.95755532e-01 7.17932630e-01 2.22930391e-02 -1.11321789e+02] [ 3.18697352e-02 -1.50668948e-04 9.99492020e-01 3.80716100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.24, Y:-111.35, Z:3.81 [[ 7.17850231e-01 6.95833125e-01 -2.25234781e-02 3.27240290e+02] [-6.95481105e-01 7.18203461e-01 2.21318793e-02 -1.11352232e+02] [ 3.15765347e-02 -2.22721238e-04 9.99501312e-01 3.80782665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.28, Y:-111.38, Z:3.81 [[ 7.19459984e-01 6.94248165e-01 -1.99202558e-02 3.27275986e+02] [-6.93970357e-01 7.19735640e-01 1.96405610e-02 -1.11382694e+02] [ 2.79727414e-02 -3.06530669e-04 9.99608639e-01 3.80785643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.31, Y:-111.41, Z:3.81 [[ 7.19732470e-01 6.94018074e-01 -1.80023380e-02 3.27310640e+02] [-6.93789587e-01 7.19957502e-01 1.78102430e-02 -1.11414229e+02] [ 2.53215489e-02 -3.28775563e-04 9.99679304e-01 3.80891984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.35, Y:-111.45, Z:3.81 [[ 7.19733153e-01 6.94051409e-01 -1.66382161e-02 3.27345104e+02] [-6.93854913e-01 7.19925360e-01 1.65177399e-02 -1.11445274e+02] [ 2.34424344e-02 -3.43856971e-04 9.99725129e-01 3.80984271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.38, Y:-111.48, Z:3.81 [[ 7.21375079e-01 6.92375477e-01 -1.53034028e-02 3.27381044e+02] [-6.92207753e-01 7.21537273e-01 1.52443746e-02 -1.11475679e+02] [ 2.15968067e-02 -4.03777854e-04 9.99766680e-01 3.80839453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.57, Y:-110.24, Z:5.59 [[ 7.45849147e-01 -6.65465520e-01 2.94056364e-02 3.28574707e+02] [-6.64865805e-01 -7.46426987e-01 -2.82880823e-02 -1.10238054e+02] [ 4.07739040e-02 1.54784000e-03 -9.99167200e-01 5.58537412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.52, Y:-111.61, Z:3.81 [[ 7.79717174e-01 6.26026790e-01 -1.14711288e-02 3.27520385e+02] [-6.25951089e-01 7.79801439e-01 9.74420534e-03 -1.11612021e+02] [ 1.50453363e-02 -4.17358703e-04 9.99886725e-01 3.81119379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.55, Y:-111.64, Z:3.81 [[ 7.78931201e-01 6.27002307e-01 -1.15884508e-02 3.27553748e+02] [-6.26925443e-01 7.79017302e-01 9.82508949e-03 -1.11639523e+02] [ 1.51879574e-02 -3.87974124e-04 9.99884581e-01 3.81298075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.59, Y:-111.67, Z:3.81 [[ 7.78458510e-01 6.27615111e-01 -1.00807406e-02 3.27592217e+02] [-6.27556914e-01 7.78523707e-01 8.55320897e-03 -1.11668038e+02] [ 1.32162187e-02 -3.32079876e-04 9.99912607e-01 3.81269910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.63, Y:-111.69, Z:3.81 [[ 7.78969393e-01 6.26976916e-01 -1.03262067e-02 3.27626091e+02] [-6.26915045e-01 7.79037734e-01 8.81679308e-03 -1.11694769e+02] [ 1.35724304e-02 -3.94357592e-04 9.99907813e-01 3.81292599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.66, Y:-111.72, Z:3.81 [[ 7.78354771e-01 6.27751520e-01 -9.58538860e-03 3.27659341e+02] [-6.27697984e-01 7.78413702e-01 8.20663148e-03 -1.11723179e+02] [ 1.26131232e-02 -3.70941676e-04 9.99920383e-01 3.81417797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.69, Y:-111.75, Z:3.82 [[ 7.77355324e-01 6.28988834e-01 -9.57842450e-03 3.27692933e+02] [-6.28935143e-01 7.77414246e-01 8.22656772e-03 -1.11751936e+02] [ 1.26208229e-02 -3.70758435e-04 9.99920286e-01 3.81737198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.73, Y:-111.78, Z:3.82 [[ 7.76241787e-01 6.30381106e-01 -8.26738065e-03 3.27727288e+02] [-6.30341024e-01 7.76285749e-01 7.11544071e-03 -1.11780376e+02] [ 1.09032892e-02 -3.12033220e-04 9.99940509e-01 3.81760097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.76, Y:-111.81, Z:3.82 [[ 7.74718201e-01 6.32242222e-01 -9.02666195e-03 3.27760435e+02] [-6.32194152e-01 7.74770713e-01 7.80366423e-03 -1.11808511e+02] [ 1.19273993e-02 -3.39037821e-04 9.99928809e-01 3.81834904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.79, Y:-111.84, Z:3.82 [[ 7.72961347e-01 6.34375431e-01 -9.92819357e-03 3.27793502e+02] [-6.34317046e-01 7.73025021e-01 8.61412781e-03 -1.11837992e+02] [ 1.31393331e-02 -3.60765416e-04 9.99913610e-01 3.82147870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.83, Y:-111.87, Z:3.83 [[ 7.71038546e-01 6.36688056e-01 -1.13084196e-02 3.27825848e+02] [-6.36611897e-01 7.71121365e-01 9.85562827e-03 -1.11867363e+02] [ 1.49951247e-02 -3.99994871e-04 9.99887487e-01 3.82548076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.86, Y:-111.89, Z:3.82 [[ 7.70064260e-01 6.37872302e-01 -1.09527023e-02 3.27861933e+02] [-6.37800544e-01 7.70142049e-01 9.57550733e-03 -1.11893483e+02] [ 1.45430875e-02 -3.88116460e-04 9.99894168e-01 3.82430072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.73232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.90, Y:-111.92, Z:3.82 [[ 7.69464205e-01 6.38623286e-01 -9.22695007e-03 3.27896919e+02] [-6.38572177e-01 7.69519454e-01 8.08606277e-03 -1.11920734e+02] [ 1.22642656e-02 -3.29862263e-04 9.99924737e-01 3.82434672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.95, Y:-111.96, Z:3.83 [[ 7.67416798e-01 6.41087302e-01 -8.86167602e-03 3.27947205e+02] [-6.41040893e-01 7.67467923e-01 7.71756977e-03 -1.11960619e+02] [ 1.17486881e-02 -2.41895978e-04 9.99930953e-01 3.82790677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.79232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:327.98, Y:-111.99, Z:3.83 [[ 7.66328220e-01 6.42389127e-01 -8.79024799e-03 3.27980620e+02] [-6.42341884e-01 7.66378562e-01 7.79769031e-03 -1.11988779e+02] [ 1.17458091e-02 -3.29245687e-04 9.99930961e-01 3.82936675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.01, Y:-112.02, Z:3.83 [[ 7.65198757e-01 6.43722836e-01 -9.57984290e-03 3.28014287e+02] [-6.43666371e-01 7.65258635e-01 8.53375563e-03 -1.12017459e+02] [ 1.28244309e-02 -3.63796489e-04 9.99917697e-01 3.83038036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.85232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.05, Y:-112.04, Z:3.83 [[ 7.64889287e-01 6.44092325e-01 -9.45806516e-03 3.28049463e+02] [-6.44036958e-01 7.64947669e-01 8.45339082e-03 -1.12044398e+02] [ 1.26796891e-02 -3.74564562e-04 9.99919539e-01 3.82954050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.08, Y:-112.07, Z:3.83 [[ 7.64133433e-01 6.44979697e-01 -1.00641662e-02 3.28083564e+02] [-6.44916612e-01 7.64199596e-01 9.02994781e-03 -1.12072280e+02] [ 1.35151647e-02 -4.09537051e-04 9.99908582e-01 3.82990446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.91232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.12, Y:-112.10, Z:3.83 [[ 7.62223968e-01 6.47236945e-01 -9.94779135e-03 3.28117948e+02] [-6.47175234e-01 7.62288785e-01 8.94564643e-03 -1.12103504e+02] [ 1.33730427e-02 -3.80621925e-04 9.99910504e-01 3.83310396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.15, Y:-112.13, Z:3.83 [[ 7.61419089e-01 6.48183321e-01 -9.96763175e-03 3.28151565e+02] [-6.48120805e-01 7.61484223e-01 9.01111802e-03 -1.12131723e+02] [ 1.34310507e-02 -4.01007762e-04 9.99909719e-01 3.83468878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.97232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.19, Y:-112.16, Z:3.84 [[ 7.61015495e-01 6.48641148e-01 -1.09579764e-02 3.28185844e+02] [-6.48565043e-01 7.61094243e-01 9.94677672e-03 -1.12159874e+02] [ 1.47919414e-02 -4.62690777e-04 9.99890486e-01 3.83667084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.22, Y:-112.19, Z:3.84 [[ 7.60123825e-01 6.49678609e-01 -1.13787023e-02 3.28219445e+02] [-6.49596084e-01 7.60208831e-01 1.03663161e-02 -1.12187966e+02] [ 1.53849638e-02 -4.88123397e-04 9.99881525e-01 3.83713317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.03232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.25, Y:-112.22, Z:3.84 [[ 7.58446138e-01 6.51634581e-01 -1.14816779e-02 3.28252880e+02] [-6.51550231e-01 7.58532888e-01 1.04953841e-02 -1.12217696e+02] [ 1.55483855e-02 -4.79293684e-04 9.99879002e-01 3.83858529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.29, Y:-112.25, Z:3.84 [[ 7.57970849e-01 6.52199140e-01 -1.07922809e-02 3.28286425e+02] [-6.52124212e-01 7.58047536e-01 9.89676986e-03 -1.12245885e+02] [ 1.46357267e-02 -4.63555389e-04 9.99892785e-01 3.83959369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.09232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.32, Y:-112.27, Z:3.84 [[ 7.57148206e-01 6.53161051e-01 -1.03554664e-02 3.28320131e+02] [-6.53091760e-01 7.57218886e-01 9.52427560e-03 -1.12274682e+02] [ 1.40622406e-02 -4.48218399e-04 9.99901021e-01 3.83945405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.35, Y:-112.31, Z:3.84 [[ 7.55890563e-01 6.54611444e-01 -1.06449381e-02 3.28354785e+02] [-6.54537915e-01 7.55965375e-01 9.82186997e-03 -1.12305592e+02] [ 1.44767131e-02 -4.56743247e-04 9.99895103e-01 3.84178722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.15232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.39, Y:-112.34, Z:3.84 [[ 7.54809525e-01 6.55866680e-01 -1.00736526e-02 3.28387976e+02] [-6.55800463e-01 7.54876618e-01 9.32976947e-03 -1.12335215e+02] [ 1.37234497e-02 -4.35892843e-04 9.99905734e-01 3.84435060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.182320588 meters Centerline goodness [0,1] 0.9999531286618233 Centerline is valid? [True, True] Translation: X:328.42, Y:-112.36, Z:3.85 [[ 7.53679305e-01 6.57158014e-01 -1.05284979e-02 3.28421183e+02] [-6.57085283e-01 7.53752701e-01 9.78757791e-03 -1.12364524e+02] [ 1.43678690e-02 -4.58573870e-04 9.99896672e-01 3.84613631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.21232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.46, Y:-112.39, Z:3.85 [[ 7.53192800e-01 6.57701554e-01 -1.13697736e-02 3.28455540e+02] [-6.57616155e-01 7.53278435e-01 1.06109965e-02 -1.12392965e+02] [ 1.55434742e-02 -5.15179394e-04 9.99879060e-01 3.84601332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.49, Y:-112.42, Z:3.85 [[ 7.51882935e-01 6.59193179e-01 -1.16792974e-02 3.28491297e+02] [-6.59102781e-01 7.51973459e-01 1.09288617e-02 -1.12424188e+02] [ 1.59867528e-02 -5.19367181e-04 9.99872069e-01 3.84739844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.27232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.52, Y:-112.46, Z:3.85 [[ 7.50545004e-01 6.60747981e-01 -9.71097602e-03 3.28522783e+02] [-6.60685148e-01 7.50607701e-01 9.12218415e-03 -1.12455372e+02] [ 1.33165981e-02 -4.30712113e-04 9.99911237e-01 3.84984253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.56, Y:-112.49, Z:3.85 [[ 7.48994844e-01 6.62489262e-01 -1.07098167e-02 3.28556468e+02] [-6.62412437e-01 7.49071262e-01 1.00998663e-02 -1.12485724e+02] [ 1.47134689e-02 -4.70431958e-04 9.99891640e-01 3.85290239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.33232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.59, Y:-112.52, Z:3.85 [[ 7.47806303e-01 6.63835119e-01 -1.04243791e-02 3.28590199e+02] [-6.63761995e-01 7.47878818e-01 9.86344996e-03 -1.12515753e+02] [ 1.43438768e-02 -4.56643405e-04 9.99897017e-01 3.85364196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.63, Y:-112.55, Z:3.86 [[ 7.46236583e-01 6.65568334e-01 -1.22374213e-02 3.28628594e+02] [-6.65467092e-01 7.46336730e-01 1.16204673e-02 -1.12547713e+02] [ 1.68674521e-02 -5.28016641e-04 9.99857595e-01 3.85505674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.39232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.66, Y:-112.58, Z:3.86 [[ 7.44484406e-01 6.67524307e-01 -1.24204624e-02 3.28661931e+02] [-6.67419132e-01 7.44587810e-01 1.18615053e-02 -1.12579414e+02] [ 1.71659680e-02 -5.41051516e-04 9.99852508e-01 3.85610374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.70, Y:-112.61, Z:3.86 [[ 7.43154366e-01 6.69030793e-01 -1.09264354e-02 3.28695792e+02] [-6.68949155e-01 7.43234540e-01 1.04616395e-02 -1.12611854e+02] [ 1.51200631e-02 -4.65383319e-04 9.99885577e-01 3.85783073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.45232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.73, Y:-112.64, Z:3.86 [[ 7.42024238e-01 6.70269762e-01 -1.17675896e-02 3.28729138e+02] [-6.70174412e-01 7.42117366e-01 1.13168854e-02 -1.12642636e+02] [ 1.63182987e-02 -5.11065788e-04 9.99866717e-01 3.86133903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.76, Y:-112.67, Z:3.86 [[ 7.40790834e-01 6.71639476e-01 -1.13734341e-02 3.28762866e+02] [-6.71549980e-01 7.40877974e-01 1.09750732e-02 -1.12673535e+02] [ 1.57976192e-02 -4.92404186e-04 9.99875089e-01 3.86291059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.51232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.80, Y:-112.70, Z:3.86 [[ 7.40283169e-01 6.72193475e-01 -1.16944959e-02 3.28797558e+02] [-6.72098228e-01 7.40375347e-01 1.13276865e-02 -1.12704183e+02] [ 1.62727134e-02 -5.25845675e-04 9.99867452e-01 3.86363005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.83, Y:-112.73, Z:3.87 [[ 7.38617338e-01 6.74013432e-01 -1.22605746e-02 3.28830825e+02] [-6.73908196e-01 7.38718890e-01 1.19224777e-02 -1.12734995e+02] [ 1.70930282e-02 -5.43647075e-04 9.99853756e-01 3.86526193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.57232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.87, Y:-112.77, Z:3.87 [[ 7.35896057e-01 6.76985536e-01 -1.21481187e-02 3.28866343e+02] [-6.76882070e-01 7.35996154e-01 1.18458558e-02 -1.12768982e+02] [ 1.69604416e-02 -4.94474857e-04 9.99856039e-01 3.86633893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.90, Y:-112.80, Z:3.87 [[ 7.34121472e-01 6.78918680e-01 -1.16228708e-02 3.28899840e+02] [-6.78823293e-01 7.34213323e-01 1.13900515e-02 -1.12800817e+02] [ 1.62665853e-02 -4.71805890e-04 9.99867579e-01 3.86696350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.63232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.93, Y:-112.83, Z:3.87 [[ 7.32191379e-01 6.80996220e-01 -1.18293165e-02 3.28933105e+02] [-6.80896922e-01 7.32286782e-01 1.16383451e-02 -1.12832344e+02] [ 1.65881211e-02 -4.66950759e-04 9.99862299e-01 3.86873841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:328.97, Y:-112.86, Z:3.87 [[ 7.30950893e-01 6.82327904e-01 -1.18077485e-02 3.28966230e+02] [-6.82228428e-01 7.31046109e-01 1.16601520e-02 -1.12863213e+02] [ 1.65880557e-02 -4.67416845e-04 9.99862299e-01 3.87017484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.00, Y:-112.90, Z:3.87 [[ 7.28929468e-01 6.84491819e-01 -1.15230324e-02 3.28998134e+02] [-6.84396705e-01 7.29020411e-01 1.14188940e-02 -1.12895918e+02] [ 1.62166653e-02 -4.37242935e-04 9.99868406e-01 3.87234458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.03, Y:-112.93, Z:3.87 [[ 7.27956606e-01 6.85523965e-01 -1.16650504e-02 3.29032164e+02] [-6.85425936e-01 7.28049924e-01 1.16014941e-02 -1.12927283e+02] [ 1.64458413e-02 -4.49856155e-04 9.99864657e-01 3.87374236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.23, Y:-111.68, Z:5.66 [[ 7.41186912e-01 -6.70521233e-01 3.22991875e-02 3.30225843e+02] [-6.69817396e-01 -7.41889454e-01 -3.07358692e-02 -1.11683261e+02] [ 4.45714795e-02 1.14646628e-03 -9.99005540e-01 5.65668032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.17, Y:-113.06, Z:3.87 [[ 7.80711436e-01 6.24766741e-01 -1.24969442e-02 3.29167850e+02] [-6.24676725e-01 7.80811301e-01 1.06161101e-02 -1.13062307e+02] [ 1.63903477e-02 -4.81568394e-04 9.99865553e-01 3.87488555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.21, Y:-113.10, Z:3.88 [[ 7.77439422e-01 6.28851037e-01 -1.15895933e-02 3.29206768e+02] [-6.28774692e-01 7.77525730e-01 9.80435775e-03 -1.13096268e+02] [ 1.51766875e-02 -3.35051258e-04 9.99884771e-01 3.87686648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.24, Y:-113.12, Z:3.88 [[ 7.76525750e-01 6.29974876e-01 -1.18074361e-02 3.29242070e+02] [-6.29894550e-01 7.76615421e-01 1.00669994e-02 -1.13123929e+02] [ 1.55117936e-02 -3.79844610e-04 9.99879613e-01 3.87871266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.28, Y:-113.15, Z:3.88 [[ 7.74485920e-01 6.32475700e-01 -1.20851009e-02 3.29275407e+02] [-6.32391222e-01 7.74580114e-01 1.03435561e-02 -1.13152293e+02] [ 1.59029267e-02 -3.68426786e-04 9.99873473e-01 3.88024278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.31, Y:-113.18, Z:3.88 [[ 7.73129516e-01 6.34105847e-01 -1.34360066e-02 3.29309992e+02] [-6.34000836e-01 7.73246149e-01 1.15469677e-02 -1.13180315e+02] [ 1.77113401e-02 -4.08862154e-04 9.99843058e-01 3.88225179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.34, Y:-113.21, Z:3.88 [[ 7.72097131e-01 6.35357851e-01 -1.36536236e-02 3.29344531e+02] [-6.35248858e-01 7.72217732e-01 1.17754936e-02 -1.13207947e+02] [ 1.80252225e-02 -4.18376028e-04 9.99837445e-01 3.88333745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.38, Y:-113.24, Z:3.88 [[ 7.69729852e-01 6.38235643e-01 -1.30850856e-02 3.29377744e+02] [-6.38135329e-01 7.69840978e-01 1.13212186e-02 -1.13236645e+02] [ 1.72990403e-02 -3.64224449e-04 9.99850294e-01 3.88301419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.41, Y:-113.26, Z:3.89 [[ 7.67762864e-01 6.40592278e-01 -1.34802781e-02 3.29411096e+02] [-6.40485418e-01 7.67881117e-01 1.17055508e-02 -1.13264920e+02] [ 1.78497365e-02 -3.53165656e-04 9.99840618e-01 3.88537544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.45, Y:-113.29, Z:3.89 [[ 7.66802572e-01 6.41771490e-01 -1.19654132e-02 3.29445356e+02] [-6.41686994e-01 7.66895859e-01 1.04184440e-02 -1.13293329e+02] [ 1.58624862e-02 -3.10839592e-04 9.99874135e-01 3.88606341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.48, Y:-113.32, Z:3.89 [[ 7.64717218e-01 6.44251272e-01 -1.21603872e-02 3.29479085e+02] [-6.44163699e-01 7.64813842e-01 1.06261977e-02 -1.13322315e+02] [ 1.61463738e-02 -2.92756319e-04 9.99869596e-01 3.88994242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.51, Y:-113.35, Z:3.89 [[ 7.63463890e-01 6.45733056e-01 -1.23170553e-02 3.29513913e+02] [-6.45642798e-01 7.63563183e-01 1.08001244e-02 -1.13350553e+02] [ 1.63788473e-02 -2.93086903e-04 9.99865815e-01 3.89079987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.55, Y:-113.38, Z:3.89 [[ 7.62425343e-01 6.46960058e-01 -1.22588483e-02 3.29548524e+02] [-6.46870174e-01 7.62523833e-01 1.07880446e-02 -1.13378571e+02] [ 1.63270979e-02 -2.95195226e-04 9.99866660e-01 3.89165825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.59, Y:-113.41, Z:3.89 [[ 7.61646122e-01 6.47883549e-01 -1.19202195e-02 3.29587741e+02] [-6.47798426e-01 7.61739344e-01 1.05057395e-02 -1.13410447e+02] [ 1.58865960e-02 -2.79756341e-04 9.99873761e-01 3.89189519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.62, Y:-113.44, Z:3.89 [[ 7.60773882e-01 6.48905572e-01 -1.20274679e-02 3.29620756e+02] [-6.48817801e-01 7.60868883e-01 1.06772463e-02 -1.13439733e+02] [ 1.60798506e-02 -3.19334809e-04 9.99870660e-01 3.89420247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.66, Y:-113.47, Z:3.90 [[ 7.59211090e-01 6.50748467e-01 -1.11782469e-02 3.29663520e+02] [-6.50672921e-01 7.59293334e-01 9.91883022e-03 -1.13474070e+02] [ 1.49422319e-02 -2.57103334e-04 9.99888326e-01 3.89615680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.23232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.71, Y:-113.51, Z:3.90 [[ 7.56399944e-01 6.54009966e-01 -1.14056355e-02 3.29713861e+02] [-6.53930994e-01 7.56485896e-01 1.01658175e-02 -1.13514016e+02] [ 1.52767483e-02 -2.30925275e-04 9.99883277e-01 3.89783729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.75, Y:-113.54, Z:3.90 [[ 7.54624130e-01 6.56069206e-01 -1.07526505e-02 3.29748205e+02] [-6.55997204e-01 7.54700680e-01 9.72378590e-03 -1.13543724e+02] [ 1.44945091e-02 -2.84094801e-04 9.99894909e-01 3.89815316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.29232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.78, Y:-113.57, Z:3.90 [[ 7.52901220e-01 6.58023972e-01 -1.20085448e-02 3.29781882e+02] [-6.57933638e-01 7.52996916e-01 1.09074831e-02 -1.13572615e+02] [ 1.62197825e-02 -3.11431749e-04 9.99868402e-01 3.89979126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.82, Y:-113.60, Z:3.90 [[ 7.51576720e-01 6.59551110e-01 -1.11698896e-02 3.29817384e+02] [-6.59472686e-01 7.51659666e-01 1.01746004e-02 -1.13602175e+02] [ 1.51066244e-02 -2.80755693e-04 9.99885849e-01 3.89948489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.35232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.86, Y:-113.63, Z:3.90 [[ 7.50002586e-01 6.61350487e-01 -1.05666961e-02 3.29855048e+02] [-6.61280208e-01 7.50076978e-01 9.64434687e-03 -1.13634743e+02] [ 1.43041289e-02 -2.45738117e-04 9.99897661e-01 3.90111909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.89, Y:-113.67, Z:3.90 [[ 7.49400135e-01 6.62034383e-01 -1.04839678e-02 3.29891517e+02] [-6.61964575e-01 7.49473418e-01 9.61755557e-03 -1.13666110e+02] [ 1.42246077e-02 -2.67382135e-04 9.99898789e-01 3.90346370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.41232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.93, Y:-113.70, Z:3.91 [[ 7.47885003e-01 6.63731641e-01 -1.13283445e-02 3.29925848e+02] [-6.63649358e-01 7.47970734e-01 1.04552186e-02 -1.13696521e+02] [ 1.54127295e-02 -3.01252665e-04 9.99881171e-01 3.90618918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:329.96, Y:-113.73, Z:3.91 [[ 7.46709434e-01 6.65042556e-01 -1.19758257e-02 3.29960909e+02] [-6.64950031e-01 7.46805392e-01 1.10978369e-02 -1.13726249e+02] [ 1.63241451e-02 -3.23533840e-04 9.99866700e-01 3.90759715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.47232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.00, Y:-113.76, Z:3.91 [[ 7.46585296e-01 6.65207229e-01 -1.04755804e-02 3.29995730e+02] [-6.65136057e-01 7.46658725e-01 9.73516951e-03 -1.13755111e+02] [ 1.42975886e-02 -3.00448163e-04 9.99897739e-01 3.90677981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.03, Y:-113.79, Z:3.91 [[ 7.45327590e-01 6.66608397e-01 -1.09557987e-02 3.30029773e+02] [-6.66530112e-01 7.45408040e-01 1.02207353e-02 -1.13785099e+02] [ 1.49797684e-02 -3.15426239e-04 9.99887747e-01 3.90873920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.53232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.07, Y:-113.81, Z:3.91 [[ 7.46227181e-01 6.65602371e-01 -1.08847650e-02 3.30065924e+02] [-6.65524425e-01 7.46306474e-01 1.01924680e-02 -1.13812690e+02] [ 1.49075015e-02 -3.61819719e-04 9.99888812e-01 3.90848488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.10, Y:-113.84, Z:3.91 [[ 7.45817126e-01 6.66067546e-01 -1.05279448e-02 3.30100243e+02] [-6.65994202e-01 7.45891339e-01 9.89105616e-03 -1.13842264e+02] [ 1.44408143e-02 -3.65368906e-04 9.99895659e-01 3.90934121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.59232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.13, Y:-113.87, Z:3.91 [[ 7.45822277e-01 6.66067700e-01 -1.01464443e-02 3.30134386e+02] [-6.65999144e-01 7.45891197e-01 9.56357360e-03 -1.13871334e+02] [ 1.39381310e-02 -3.75203014e-04 9.99902789e-01 3.91142561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.17, Y:-113.90, Z:3.92 [[ 7.44461641e-01 6.67580319e-01 -1.06481229e-02 3.30166918e+02] [-6.67504396e-01 7.44537684e-01 1.00756003e-02 -1.13901637e+02] [ 1.46542012e-02 -3.93229092e-04 9.99892544e-01 3.91550034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.65232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.20, Y:-113.93, Z:3.92 [[ 7.43281605e-01 6.68885386e-01 -1.11712068e-02 3.30200579e+02] [-6.68801334e-01 7.43365433e-01 1.06117649e-02 -1.13931561e+02] [ 1.54023434e-02 -4.16211693e-04 9.99881290e-01 3.91727655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.24, Y:-113.96, Z:3.92 [[ 7.42012726e-01 6.70276700e-01 -1.20938108e-02 3.30235925e+02] [-6.70177609e-01 7.42111137e-01 1.15339383e-02 -1.13960623e+02] [ 1.67058818e-02 -4.53327775e-04 9.99860344e-01 3.91687354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.71232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.27, Y:-113.99, Z:3.92 [[ 7.40831688e-01 6.71571069e-01 -1.26770905e-02 3.30269889e+02] [-6.71461541e-01 7.40939990e-01 1.21379382e-02 -1.13990829e+02] [ 1.75444514e-02 -4.79990531e-04 9.99845969e-01 3.91852700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.30, Y:-114.02, Z:3.92 [[ 7.41037723e-01 6.71345521e-01 -1.25811088e-02 3.30304105e+02] [-6.71236847e-01 7.41144336e-01 1.20900237e-02 -1.14019584e+02] [ 1.74410008e-02 -5.14259854e-04 9.99847762e-01 3.91997776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.77232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.34, Y:-114.05, Z:3.92 [[ 7.39981279e-01 6.72534643e-01 -1.11741592e-02 3.30336753e+02] [-6.72448602e-01 7.40065503e-01 1.07670089e-02 -1.14050954e+02] [ 1.55107962e-02 -4.53337269e-04 9.99879598e-01 3.92156277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.37, Y:-114.08, Z:3.92 [[ 7.40525228e-01 6.71945287e-01 -1.05791819e-02 3.30371109e+02] [-6.71867628e-01 7.40600645e-01 1.02261758e-02 -1.14080588e+02] [ 1.47063796e-02 -4.64931245e-04 9.99891747e-01 3.92259988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.83232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.40, Y:-114.11, Z:3.92 [[ 7.39196818e-01 6.73411639e-01 -1.02385361e-02 3.30404641e+02] [-6.73338561e-01 7.39267586e-01 9.93069119e-03 -1.14110797e+02] [ 1.42564609e-02 -4.46734186e-04 9.99898272e-01 3.92305324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.44, Y:-114.14, Z:3.93 [[ 7.37742465e-01 6.74993643e-01 -1.09378558e-02 3.30438723e+02] [-6.74909781e-01 7.37823391e-01 1.06504262e-02 -1.14141920e+02] [ 1.52591759e-02 -4.75205833e-04 9.99883459e-01 3.92541573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.89232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.48, Y:-114.18, Z:3.93 [[ 7.34258356e-01 6.78773844e-01 -1.14339545e-02 3.30484554e+02] [-6.78682688e-01 7.34347260e-01 1.11314978e-02 -1.14183474e+02] [ 1.59522628e-02 -4.13368286e-04 9.99872669e-01 3.92822855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.52, Y:-114.22, Z:3.93 [[ 7.32494473e-01 6.80674484e-01 -1.15798461e-02 3.30524736e+02] [-6.80579313e-01 7.32585853e-01 1.13914918e-02 -1.14219081e+02] [ 1.62371292e-02 -4.63201063e-04 9.99868062e-01 3.92983185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.95232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.56, Y:-114.25, Z:3.93 [[ 7.30233633e-01 6.83099001e-01 -1.16015177e-02 3.30557668e+02] [-6.83002333e-01 7.30325632e-01 1.15014541e-02 -1.14251026e+02] [ 1.63295175e-02 -4.74884950e-04 9.99866552e-01 3.93106940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.59, Y:-114.28, Z:3.93 [[ 7.29001661e-01 6.84392620e-01 -1.27796844e-02 3.30590435e+02] [-6.84274547e-01 7.29113475e-01 1.27233504e-02 -1.14283523e+02] [ 1.80256073e-02 -5.30530818e-04 9.99837385e-01 3.93305191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.01232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.79, Y:-113.05, Z:5.72 [[ 7.39200083e-01 -6.72726544e-01 3.19723926e-02 3.31787182e+02] [-6.72037537e-01 -7.39890493e-01 -3.04566481e-02 -1.13049265e+02] [ 4.41450650e-02 1.02690885e-03 -9.99024604e-01 5.72271222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.73, Y:-114.42, Z:3.94 [[ 7.81762739e-01 6.23459601e-01 -1.20476755e-02 3.30730711e+02] [-6.23375671e-01 7.81855409e-01 1.02416960e-02 -1.14424617e+02] [ 1.58048239e-02 -4.96348555e-04 9.99874973e-01 3.93580658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.07232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.77, Y:-114.45, Z:3.94 [[ 7.81100792e-01 6.24260961e-01 -1.34091694e-02 3.30766588e+02] [-6.24157337e-01 7.81215705e-01 1.13859759e-02 -1.14451256e+02] [ 1.75832740e-02 -5.24163287e-04 9.99845265e-01 3.93778115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.80, Y:-114.48, Z:3.94 [[ 7.78747809e-01 6.27186340e-01 -1.37530134e-02 3.30799058e+02] [-6.27076998e-01 7.78869079e-01 1.17216476e-02 -1.14478836e+02] [ 1.80634542e-02 -5.04009054e-04 9.99836715e-01 3.93772770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.13232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.83, Y:-114.51, Z:3.94 [[ 7.77904083e-01 6.28254591e-01 -1.27045433e-02 3.30832033e+02] [-6.28160949e-01 7.78007681e-01 1.08568250e-02 -1.14506641e+02] [ 1.67050824e-02 -4.65070509e-04 9.99860352e-01 3.93865862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.87, Y:-114.54, Z:3.94 [[ 7.76750930e-01 6.29700157e-01 -1.16492835e-02 3.30870608e+02] [-6.29621390e-01 7.76838172e-01 9.96789121e-03 -1.14537736e+02] [ 1.53263908e-02 -4.07930684e-04 9.99882461e-01 3.94042652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.91, Y:-114.57, Z:3.94 [[ 7.74734729e-01 6.32183693e-01 -1.13963943e-02 3.30907717e+02] [-6.32107876e-01 7.74818449e-01 9.79820110e-03 -1.14569702e+02] [ 1.50243995e-02 -3.87256072e-04 9.99887052e-01 3.94080395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.94, Y:-114.60, Z:3.94 [[ 7.73455987e-01 6.33713097e-01 -1.31737207e-02 3.30941522e+02] [-6.33610661e-01 7.73568023e-01 1.14036530e-02 -1.14597778e+02] [ 1.74174133e-02 -4.73213801e-04 9.99848193e-01 3.94268231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:330.98, Y:-114.63, Z:3.94 [[ 7.70671160e-01 6.37116133e-01 -1.22063794e-02 3.30975435e+02] [-6.37028120e-01 7.70767721e-01 1.05969264e-02 -1.14626223e+02] [ 1.61597560e-02 -3.90938645e-04 9.99869346e-01 3.94185774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.01, Y:-114.65, Z:3.94 [[ 7.69541571e-01 6.38493185e-01 -1.14988503e-02 3.31009542e+02] [-6.38414750e-01 7.69627390e-01 1.00143359e-02 -1.14654338e+02] [ 1.52439154e-02 -3.65412166e-04 9.99883738e-01 3.94353567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.04, Y:-114.68, Z:3.95 [[ 7.67948878e-01 6.40413716e-01 -1.11710591e-02 3.31042839e+02] [-6.40339425e-01 7.68030048e-01 9.76039745e-03 -1.14683472e+02] [ 1.48304015e-02 -3.42216725e-04 9.99889965e-01 3.94585364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.08, Y:-114.71, Z:3.95 [[ 7.65887554e-01 6.42899082e-01 -9.85015144e-03 3.31075976e+02] [-6.42841249e-01 7.65950844e-01 8.62751426e-03 -1.14713126e+02] [ 1.30913528e-02 -2.75622147e-04 9.99914267e-01 3.94600828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.11, Y:-114.74, Z:3.95 [[ 7.63368197e-01 6.45879926e-01 -1.03979685e-02 3.31109110e+02] [-6.45815270e-01 7.63438964e-01 9.14249006e-03 -1.14742250e+02] [ 1.38431651e-02 -2.63919334e-04 9.99904144e-01 3.94828239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.14, Y:-114.77, Z:3.95 [[ 7.59877625e-01 6.49967074e-01 -1.13488687e-02 3.31142377e+02] [-6.49889897e-01 7.59962332e-01 1.00187986e-02 -1.14772260e+02] [ 1.51366019e-02 -2.37545750e-04 9.99885407e-01 3.95102899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.18, Y:-114.80, Z:3.95 [[ 7.58511075e-01 6.51567693e-01 -1.09767758e-02 3.31176993e+02] [-6.51495197e-01 7.58590464e-01 9.72200471e-03 -1.14800488e+02] [ 1.46614216e-02 -2.22931569e-04 9.99892491e-01 3.95165028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.22, Y:-114.83, Z:3.95 [[ 7.55315681e-01 6.55255545e-01 -1.17640295e-02 3.31215815e+02] [-6.55172339e-01 7.55407266e-01 1.04435571e-02 -1.14832208e+02] [ 1.57298320e-02 -1.80715739e-04 9.99876262e-01 3.95277577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.25, Y:-114.86, Z:3.95 [[ 7.54583539e-01 6.56086911e-01 -1.23954976e-02 3.31249838e+02] [-6.55993257e-01 7.54685306e-01 1.10876680e-02 -1.14860900e+02] [ 1.66291738e-02 -2.35208915e-04 9.99861698e-01 3.95469979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.28, Y:-114.89, Z:3.96 [[ 7.53073831e-01 6.57819989e-01 -1.23558406e-02 3.31283372e+02] [-6.57726502e-01 7.53175153e-01 1.10922418e-02 -1.14890388e+02] [ 1.66028105e-02 -2.26513252e-04 9.99862138e-01 3.95574704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.32, Y:-114.92, Z:3.96 [[ 7.51896226e-01 6.59166058e-01 -1.23358719e-02 3.31317256e+02] [-6.59072389e-01 7.51997378e-01 1.11143719e-02 -1.14919135e+02] [ 1.66027600e-02 -2.26621678e-04 9.99862139e-01 3.95714740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.35, Y:-114.95, Z:3.96 [[ 7.51123848e-01 6.60048987e-01 -1.21778526e-02 3.31352965e+02] [-6.59957219e-01 7.51222524e-01 1.10085476e-02 -1.14948597e+02] [ 1.64144578e-02 -2.31920851e-04 9.99865247e-01 3.95803701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.39, Y:-114.98, Z:3.96 [[ 7.50503628e-01 6.60754677e-01 -1.21474522e-02 3.31387544e+02] [-6.60662732e-01 7.50601888e-01 1.10254136e-02 -1.14977267e+02] [ 1.64029941e-02 -2.49243925e-04 9.99865431e-01 3.95995961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.42, Y:-115.01, Z:3.96 [[ 7.49962431e-01 6.61386990e-01 -1.11176050e-02 3.31422347e+02] [-6.61309608e-01 7.50044794e-01 1.01197441e-02 -1.15006316e+02] [ 1.50317688e-02 -2.37248853e-04 9.99886988e-01 3.96105513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.46, Y:-115.04, Z:3.96 [[ 7.48280300e-01 6.63292688e-01 -1.09271436e-02 3.31456172e+02] [-6.63217603e-01 7.48360048e-01 9.98249055e-03 -1.15035949e+02] [ 1.47987507e-02 -2.22627038e-04 9.99890468e-01 3.96190483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.49, Y:-115.07, Z:3.96 [[ 7.46267189e-01 6.65560797e-01 -1.06821629e-02 3.31490972e+02] [-6.65488806e-01 7.46343612e-01 9.79095790e-03 -1.15065565e+02] [ 1.44890418e-02 -1.97810809e-04 9.99895009e-01 3.96283755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.73232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.53, Y:-115.09, Z:3.96 [[ 7.45324335e-01 6.66617410e-01 -1.06237771e-02 3.31525903e+02] [-6.66545795e-01 7.45400019e-01 9.77316176e-03 -1.15094590e+02] [ 1.44339234e-02 -2.02941362e-04 9.99895805e-01 3.96341467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.56, Y:-115.12, Z:3.97 [[ 7.43937374e-01 6.68163949e-01 -1.06827704e-02 3.31560231e+02] [-6.68091152e-01 7.44014044e-01 9.86484484e-03 -1.15124780e+02] [ 1.45394649e-02 -2.01762400e-04 9.99894276e-01 3.96508024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.79232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.60, Y:-115.16, Z:3.97 [[ 7.42164559e-01 6.70123214e-01 -1.12536812e-02 3.31602750e+02] [-6.70042492e-01 7.42249854e-01 1.04025287e-02 -1.15160001e+02] [ 1.53240192e-02 -1.79943507e-04 9.99882564e-01 3.96700753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.64, Y:-115.19, Z:3.97 [[ 7.42262286e-01 6.70011961e-01 -1.14311082e-02 3.31637384e+02] [-6.69926984e-01 7.42350255e-01 1.06739809e-02 -1.15189167e+02] [ 1.56375810e-02 -2.64885635e-04 9.99877690e-01 3.96889745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.85232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.67, Y:-115.22, Z:3.97 [[ 7.40837485e-01 6.71578961e-01 -1.18962063e-02 3.31672082e+02] [-6.71486421e-01 7.40932942e-01 1.11517393e-02 -1.15218805e+02] [ 1.63035646e-02 -2.73485479e-04 9.99867051e-01 3.97015429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.71, Y:-115.25, Z:3.97 [[ 7.40372319e-01 6.72100228e-01 -1.14066778e-02 3.31707159e+02] [-6.72014641e-01 7.40460131e-01 1.07292526e-02 -1.15248850e+02] [ 1.56573232e-02 -2.78187143e-04 9.99877378e-01 3.97090335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.91232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.74, Y:-115.28, Z:3.97 [[ 7.38881315e-01 6.73734091e-01 -1.16951228e-02 3.31741139e+02] [-6.73643640e-01 7.38973812e-01 1.10431525e-02 -1.15279924e+02] [ 1.60825378e-02 -2.81233933e-04 9.99870628e-01 3.97331126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.78, Y:-115.31, Z:3.97 [[ 7.38615129e-01 6.74030550e-01 -1.14240443e-02 3.31776199e+02] [-6.73943682e-01 7.38703411e-01 1.08251070e-02 -1.15309908e+02] [ 1.57354333e-02 -2.96425363e-04 9.99876146e-01 3.97340556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.97232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.81, Y:-115.34, Z:3.97 [[ 7.37982910e-01 6.74711936e-01 -1.20427753e-02 3.31811245e+02] [-6.74614722e-01 7.38081089e-01 1.14579049e-02 -1.15339440e+02] [ 1.66193299e-02 -3.31504449e-04 9.99861834e-01 3.97304881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.85, Y:-115.37, Z:3.98 [[ 7.37559142e-01 6.75181030e-01 -1.17085154e-02 3.31846108e+02] [-6.75088573e-01 7.37651992e-01 1.11784272e-02 -1.15369736e+02] [ 1.61842717e-02 -3.40466195e-04 9.99868968e-01 3.97508126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.88, Y:-115.40, Z:3.98 [[ 7.36480275e-01 6.76363336e-01 -1.13772485e-02 3.31880678e+02] [-6.76275670e-01 7.36568075e-01 1.08944748e-02 -1.15400570e+02] [ 1.57487413e-02 -3.29409429e-04 9.99875927e-01 3.97758869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.91, Y:-115.43, Z:3.98 [[ 7.34793062e-01 6.78220058e-01 -9.83407626e-03 3.31913676e+02] [-6.78154283e-01 7.34858815e-01 9.44937085e-03 -1.15431431e+02] [ 1.36354105e-02 -2.74311201e-04 9.99906996e-01 3.97892634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:331.95, Y:-115.46, Z:3.98 [[ 7.33945967e-01 6.79147380e-01 -9.06392734e-03 3.31947762e+02] [-6.79091199e-01 7.34001887e-01 8.73918300e-03 -1.15461708e+02] [ 1.25881330e-02 -2.58854824e-04 9.99920733e-01 3.97951549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.00, Y:-115.51, Z:3.98 [[ 7.30153424e-01 6.83199839e-01 -1.06750636e-02 3.32004643e+02] [-6.83122976e-01 7.30231431e-01 1.02497344e-02 -1.15508880e+02] [ 1.47978839e-02 -1.91497491e-04 9.99890487e-01 3.98289207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.15232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.05, Y:-115.55, Z:3.98 [[ 7.27937775e-01 6.85567810e-01 -1.01672735e-02 3.32051502e+02] [-6.85496096e-01 7.28008732e-01 9.91909069e-03 -1.15549282e+02] [ 1.42020732e-02 -2.50854503e-04 9.99899114e-01 3.98399547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.09, Y:-115.58, Z:3.99 [[ 7.25811217e-01 6.87823420e-01 -9.84982683e-03 3.32085348e+02] [-6.87754665e-01 7.25877992e-01 9.72939499e-03 -1.15581930e+02] [ 1.38418783e-02 -2.87439675e-04 9.99904155e-01 3.98630844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.21232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.12, Y:-115.61, Z:3.99 [[ 7.25057907e-01 6.88637963e-01 -8.29378768e-03 3.32121183e+02] [-6.88589015e-01 7.25105300e-01 8.21416142e-03 -1.15613288e+02] [ 1.16704528e-02 -2.44731595e-04 9.99931868e-01 3.98766609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.31, Y:-114.38, Z:5.79 [[ 7.43457114e-01 -6.67865364e-01 3.50339161e-02 3.33314281e+02] [-6.67048600e-01 -7.44281147e-01 -3.30414904e-02 -1.14377958e+02] [ 4.81423503e-02 1.19560644e-03 -9.98839769e-01 5.79028299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.27232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.26, Y:-115.75, Z:3.99 [[ 7.79629010e-01 6.26148984e-01 -1.07729435e-02 3.32261388e+02] [-6.26082205e-01 7.79703339e-01 9.15288536e-03 -1.15750285e+02] [ 1.41307699e-02 -3.91106709e-04 9.99900079e-01 3.99237666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.30, Y:-115.78, Z:3.99 [[ 7.80014450e-01 6.25664778e-01 -1.10019651e-02 3.32295833e+02] [-6.25595363e-01 7.80091938e-01 9.32794102e-03 -1.15775968e+02] [ 1.44187084e-02 -3.93150434e-04 9.99895968e-01 3.99370870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.33232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.33, Y:-115.80, Z:3.99 [[ 7.78755243e-01 6.27244980e-01 -1.01983943e-02 3.32328738e+02] [-6.27185144e-01 7.78821936e-01 8.67108161e-03 -1.15802688e+02] [ 1.33816256e-02 -3.56368886e-04 9.99910399e-01 3.99365619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.37, Y:-115.83, Z:4.00 [[ 7.78261994e-01 6.27883750e-01 -8.38239795e-03 3.32372797e+02] [-6.27843648e-01 7.78307090e-01 7.10123065e-03 -1.15834793e+02] [ 1.09828271e-02 -2.63782622e-04 9.99939652e-01 3.99564257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.39232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.41, Y:-115.86, Z:4.00 [[ 7.78199722e-01 6.27963421e-01 -8.19359418e-03 3.32407392e+02] [-6.27924279e-01 7.78242791e-01 7.01845789e-03 -1.15861451e+02] [ 1.07839404e-02 -3.16805257e-04 9.99941801e-01 3.99678453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.422320588 meters Centerline goodness [0,1] 0.9999532993975623 Centerline is valid? [True, True] Translation: X:332.44, Y:-115.89, Z:4.00 [[ 7.77301114e-01 6.29062341e-01 -9.14053076e-03 3.32441562e+02] [-6.29013304e-01 7.77354771e-01 7.86282828e-03 -1.15888730e+02] [ 1.20516444e-02 -3.62269727e-04 9.99927311e-01 3.99835142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.45232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.48, Y:-115.92, Z:4.00 [[ 7.77072490e-01 6.29331498e-01 -1.00105282e-02 3.32476303e+02] [-6.29272245e-01 7.77136854e-01 8.64596302e-03 -1.15915429e+02] [ 1.32207272e-02 -4.19192486e-04 9.99912514e-01 3.99993416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.51, Y:-115.94, Z:4.00 [[ 7.75899973e-01 6.30774799e-01 -1.01185462e-02 3.32510118e+02] [-6.30713986e-01 7.75965834e-01 8.76885457e-03 -1.15942922e+02] [ 1.33828186e-02 -4.21845421e-04 9.99910357e-01 4.00085849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.51232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.54, Y:-115.97, Z:4.00 [[ 7.74826847e-01 6.32123470e-01 -7.95457675e-03 3.32543775e+02] [-6.32085858e-01 7.74867612e-01 6.90301820e-03 -1.15969637e+02] [ 1.05273037e-02 -3.20668354e-04 9.99944535e-01 4.00036599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54232058799994 meters Centerline goodness [0,1] 0.999953342975785 Centerline is valid? [True, True] Translation: X:332.58, Y:-116.00, Z:4.00 [[ 7.74146368e-01 6.32952858e-01 -8.25106767e-03 3.32576843e+02] [-6.32912160e-01 7.74190263e-01 7.18567389e-03 -1.15997505e+02] [ 1.09360891e-02 -3.40562283e-04 9.99940141e-01 4.00197319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.57232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.61, Y:-116.03, Z:4.00 [[ 7.73513906e-01 6.33709602e-01 -9.40090940e-03 3.32610065e+02] [-6.33656380e-01 7.73570926e-01 8.22277475e-03 -1.16025231e+02] [ 1.24831215e-02 -4.03484398e-04 9.99922001e-01 4.00379351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60232058799994 meters Centerline goodness [0,1] 0.9999530582547059 Centerline is valid? [True, True] Translation: X:332.64, Y:-116.05, Z:4.01 [[ 7.72782576e-01 6.34582905e-01 -1.05653678e-02 3.32643672e+02] [-6.34515224e-01 7.72854656e-01 9.27960753e-03 -1.16052611e+02] [ 1.40541740e-02 -4.67232276e-04 9.99901126e-01 4.00589308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.63232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.68, Y:-116.08, Z:4.01 [[ 7.72202459e-01 6.35314829e-01 -8.85614180e-03 3.32678722e+02] [-6.35267162e-01 7.72253142e-01 7.79209251e-03 -1.16080399e+02] [ 1.17896153e-02 -3.91056920e-04 9.99930424e-01 4.00530183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.71, Y:-116.11, Z:4.01 [[ 7.70645686e-01 6.37212819e-01 -8.06533300e-03 3.32711440e+02] [-6.37173180e-01 7.70687813e-01 7.11577800e-03 -1.16108293e+02] [ 1.07501188e-02 -3.44729743e-04 9.99942156e-01 4.00651979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.75, Y:-116.14, Z:4.01 [[ 7.69095834e-01 6.39078989e-01 -8.34526789e-03 3.32745088e+02] [-6.39036384e-01 7.69141030e-01 7.38756338e-03 -1.16137273e+02] [ 1.11399245e-02 -3.48814407e-04 9.99937888e-01 4.00935675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.78, Y:-116.17, Z:4.01 [[ 7.68701337e-01 6.39544618e-01 -8.99641479e-03 3.32779091e+02] [-6.39494733e-01 7.68753878e-01 7.99754876e-03 -1.16165037e+02] [ 1.20308180e-02 -3.94566545e-04 9.99927549e-01 4.01019963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.81, Y:-116.19, Z:4.01 [[ 7.67197902e-01 6.41340132e-01 -9.49807345e-03 3.32812821e+02] [-6.41284291e-01 7.67256585e-01 8.47295037e-03 -1.16194949e+02] [ 1.27215025e-02 -4.09464449e-04 9.99918995e-01 4.01192504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.85, Y:-116.22, Z:4.01 [[ 7.66412726e-01 6.42274346e-01 -9.75694321e-03 3.32846544e+02] [-6.42215064e-01 7.66474709e-01 8.73681026e-03 -1.16223125e+02] [ 1.30898793e-02 -4.29946652e-04 9.99914231e-01 4.01287057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.88, Y:-116.25, Z:4.01 [[ 7.65926585e-01 6.42867703e-01 -8.80812070e-03 3.32880934e+02] [-6.42819194e-01 7.65977128e-01 7.90716092e-03 -1.16250685e+02] [ 1.18300774e-02 -3.94275715e-04 9.99929944e-01 4.01294810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.91, Y:-116.28, Z:4.02 [[ 7.64534331e-01 6.44528715e-01 -8.36615272e-03 3.32913802e+02] [-6.44484803e-01 7.64580016e-01 7.53240803e-03 -1.16280402e+02] [ 1.12514465e-02 -3.66926248e-04 9.99936633e-01 4.01546301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:332.95, Y:-116.31, Z:4.02 [[ 7.63302925e-01 6.45993939e-01 -7.77651877e-03 3.32947176e+02] [-6.45955878e-01 7.63342464e-01 7.02043747e-03 -1.16310058e+02] [ 1.04713071e-02 -3.35432449e-04 9.99945118e-01 4.01662162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90232058799995 meters Centerline goodness [0,1] 0.9999533625594628 Centerline is valid? [True, True] Translation: X:332.98, Y:-116.34, Z:4.02 [[ 7.61179916e-01 6.48482541e-01 -8.69072739e-03 3.32981155e+02] [-6.48434773e-01 7.61229442e-01 7.87924532e-03 -1.16339421e+02] [ 1.17251906e-02 -3.62153451e-04 9.99931192e-01 4.01756799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.932320588 meters Centerline goodness [0,1] 0.9999065638869423 Centerline is valid? [True, True] Translation: X:333.01, Y:-116.37, Z:4.02 [[ 7.60060360e-01 6.49800248e-01 -8.23932875e-03 3.33014366e+02] [-6.49757134e-01 7.60104941e-01 7.49304736e-03 -1.16368140e+02] [ 1.11317385e-02 -3.41605645e-04 9.99937982e-01 4.01696129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.05, Y:-116.40, Z:4.02 [[ 7.59009500e-01 6.51021935e-01 -8.66134540e-03 3.33046918e+02] [-6.50974019e-01 7.59058830e-01 7.90689884e-03 -1.16397436e+02] [ 1.17220353e-02 -3.63100514e-04 9.99931229e-01 4.01895072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.08, Y:-116.43, Z:4.02 [[ 7.57925120e-01 6.52282682e-01 -8.76446856e-03 3.33081271e+02] [-6.52233394e-01 7.57975704e-01 8.02689284e-03 -1.16426213e+02] [ 1.18790574e-02 -3.67304643e-04 9.99929374e-01 4.02074784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.12, Y:-116.46, Z:4.02 [[ 7.56080530e-01 6.54415368e-01 -9.09717730e-03 3.33116071e+02] [-6.54362038e-01 7.56135166e-01 8.36265174e-03 -1.16456156e+02] [ 1.23513435e-02 -3.69990674e-04 9.99923651e-01 4.02076158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.15, Y:-116.49, Z:4.02 [[ 7.54740184e-01 6.55950637e-01 -9.79884655e-03 3.33149113e+02] [-6.55888336e-01 7.54803683e-01 9.04936146e-03 -1.16485593e+02] [ 1.33321399e-02 -4.02967570e-04 9.99911042e-01 4.02226365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.18, Y:-116.51, Z:4.02 [[ 7.54206161e-01 6.56548600e-01 -1.08167482e-02 3.33182295e+02] [-6.56472146e-01 7.54283581e-01 1.00300053e-02 -1.16514656e+02] [ 1.47440815e-02 -4.63797848e-04 9.99891193e-01 4.02445515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.112320588 meters Centerline goodness [0,1] 0.9998599962665671 Centerline is valid? [True, True] Translation: X:333.23, Y:-116.55, Z:4.02 [[ 7.51559346e-01 6.59591787e-01 -9.86024009e-03 3.33225195e+02] [-6.59528675e-01 7.51623939e-01 9.13135752e-03 -1.16549293e+02] [ 1.34341609e-02 -3.59646008e-04 9.99909693e-01 4.02367524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.26, Y:-116.58, Z:4.02 [[ 7.50987516e-01 6.60262343e-01 -8.44919190e-03 3.33259039e+02] [-6.60215205e-01 7.51034962e-01 7.89743369e-03 -1.16577447e+02] [ 1.15600166e-02 -3.52589149e-04 9.99933119e-01 4.02341016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.29, Y:-116.61, Z:4.02 [[ 7.50155984e-01 6.61215725e-01 -7.73076080e-03 3.33292955e+02] [-6.61176136e-01 7.50195748e-01 7.24269551e-03 -1.16607101e+02] [ 1.05885680e-02 -3.21756818e-04 9.99943888e-01 4.02420575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20232058799996 meters Centerline goodness [0,1] 0.9999531944769483 Centerline is valid? [True, True] Translation: X:333.33, Y:-116.64, Z:4.03 [[ 7.49318868e-01 6.62171677e-01 -7.06421448e-03 3.33325408e+02] [-6.62138492e-01 7.49352109e-01 6.63589849e-03 -1.16637572e+02] [ 9.68768805e-03 -2.94915625e-04 9.99953030e-01 4.02616992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.23232058799994 meters Centerline goodness [0,1] 0.9999530251785044 Centerline is valid? [True, True] Translation: X:333.36, Y:-116.67, Z:4.03 [[ 7.48261245e-01 6.63366293e-01 -7.09018811e-03 3.33359723e+02] [-6.63332729e-01 7.48294777e-01 6.67962862e-03 -1.16668713e+02] [ 9.73659121e-03 -2.94953394e-04 9.99952555e-01 4.02767356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.39, Y:-116.70, Z:4.03 [[ 7.48475059e-01 6.63116985e-01 -7.80712021e-03 3.33394469e+02] [-6.63075847e-01 7.48515689e-01 7.39491700e-03 -1.16696612e+02] [ 1.07474470e-02 -3.58198084e-04 9.99942180e-01 4.02843475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.29232058799994 meters Centerline goodness [0,1] 0.9999533712580435 Centerline is valid? [True, True] Translation: X:333.43, Y:-116.73, Z:4.03 [[ 7.47292754e-01 6.64454946e-01 -7.29144333e-03 3.33430095e+02] [-6.64419057e-01 7.47328256e-01 6.91344512e-03 -1.16727678e+02] [ 1.00427744e-02 -3.21793544e-04 9.99949518e-01 4.02859435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.46, Y:-116.76, Z:4.03 [[ 7.46570191e-01 6.65249997e-01 -8.68281180e-03 3.33463168e+02] [-6.65198409e-01 7.46620564e-01 8.29513913e-03 -1.16758664e+02] [ 1.20011071e-02 -4.17111009e-04 9.99927897e-01 4.03105282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.35232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.50, Y:-116.79, Z:4.03 [[ 7.44831397e-01 6.67193226e-01 -8.91006343e-03 3.33495013e+02] [-6.67138651e-01 7.44884571e-01 8.54382896e-03 -1.16790286e+02] [ 1.23373536e-02 -4.19464362e-04 9.99923804e-01 4.03301790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38232058799997 meters Centerline goodness [0,1] 0.9999067599067599 Centerline is valid? [True, True] Translation: X:333.53, Y:-116.82, Z:4.03 [[ 7.42577675e-01 6.69710609e-01 -8.12995032e-03 3.33527125e+02] [-6.69665084e-01 7.42622091e-01 7.81697033e-03 -1.16821125e+02] [ 1.12725887e-02 -3.60363794e-04 9.99936397e-01 4.03371510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.41232058799994 meters Centerline goodness [0,1] 0.999906668533296 Centerline is valid? [True, True] Translation: X:333.56, Y:-116.85, Z:4.04 [[ 7.40818958e-01 6.71652098e-01 -8.41020820e-03 3.33560380e+02] [-6.71603178e-01 7.40866606e-01 8.11433780e-03 -1.16852228e+02] [ 1.16808544e-02 -3.62932718e-04 9.99931711e-01 4.03508464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.442320588 meters Centerline goodness [0,1] 0.9999056158565361 Centerline is valid? [True, True] Translation: X:333.59, Y:-116.88, Z:4.04 [[ 7.39210725e-01 6.73415212e-01 -8.91386131e-03 3.33593313e+02] [-6.73359949e-01 7.39264369e-01 8.63546014e-03 -1.16884543e+02] [ 1.24049503e-02 -3.81187547e-04 9.99922983e-01 4.03743906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.47232058799995 meters Centerline goodness [0,1] 0.9999056158565361 Centerline is valid? [True, True] Translation: X:333.64, Y:-116.93, Z:4.04 [[ 7.36125030e-01 6.76786629e-01 -8.93303044e-03 3.33641896e+02] [-6.76731847e-01 7.36179170e-01 8.61611459e-03 -1.16926731e+02] [ 1.24075821e-02 -2.97271420e-04 9.99922979e-01 4.03943543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.67, Y:-116.96, Z:4.04 [[ 7.34081384e-01 6.79013205e-01 -8.09873927e-03 3.33674928e+02] [-6.78966861e-01 7.34125983e-01 7.93992276e-03 -1.16958287e+02] [ 1.13368073e-02 -3.29773908e-04 9.99935682e-01 4.03994428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.53232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.71, Y:-116.99, Z:4.04 [[ 7.31997897e-01 6.81250236e-01 -8.78612276e-03 3.33710355e+02] [-6.81195553e-01 7.32050546e-01 8.63806957e-03 -1.16992299e+02] [ 1.23165729e-02 -3.37981002e-04 9.99924091e-01 4.04259245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.74, Y:-117.03, Z:4.04 [[ 7.29506231e-01 6.83926942e-01 -8.03715816e-03 3.33743169e+02] [-6.83880948e-01 7.29550445e-01 7.93710199e-03 -1.17025270e+02] [ 1.12919102e-02 -2.93706018e-04 9.99936201e-01 4.04311908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.59232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.78, Y:-117.06, Z:4.05 [[ 7.28130370e-01 6.85379458e-01 -9.00905514e-03 3.33776412e+02] [-6.85321075e-01 7.28186020e-01 8.95229886e-03 -1.17056635e+02] [ 1.26959897e-02 -3.44345320e-04 9.99919343e-01 4.04514260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.97, Y:-115.83, Z:5.87 [[ 7.41248725e-01 -6.70347316e-01 3.44209724e-02 3.34970909e+02] [-6.69558399e-01 -7.42046723e-01 -3.25301485e-02 -1.15828829e+02] [ 4.73484676e-02 1.06607992e-03 -9.98877863e-01 5.86784525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.65232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.92, Y:-117.20, Z:4.05 [[ 7.79622512e-01 6.26176601e-01 -9.57094462e-03 3.33917502e+02] [-6.26123865e-01 7.79681180e-01 8.13404151e-03 -1.17201616e+02] [ 1.25556319e-02 -3.48885042e-04 9.99921114e-01 4.04884774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.95, Y:-117.23, Z:4.05 [[ 7.77182674e-01 6.29219380e-01 -8.37037805e-03 3.33949374e+02] [-6.29179544e-01 7.77227711e-01 7.08426752e-03 -1.17231272e+02] [ 1.09632482e-02 -2.39299333e-04 9.99939873e-01 4.05022707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.71232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:333.98, Y:-117.26, Z:4.05 [[ 7.76249596e-01 6.30363546e-01 -8.85237947e-03 3.33983482e+02] [-6.30318730e-01 7.76300028e-01 7.52096718e-03 -1.17257681e+02] [ 1.16130460e-02 -2.58327141e-04 9.99932533e-01 4.05082476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.02, Y:-117.29, Z:4.05 [[ 7.74440099e-01 6.32571993e-01 -9.75738425e-03 3.34017684e+02] [-6.32517295e-01 7.74501517e-01 8.32303724e-03 -1.17285547e+02] [ 1.28220292e-02 -2.73979498e-04 9.99917757e-01 4.05140631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.77232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.05, Y:-117.31, Z:4.05 [[ 7.72149465e-01 6.35360398e-01 -1.01177553e-02 3.34051778e+02] [-6.35301401e-01 7.72215707e-01 8.66211798e-03 -1.17314326e+02] [ 1.33166563e-02 -2.60625640e-04 9.99911295e-01 4.05179868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.09, Y:-117.34, Z:4.05 [[ 7.71078061e-01 6.36679496e-01 -8.82287932e-03 3.34085517e+02] [-6.36634511e-01 7.71128505e-01 7.57154366e-03 -1.17342144e+02] [ 1.16242203e-02 -2.21301743e-04 9.99932412e-01 4.05295157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.83232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.12, Y:-117.37, Z:4.06 [[ 7.69551704e-01 6.38533960e-01 -8.03475874e-03 3.34119788e+02] [-6.38496564e-01 7.69593624e-01 6.91318234e-03 -1.17370462e+02] [ 1.05978008e-02 -1.89885403e-04 9.99943824e-01 4.05506511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.16, Y:-117.40, Z:4.06 [[ 7.67814867e-01 6.40614012e-01 -8.60339102e-03 3.34158521e+02] [-6.40571177e-01 7.67863045e-01 7.41017288e-03 -1.17401330e+02] [ 1.13532866e-02 -1.78556590e-04 9.99935533e-01 4.05676842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.89232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.19, Y:-117.43, Z:4.06 [[ 7.67528532e-01 6.40938639e-01 -9.87997841e-03 3.34192484e+02] [-6.40881113e-01 7.67592074e-01 8.59103551e-03 -1.17429894e+02] [ 1.30901197e-02 -2.61973313e-04 9.99914286e-01 4.05871711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.23, Y:-117.46, Z:4.06 [[ 7.66112555e-01 6.42621831e-01 -1.04276659e-02 3.34230013e+02] [-6.42557598e-01 7.66183472e-01 9.08954857e-03 -1.17461172e+02] [ 1.38306476e-02 -2.63241338e-04 9.99904317e-01 4.06086385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.95232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.26, Y:-117.49, Z:4.06 [[ 7.65129915e-01 6.43799977e-01 -9.88955672e-03 3.34264517e+02] [-6.43741650e-01 7.65193778e-01 8.67004900e-03 -1.17488768e+02] [ 1.31492046e-02 -2.67394292e-04 9.99913510e-01 4.06072067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.30, Y:-117.52, Z:4.06 [[ 7.64047239e-01 6.45086005e-01 -9.79097765e-03 3.34304852e+02] [-6.45028831e-01 7.64109929e-01 8.59204309e-03 -1.17518274e+02] [ 1.30239900e-02 -2.49263931e-04 9.99915153e-01 4.06082185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.01232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.34, Y:-117.55, Z:4.06 [[ 7.63955221e-01 6.45212845e-01 -8.53255605e-03 3.34339363e+02] [-6.45168892e-01 7.64002828e-01 7.53518128e-03 -1.17546260e+02] [ 1.13806927e-02 -2.51601348e-04 9.99935206e-01 4.06150301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.37, Y:-117.58, Z:4.06 [[ 7.63595582e-01 6.45631933e-01 -9.01074346e-03 3.34371997e+02] [-6.45582546e-01 7.63648693e-01 7.99068834e-03 -1.17575340e+02] [ 1.20400860e-02 -2.84475613e-04 9.99927475e-01 4.06487633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.07232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.41, Y:-117.60, Z:4.07 [[ 7.62985384e-01 6.46351221e-01 -9.13248957e-03 3.34406565e+02] [-6.46300194e-01 7.63039979e-01 8.12706470e-03 -1.17603037e+02] [ 1.22213928e-02 -2.98501797e-04 9.99925271e-01 4.06591961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.44, Y:-117.63, Z:4.06 [[ 7.61443123e-01 6.48154785e-01 -9.98727665e-03 3.34441177e+02] [-6.48093416e-01 7.61508549e-01 8.92491045e-03 -1.17630537e+02] [ 1.33901200e-02 -3.23123439e-04 9.99910296e-01 4.06489341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.13232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.48, Y:-117.66, Z:4.07 [[ 7.60304943e-01 6.49487813e-01 -1.00982409e-02 3.34475238e+02] [-6.49424777e-01 7.60371932e-01 9.05449918e-03 -1.17659418e+02] [ 1.35592058e-02 -3.26132613e-04 9.99908017e-01 4.06606294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.51, Y:-117.69, Z:4.07 [[ 7.59662593e-01 6.50252925e-01 -9.15854962e-03 3.34508834e+02] [-6.50200839e-01 7.59717739e-01 8.23562263e-03 -1.17688700e+02] [ 1.23131503e-02 -3.01397786e-04 9.99924145e-01 4.06761586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.54, Y:-117.72, Z:4.07 [[ 7.58405416e-01 6.51728899e-01 -8.40638356e-03 3.34542603e+02] [-6.51684880e-01 7.58451956e-01 7.57947783e-03 -1.17717218e+02] [ 1.13156028e-02 -2.70003982e-04 9.99935940e-01 4.06800801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.58, Y:-117.74, Z:4.07 [[ 7.58022858e-01 6.52178516e-01 -8.03305361e-03 3.34576996e+02] [-6.52138109e-01 7.58065374e-01 7.26463153e-03 -1.17744781e+02] [ 1.08274164e-02 -2.68096368e-04 9.99941346e-01 4.06872010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.61, Y:-117.77, Z:4.07 [[ 7.56932290e-01 6.53427272e-01 -9.29020088e-03 3.34611061e+02] [-6.53372832e-01 7.56989233e-01 8.44062682e-03 -1.17773632e+02] [ 1.25479178e-02 -3.19018134e-04 9.99921221e-01 4.06976866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.65, Y:-117.80, Z:4.07 [[ 7.55476008e-01 6.55125056e-01 -8.19521914e-03 3.34645066e+02] [-6.55082594e-01 7.55520408e-01 7.46377066e-03 -1.17801656e+02] [ 1.10813585e-02 -2.70154251e-04 9.99938563e-01 4.06928741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.312320588 meters Centerline goodness [0,1] 0.9999531572044219 Centerline is valid? [True, True] Translation: X:334.68, Y:-117.83, Z:4.07 [[ 7.53246364e-01 6.57685104e-01 -8.37968079e-03 3.34680778e+02] [-6.57640690e-01 7.53292933e-01 7.64728179e-03 -1.17832561e+02] [ 1.13418576e-02 -2.49468151e-04 9.99935648e-01 4.07008586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.72, Y:-117.86, Z:4.07 [[ 7.51344852e-01 6.59847100e-01 -9.09493600e-03 3.34716193e+02] [-6.59794397e-01 7.51399849e-01 8.34397075e-03 -1.17863422e+02] [ 1.23396784e-02 -2.68411663e-04 9.99923827e-01 4.07244459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.75, Y:-117.89, Z:4.07 [[ 7.50676968e-01 6.60609329e-01 -8.91095965e-03 3.34750887e+02] [-6.60558256e-01 7.50729801e-01 8.21927847e-03 -1.17892110e+02] [ 1.21194550e-02 -2.83815074e-04 9.99926516e-01 4.07349741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.79, Y:-117.92, Z:4.08 [[ 7.49821089e-01 6.61579579e-01 -8.98863310e-03 3.34785557e+02] [-6.61527312e-01 7.49874906e-01 8.32107062e-03 -1.17920418e+02] [ 1.22454008e-02 -2.93087945e-04 9.99924979e-01 4.07592351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.82, Y:-117.95, Z:4.08 [[ 7.49198815e-01 6.62297890e-01 -7.91458658e-03 3.34820439e+02] [-6.62257220e-01 7.49240573e-01 7.34426802e-03 -1.17948790e+02] [ 1.07940226e-02 -2.60824787e-04 9.99941709e-01 4.07664480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.86, Y:-117.98, Z:4.08 [[ 7.47840308e-01 6.63831267e-01 -7.93235931e-03 3.34855775e+02] [-6.63790251e-01 7.47882332e-01 7.38376985e-03 -1.17978950e+02] [ 1.08340487e-02 -2.56457950e-04 9.99941277e-01 4.07772664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.89, Y:-118.01, Z:4.08 [[ 7.47381328e-01 6.64359898e-01 -6.86126417e-03 3.34889629e+02] [-6.64329067e-01 7.47412787e-01 6.40444260e-03 -1.18008582e+02] [ 9.38305140e-03 -2.28423587e-04 9.99955952e-01 4.07817211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.92, Y:-118.04, Z:4.08 [[ 7.47782583e-01 6.63902457e-01 -7.39838792e-03 3.34924306e+02] [-6.63866289e-01 7.47819131e-01 6.93528223e-03 -1.18037627e+02] [ 1.01370069e-02 -2.74542932e-04 9.99948582e-01 4.07937443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:334.96, Y:-118.07, Z:4.08 [[ 7.47281264e-01 6.64464140e-01 -7.62362159e-03 3.34958114e+02] [-6.64425477e-01 7.47320092e-01 7.17399304e-03 -1.18066717e+02] [ 1.04641467e-02 -2.95662178e-04 9.99945206e-01 4.08045665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58232058799996 meters Centerline goodness [0,1] 0.9999531418396513 Centerline is valid? [True, True] Translation: X:334.99, Y:-118.09, Z:4.08 [[ 7.48308337e-01 6.63312213e-01 -7.17923533e-03 3.34993145e+02] [-6.63277681e-01 7.48342711e-01 6.77533319e-03 -1.18094933e+02] [ 9.86668968e-03 -3.08211747e-04 9.99951276e-01 4.08050693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.612320588 meters Centerline goodness [0,1] 0.9999066859515701 Centerline is valid? [True, True] Translation: X:335.03, Y:-118.13, Z:4.08 [[ 7.47337265e-01 6.64402719e-01 -7.48601151e-03 3.35026436e+02] [-6.64364951e-01 7.47374686e-01 7.09162487e-03 -1.18125408e+02] [ 1.03065503e-02 -3.26391864e-04 9.99946833e-01 4.08316557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64232058799996 meters Centerline goodness [0,1] 0.9998128567418358 Centerline is valid? [True, True] Translation: X:335.06, Y:-118.16, Z:4.09 [[ 7.47001492e-01 6.64784858e-01 -7.06139721e-03 3.35059753e+02] [-6.64751078e-01 7.47034799e-01 6.70919368e-03 -1.18155540e+02] [ 9.73527982e-03 -3.17706282e-04 9.99952561e-01 4.08506953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.672320588 meters Centerline goodness [0,1] 0.9998125322210245 Centerline is valid? [True, True] Translation: X:335.10, Y:-118.18, Z:4.09 [[ 7.47958232e-01 6.63710677e-01 -6.82792796e-03 3.35095086e+02] [-6.63678871e-01 7.47989322e-01 6.50624183e-03 -1.18184051e+02] [ 9.42547937e-03 -3.34845615e-04 9.99955523e-01 4.08531432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.13, Y:-118.21, Z:4.09 [[ 7.48086975e-01 6.63565931e-01 -6.79212868e-03 3.35128361e+02] [-6.63534221e-01 7.48117725e-01 6.49660579e-03 -1.18213316e+02] [ 9.39223812e-03 -3.53216358e-04 9.99955830e-01 4.08665829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.73232058799994 meters Centerline goodness [0,1] 0.9997191537165325 Centerline is valid? [True, True] Translation: X:335.16, Y:-118.24, Z:4.09 [[ 7.47069987e-01 6.64702876e-01 -7.51802733e-03 3.35161586e+02] [-6.64663749e-01 7.47107708e-01 7.22316840e-03 -1.18243140e+02] [ 1.04180370e-02 -3.99252098e-04 9.99945651e-01 4.08826623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76232058799997 meters Centerline goodness [0,1] 0.9999528857479387 Centerline is valid? [True, True] Translation: X:335.19, Y:-118.27, Z:4.09 [[ 7.46281835e-01 6.65591665e-01 -7.15244509e-03 3.35194845e+02] [-6.65556097e-01 7.46316011e-01 6.89150095e-03 -1.18271800e+02] [ 9.92490988e-03 -3.82648530e-04 9.99950674e-01 4.08903705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.79232058799994 meters Centerline goodness [0,1] 0.9993455497382199 Centerline is valid? [True, True] Translation: X:335.23, Y:-118.30, Z:4.09 [[ 7.45172313e-01 6.66828186e-01 -7.64159150e-03 3.35227337e+02] [-6.66787337e-01 7.45211379e-01 7.39246690e-03 -1.18301934e+02] [ 1.06241062e-02 -4.13345220e-04 9.99943477e-01 4.09103715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82232058799997 meters Centerline goodness [0,1] 0.9992964022702754 Centerline is valid? [True, True] Translation: X:335.27, Y:-118.33, Z:4.09 [[ 7.44199417e-01 6.67914329e-01 -7.59449567e-03 3.35265094e+02] [-6.67874055e-01 7.44238062e-01 7.34532362e-03 -1.18334685e+02] [ 1.05581596e-02 -3.94218940e-04 9.99944183e-01 4.09163616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.85232058799994 meters Centerline goodness [0,1] 0.9992566897918731 Centerline is valid? [True, True] Translation: X:335.30, Y:-118.36, Z:4.09 [[ 7.44540256e-01 6.67523349e-01 -8.50793078e-03 3.35301291e+02] [-6.67471882e-01 7.44588694e-01 8.30435565e-03 -1.18364408e+02] [ 1.18782604e-02 -5.04122508e-04 9.99929324e-01 4.09344541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88232058799997 meters Centerline goodness [0,1] 0.9992066084846222 Centerline is valid? [True, True] Translation: X:335.33, Y:-118.40, Z:4.10 [[ 7.41979401e-01 6.70368268e-01 -8.54124976e-03 3.35332001e+02] [-6.70316168e-01 7.42028401e-01 8.37174226e-03 -1.18396796e+02] [ 1.19500003e-02 -4.86322499e-04 9.99928478e-01 4.09533640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.91232058799994 meters Centerline goodness [0,1] 0.9994788952579469 Centerline is valid? [True, True] Translation: X:335.36, Y:-118.43, Z:4.10 [[ 7.41606497e-01 6.70802055e-01 -6.66378888e-03 3.35364374e+02] [-6.70770307e-01 7.41636339e-01 6.53724900e-03 -1.18427944e+02] [ 9.32730806e-03 -3.78194622e-04 9.99956428e-01 4.09619496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.942320588 meters Centerline goodness [0,1] 0.9995762312835483 Centerline is valid? [True, True] Translation: X:335.40, Y:-118.46, Z:4.10 [[ 7.39537354e-01 6.73089032e-01 -5.97125199e-03 3.35397062e+02] [-6.73063513e-01 7.39561391e-01 5.86998315e-03 -1.18458736e+02] [ 8.36712870e-03 -3.22039969e-04 9.99964943e-01 4.09625641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.97232058799995 meters Centerline goodness [0,1] 0.9994824260104456 Centerline is valid? [True, True] Translation: X:335.43, Y:-118.49, Z:4.10 [[ 7.38455677e-01 6.74273708e-01 -6.17901380e-03 3.35429541e+02] [-6.74246225e-01 7.38481451e-01 6.09704803e-03 -1.18489892e+02] [ 8.67416626e-03 -3.36223000e-04 9.99962322e-01 4.09780199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.002320588 meters Centerline goodness [0,1] 0.9999529345319339 Centerline is valid? [True, True] Translation: X:335.46, Y:-118.52, Z:4.10 [[ 7.35923523e-01 6.77024572e-01 -7.36864554e-03 3.35461959e+02] [-6.76985216e-01 7.35960308e-01 7.31034886e-03 -1.18521116e+02] [ 1.03723165e-02 -3.91393586e-04 9.99946129e-01 4.09828940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03232058799995 meters Centerline goodness [0,1] 0.9999055980364392 Centerline is valid? [True, True] Translation: X:336.63, Y:-117.30, Z:5.95 [[ 7.33003814e-01 -6.79238017e-01 3.66213764e-02 3.36626333e+02] [-6.78366882e-01 -7.33917967e-01 -3.43917308e-02 -1.17300375e+02] [ 5.02372572e-02 3.66540883e-04 -9.98737245e-01 5.94837193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.062320588 meters Centerline goodness [0,1] 0.9997657201761784 Centerline is valid? [True, True] Translation: X:335.59, Y:-118.65, Z:4.10 [[ 7.86431620e-01 6.17605804e-01 -9.40098453e-03 3.35589125e+02] [-6.17554269e-01 7.86487661e-01 7.99276270e-03 -1.18653950e+02] [ 1.23301350e-02 -4.80143185e-04 9.99923866e-01 4.10373708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.09232058799995 meters Centerline goodness [0,1] 0.9998591945930724 Centerline is valid? [True, True] Translation: X:335.62, Y:-118.68, Z:4.10 [[ 7.84920771e-01 6.19521278e-01 -9.63171481e-03 3.35621357e+02] [-6.19467521e-01 7.84979735e-01 8.17351615e-03 -1.18680361e+02] [ 1.26243681e-02 -4.49028106e-04 9.99920209e-01 4.10474304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.122320588 meters Centerline goodness [0,1] 0.9998596556886228 Centerline is valid? [True, True] Translation: X:335.65, Y:-118.71, Z:4.10 [[ 7.84005191e-01 6.20693763e-01 -8.66676631e-03 3.35654005e+02] [-6.20650148e-01 7.84052992e-01 7.36876858e-03 -1.18707529e+02] [ 1.13689528e-02 -3.98123022e-04 9.99935292e-01 4.10495806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.15232058799995 meters Centerline goodness [0,1] 0.9998599047352199 Centerline is valid? [True, True] Translation: X:335.69, Y:-118.73, Z:4.11 [[ 7.82758470e-01 6.22250453e-01 -9.67219786e-03 3.35685884e+02] [-6.22195907e-01 7.82818101e-01 8.25065793e-03 -1.18734540e+02] [ 1.27055472e-02 -4.40270449e-04 9.99919184e-01 4.10601423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.182320588 meters Centerline goodness [0,1] 0.999623706491063 Centerline is valid? [True, True] Translation: X:335.72, Y:-118.76, Z:4.11 [[ 7.81374572e-01 6.23981344e-01 -1.00528320e-02 3.35719620e+02] [-6.23922353e-01 7.81439113e-01 8.59129916e-03 -1.18761481e+02] [ 1.32164865e-02 -4.40836117e-04 9.99912561e-01 4.10741833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.21232058799995 meters Centerline goodness [0,1] 0.9996247302748851 Centerline is valid? [True, True] Translation: X:335.75, Y:-118.79, Z:4.11 [[ 7.79551192e-01 6.26233718e-01 -1.14572758e-02 3.35751733e+02] [-6.26156629e-01 7.79635225e-01 9.83824524e-03 -1.18789581e+02] [ 1.50935367e-02 -4.95366599e-04 9.99885963e-01 4.10879503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.242320588 meters Centerline goodness [0,1] 0.9999522376653771 Centerline is valid? [True, True] Translation: X:335.79, Y:-118.82, Z:4.11 [[ 7.79026391e-01 6.26901073e-01 -1.06266984e-02 3.35785666e+02] [-6.26834622e-01 7.79098732e-01 9.13907303e-03 -1.18817590e+02] [ 1.40085419e-02 -4.58396606e-04 9.99901770e-01 4.10970235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.27232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.82, Y:-118.85, Z:4.11 [[ 7.76844854e-01 6.29620152e-01 -9.51506561e-03 3.35821131e+02] [-6.29566883e-01 7.76903031e-01 8.19875849e-03 -1.18847648e+02] [ 1.25543869e-02 -3.78793144e-04 9.99921119e-01 4.11092061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.302320588 meters Centerline goodness [0,1] 0.9999063407324155 Centerline is valid? [True, True] Translation: X:335.85, Y:-118.88, Z:4.11 [[ 7.75002718e-01 6.31881381e-01 -9.83401543e-03 3.35854167e+02] [-6.31824127e-01 7.75065011e-01 8.51478440e-03 -1.18875723e+02] [ 1.30023350e-02 -3.85612839e-04 9.99915392e-01 4.11336824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.33232058799996 meters Centerline goodness [0,1] 0.9999532251274615 Centerline is valid? [True, True] Translation: X:335.89, Y:-118.90, Z:4.11 [[ 7.73133441e-01 6.34149965e-01 -1.08859472e-02 3.35887814e+02] [-6.34079498e-01 7.73209966e-01 9.46250511e-03 -1.18904648e+02] [ 1.44177701e-02 -4.13223209e-04 9.99895973e-01 4.11487960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.362320588 meters Centerline goodness [0,1] 0.9999532251274615 Centerline is valid? [True, True] Translation: X:335.92, Y:-118.93, Z:4.12 [[ 7.72101474e-01 6.35406300e-01 -1.08695901e-02 3.35920926e+02] [-6.35335694e-01 7.72177869e-01 9.48122203e-03 -1.18931969e+02] [ 1.44176852e-02 -4.14626915e-04 9.99895974e-01 4.11621633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.39232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:335.95, Y:-118.96, Z:4.12 [[ 7.70730517e-01 6.37066249e-01 -1.10029173e-02 3.35953973e+02] [-6.36993598e-01 7.70808941e-01 9.62976306e-03 -1.18959962e+02] [ 1.46159441e-02 -4.13164362e-04 9.99893096e-01 4.11592481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.422320588 meters Centerline goodness [0,1] 0.9999049610340239 Centerline is valid? [True, True] Translation: X:335.99, Y:-118.99, Z:4.12 [[ 7.69031325e-01 6.39129482e-01 -1.02140407e-02 3.35989296e+02] [-6.39066789e-01 7.69099067e-01 8.95907768e-03 -1.18990130e+02] [ 1.35816198e-02 -3.62357199e-04 9.99907700e-01 4.11654747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.45232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.02, Y:-119.02, Z:4.12 [[ 7.66924901e-01 6.41665407e-01 -9.57613816e-03 3.36021783e+02] [-6.41610096e-01 7.66984617e-01 8.43099002e-03 -1.19020429e+02] [ 1.27546253e-02 -3.21789255e-04 9.99918605e-01 4.11862382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.06, Y:-119.05, Z:4.12 [[ 7.65023165e-01 6.43920997e-01 -1.02619389e-02 3.36055447e+02] [-6.43857199e-01 7.65091916e-01 9.07014444e-03 -1.19049341e+02] [ 1.36917829e-02 -3.31647392e-04 9.99906208e-01 4.12080688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.51232058799997 meters Centerline goodness [0,1] 0.9997643843362707 Centerline is valid? [True, True] Translation: X:336.11, Y:-119.09, Z:4.12 [[ 7.61173880e-01 6.48471751e-01 -9.93541109e-03 3.36108285e+02] [-6.48412988e-01 7.61238692e-01 8.73212778e-03 -1.19091787e+02] [ 1.32257575e-02 -2.04417984e-04 9.99912515e-01 4.12277757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.15, Y:-119.13, Z:4.12 [[ 7.58376914e-01 6.51746576e-01 -9.53192365e-03 3.36149197e+02] [-6.51691080e-01 7.58436776e-01 8.50844725e-03 -1.19125949e+02] [ 1.27747128e-02 -2.40740349e-04 9.99918371e-01 4.12420638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.57232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.18, Y:-119.16, Z:4.12 [[ 7.56495759e-01 6.53936682e-01 -8.99900595e-03 3.36183608e+02] [-6.53886537e-01 7.56549242e-01 8.10187885e-03 -1.19155415e+02] [ 1.21063069e-02 -2.44708158e-04 9.99926686e-01 4.12439316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60232058799994 meters Centerline goodness [0,1] 0.9999533059394845 Centerline is valid? [True, True] Translation: X:336.22, Y:-119.18, Z:4.12 [[ 7.53670831e-01 6.57178489e-01 -9.83421997e-03 3.36217114e+02] [-6.57118375e-01 7.53734951e-01 8.89181674e-03 -1.19184973e+02] [ 1.32559060e-02 -2.39256263e-04 9.99912108e-01 4.12475118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.63232058799997 meters Centerline goodness [0,1] 0.9999528479818937 Centerline is valid? [True, True] Translation: X:336.25, Y:-119.21, Z:4.13 [[ 7.52274548e-01 6.58765686e-01 -1.05249635e-02 3.36251197e+02] [-6.58696429e-01 7.52348127e-01 9.55561950e-03 -1.19214171e+02] [ 1.42133508e-02 -2.55693475e-04 9.99898953e-01 4.12670439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.29, Y:-119.24, Z:4.13 [[ 7.51144047e-01 6.60051844e-01 -1.06856622e-02 3.36285537e+02] [-6.59980072e-01 7.51220004e-01 9.73698487e-03 -1.19243167e+02] [ 1.44541981e-02 -2.61554086e-04 9.99895498e-01 4.12803728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.692320588 meters Centerline goodness [0,1] 0.999952512109412 Centerline is valid? [True, True] Translation: X:336.32, Y:-119.27, Z:4.13 [[ 7.50132432e-01 6.61195016e-01 -1.10673018e-02 3.36319605e+02] [-6.61117572e-01 7.50214019e-01 1.01233496e-02 -1.19271854e+02] [ 1.49963533e-02 -2.77065172e-04 9.99887510e-01 4.12995322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.35, Y:-119.30, Z:4.13 [[ 7.48897037e-01 6.62600961e-01 -1.06393391e-02 3.36353882e+02] [-6.62529074e-01 7.48972561e-01 9.76360241e-03 -1.19300506e+02] [ 1.44379454e-02 -2.63061398e-04 9.99895733e-01 4.13091883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.39, Y:-119.33, Z:4.13 [[ 7.48204524e-01 6.63381432e-01 -1.07268534e-02 3.36388337e+02] [-6.63307915e-01 7.48281364e-01 9.87980721e-03 -1.19329184e+02] [ 1.45807851e-02 -2.76909693e-04 9.99893656e-01 4.13233370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.43, Y:-119.36, Z:4.13 [[ 7.47927323e-01 6.63706143e-01 -9.94357423e-03 3.36427943e+02] [-6.63642815e-01 7.47993374e-01 9.17209693e-03 -1.19359362e+02] [ 1.35253047e-02 -2.61080319e-04 9.99908495e-01 4.13148174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.46, Y:-119.39, Z:4.13 [[ 7.47365033e-01 6.64335559e-01 -1.01868999e-02 3.36462628e+02] [-6.64268304e-01 7.47434395e-01 9.45757072e-03 -1.19387456e+02] [ 1.38970399e-02 -3.01422935e-04 9.99903386e-01 4.13278920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.50, Y:-119.42, Z:4.13 [[ 7.46084871e-01 6.65777332e-01 -9.89498317e-03 3.36501248e+02] [-6.65713869e-01 7.46150434e-01 9.19647363e-03 -1.19419764e+02] [ 1.35059497e-02 -2.74122309e-04 9.99908753e-01 4.13481067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.54, Y:-119.45, Z:4.14 [[ 7.46160041e-01 6.65701286e-01 -9.32693247e-03 3.36535424e+02] [-6.65644116e-01 7.46218269e-01 8.72962260e-03 -1.19448564e+02] [ 1.27712484e-02 -3.05277834e-04 9.99918398e-01 4.13612221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.57, Y:-119.48, Z:4.14 [[ 7.46003713e-01 6.65874760e-01 -9.44795526e-03 3.36569354e+02] [-6.65815686e-01 7.46063466e-01 8.87568592e-03 -1.19477597e+02] [ 1.29588695e-02 -3.30697843e-04 9.99915976e-01 4.13781043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.61, Y:-119.51, Z:4.14 [[ 7.45930411e-01 6.65957301e-01 -9.41778217e-03 3.36605151e+02] [-6.65898268e-01 7.45989780e-01 8.87381826e-03 -1.19506475e+02] [ 1.29351533e-02 -3.47966074e-04 9.99916277e-01 4.13901691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.64, Y:-119.54, Z:4.14 [[ 7.45862756e-01 6.66049670e-01 -8.15997394e-03 3.36639727e+02] [-6.66005073e-01 7.45907323e-01 7.71410946e-03 -1.19535535e+02] [ 1.12245644e-02 -3.19082901e-04 9.99936952e-01 4.13917901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.67, Y:-119.57, Z:4.14 [[ 7.45584614e-01 6.66348786e-01 -9.10378426e-03 3.36674392e+02] [-6.66292854e-01 7.45640096e-01 8.64176964e-03 -1.19567172e+02] [ 1.25465793e-02 -3.77384089e-04 9.99921217e-01 4.14228512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.71, Y:-119.60, Z:4.14 [[ 7.45584545e-01 6.66338716e-01 -9.81840619e-03 3.36708179e+02] [-6.66273084e-01 7.45649061e-01 9.36242021e-03 -1.19597581e+02] [ 1.35596284e-02 -4.38736039e-04 9.99907968e-01 4.14472043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:336.75, Y:-119.63, Z:4.15 [[ 7.43904432e-01 6.68209113e-01 -1.01378883e-02 3.36750022e+02] [-6.68139242e-01 7.43973389e-01 9.67212952e-03 -1.19632989e+02] [ 1.40053242e-02 -4.21619041e-04 9.99901832e-01 4.14577005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08232058799996 meters Centerline goodness [0,1] 0.999906445878941 Centerline is valid? [True, True] Translation: X:336.79, Y:-119.67, Z:4.15 [[ 7.43586077e-01 6.68548206e-01 -1.10924540e-02 3.36791883e+02] [-6.68463209e-01 7.43668625e-01 1.06730494e-02 -1.19666955e+02] [ 1.53845581e-02 -5.21433533e-04 9.99881515e-01 4.14705617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.112320588 meters Centerline goodness [0,1] 0.999906151752616 Centerline is valid? [True, True] Translation: X:336.83, Y:-119.70, Z:4.15 [[ 7.43352738e-01 6.68822078e-01 -1.01849961e-02 3.36825413e+02] [-6.68749434e-01 7.43422323e-01 9.87138174e-03 -1.19696494e+02] [ 1.41739515e-02 -5.26708294e-04 9.99899406e-01 4.14751538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14232058799996 meters Centerline goodness [0,1] 0.9997656213378334 Centerline is valid? [True, True] Translation: X:336.86, Y:-119.73, Z:4.15 [[ 7.43493921e-01 6.68690186e-01 -8.38005345e-03 3.36857830e+02] [-6.68640823e-01 7.43541011e-01 8.13718579e-03 -1.19727499e+02] [ 1.16721697e-02 -4.46702329e-04 9.99931778e-01 4.14949341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.172320588 meters Centerline goodness [0,1] 0.9999528835280814 Centerline is valid? [True, True] Translation: X:336.89, Y:-119.76, Z:4.15 [[ 7.42673982e-01 6.69606656e-01 -7.89195484e-03 3.36893895e+02] [-6.69562865e-01 7.42715798e-01 7.66892470e-03 -1.19760867e+02] [ 1.09966426e-02 -4.11350952e-04 9.99939450e-01 4.15071144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20232058799996 meters Centerline goodness [0,1] 0.9997660928143712 Centerline is valid? [True, True] Translation: X:336.93, Y:-119.79, Z:4.15 [[ 7.41977660e-01 6.70365934e-01 -8.86942631e-03 3.36927053e+02] [-6.70309860e-01 7.42030502e-01 8.68479232e-03 -1.19791641e+02] [ 1.24033738e-02 -4.98657969e-04 9.99922951e-01 4.15254935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.23232058799994 meters Centerline goodness [0,1] 0.9998592606492775 Centerline is valid? [True, True] Translation: X:336.96, Y:-119.82, Z:4.15 [[ 7.40948714e-01 6.71494482e-01 -9.49551799e-03 3.36959429e+02] [-6.71429804e-01 7.41009358e-01 9.33543396e-03 -1.19822341e+02] [ 1.33049601e-02 -5.41504004e-04 9.99911338e-01 4.15355090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26232058799997 meters Centerline goodness [0,1] 0.9999526828806662 Centerline is valid? [True, True] Translation: X:336.99, Y:-119.85, Z:4.15 [[ 7.39158183e-01 6.73480441e-01 -8.32322446e-03 3.36994476e+02] [-6.73430800e-01 7.39204907e-01 8.18919053e-03 -1.19854870e+02] [ 1.16678280e-02 -4.47991487e-04 9.99931828e-01 4.15355902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.29232058799994 meters Centerline goodness [0,1] 0.9998575498575498 Centerline is valid? [True, True] Translation: X:337.03, Y:-119.89, Z:4.16 [[ 7.37462621e-01 6.75342010e-01 -7.87736790e-03 3.37030194e+02] [-6.75297360e-01 7.37504574e-01 7.77676894e-03 -1.19889685e+02] [ 1.10615736e-02 -4.15510656e-04 9.99938733e-01 4.15543841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.06, Y:-119.92, Z:4.16 [[ 7.35838969e-01 6.77114675e-01 -7.53181315e-03 3.37062041e+02] [-6.77073461e-01 7.35877403e-01 7.48173710e-03 -1.19920973e+02] [ 1.06084851e-02 -4.05762919e-04 9.99943646e-01 4.15707082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.35232058799994 meters Centerline goodness [0,1] 0.9997645951035782 Centerline is valid? [True, True] Translation: X:338.24, Y:-118.71, Z:6.02 [[ 7.32334519e-01 -6.80092656e-01 3.40606924e-02 3.38240788e+02] [-6.79328532e-01 -7.33126019e-01 -3.22333018e-02 -1.18713375e+02] [ 4.68924117e-02 4.67159421e-04 -9.98899837e-01 6.01951466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.20, Y:-120.07, Z:4.16 [[ 7.87047972e-01 6.16810837e-01 -9.99401813e-03 3.37203356e+02] [-6.16752401e-01 7.87111243e-01 8.50691839e-03 -1.20066107e+02] [ 1.31135635e-02 -5.31518188e-04 9.99913872e-01 4.15989486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.41232058799994 meters Centerline goodness [0,1] 0.9999527119686007 Centerline is valid? [True, True] Translation: X:337.23, Y:-120.10, Z:4.16 [[ 7.84916076e-01 6.19527012e-01 -9.64546598e-03 3.37234283e+02] [-6.19472997e-01 7.84975205e-01 8.19348657e-03 -1.20095311e+02] [ 1.26475379e-02 -4.56093606e-04 9.99919913e-01 4.16288642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.442320588 meters Centerline goodness [0,1] 0.9998593002532595 Centerline is valid? [True, True] Translation: X:337.27, Y:-120.12, Z:4.16 [[ 7.83299432e-01 6.21579146e-01 -9.02028140e-03 3.37266339e+02] [-6.21531830e-01 7.83351261e-01 7.68023699e-03 -1.20122325e+02] [ 1.18399240e-02 -4.09533262e-04 9.99929822e-01 4.16352536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.47232058799995 meters Centerline goodness [0,1] 0.9999527253817425 Centerline is valid? [True, True] Translation: X:337.30, Y:-120.15, Z:4.16 [[ 7.82225840e-01 6.22933783e-01 -8.73140690e-03 3.37299755e+02] [-6.22889351e-01 7.82274472e-01 7.45026085e-03 -1.20149247e+02] [ 1.14713759e-02 -3.89086171e-04 9.99934126e-01 4.16461646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.33, Y:-120.18, Z:4.17 [[ 7.80868216e-01 6.24623390e-01 -9.51049076e-03 3.37331905e+02] [-6.24570469e-01 7.80926018e-01 8.14147037e-03 -1.20177470e+02] [ 1.25123425e-02 -4.17443773e-04 9.99921630e-01 4.16583843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.53232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.36, Y:-120.21, Z:4.17 [[ 7.78906331e-01 6.27075797e-01 -8.99288125e-03 3.37363314e+02] [-6.27028499e-01 7.78958157e-01 7.71045844e-03 -1.20205771e+02] [ 1.18401201e-02 -3.66932058e-04 9.99929836e-01 4.16624456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.40, Y:-120.23, Z:4.17 [[ 7.76144040e-01 6.30485842e-01 -9.38254976e-03 3.37395737e+02] [-6.30434272e-01 7.76200670e-01 8.07143687e-03 -1.20234047e+02] [ 1.23716681e-02 -3.49516692e-04 9.99923407e-01 4.16906726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.59232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.43, Y:-120.26, Z:4.17 [[ 7.73271754e-01 6.34005675e-01 -9.35937289e-03 3.37429657e+02] [-6.33954313e-01 7.73328330e-01 8.07602367e-03 -1.20263127e+02] [ 1.23581131e-02 -3.11546179e-04 9.99923587e-01 4.17026713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.46, Y:-120.29, Z:4.17 [[ 7.71504910e-01 6.36174915e-01 -7.85177213e-03 3.37463747e+02] [-6.36138724e-01 7.71544825e-01 6.79016070e-03 -1.20290874e+02] [ 1.03777241e-02 -2.43826021e-04 9.99946120e-01 4.16938168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.65232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.50, Y:-120.32, Z:4.17 [[ 7.68363893e-01 6.39943298e-01 -9.46064500e-03 3.37496760e+02] [-6.39890537e-01 7.68422089e-01 8.22160870e-03 -1.20319814e+02] [ 1.25311320e-02 -2.63410058e-04 9.99921448e-01 4.17150665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.53, Y:-120.35, Z:4.17 [[ 7.66586776e-01 6.42049321e-01 -1.08344586e-02 3.37530118e+02] [-6.41979750e-01 7.66663279e-01 9.45602346e-03 -1.20349546e+02] [ 1.43776150e-02 -2.93359487e-04 9.99896594e-01 4.17408866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.71232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.56, Y:-120.38, Z:4.18 [[ 7.64039284e-01 6.45088176e-01 -1.02575808e-02 3.37564332e+02] [-6.45025763e-01 7.64108099e-01 8.97657222e-03 -1.20378494e+02] [ 1.36285812e-02 -2.42049927e-04 9.99907097e-01 4.17571349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.60, Y:-120.41, Z:4.18 [[ 7.62452777e-01 6.46976301e-01 -9.35032025e-03 3.37599215e+02] [-6.46924257e-01 7.62510080e-01 8.20871460e-03 -1.20406236e+02] [ 1.24405572e-02 -2.09808256e-04 9.99922591e-01 4.17651946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.77232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.63, Y:-120.43, Z:4.18 [[ 7.60358074e-01 6.49455685e-01 -7.93174418e-03 3.37633156e+02] [-6.49418223e-01 7.60399427e-01 6.97730572e-03 -1.20434218e+02] [ 1.05627446e-02 -1.54231533e-04 9.99944201e-01 4.17697986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.67, Y:-120.46, Z:4.18 [[ 7.58218689e-01 6.51942790e-01 -8.66124765e-03 3.37667905e+02] [-6.51897940e-01 7.58268142e-01 7.64855241e-03 -1.20463827e+02] [ 1.15539668e-02 -1.53025875e-04 9.99933239e-01 4.17815191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.83232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.70, Y:-120.49, Z:4.18 [[ 7.56367436e-01 6.54069300e-01 -1.00822700e-02 3.37701726e+02] [-6.54008080e-01 7.56434611e-01 8.95045983e-03 -1.20493040e+02] [ 1.34807990e-02 -1.75950309e-04 9.99909114e-01 4.18080869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.74, Y:-120.52, Z:4.18 [[ 7.54489674e-01 6.56222738e-01 -1.08189507e-02 3.37737042e+02] [-6.56151902e-01 7.54567218e-01 9.64339338e-03 -1.20520705e+02] [ 1.44918395e-02 -1.76965660e-04 9.99894972e-01 4.18179172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.89232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.77, Y:-120.55, Z:4.18 [[ 7.51818668e-01 6.59274624e-01 -1.12098180e-02 3.37771157e+02] [-6.59198332e-01 7.51902219e-01 1.00306023e-02 -1.20549317e+02] [ 1.50416086e-02 -1.51700724e-04 9.99886857e-01 4.18389400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.81, Y:-120.58, Z:4.19 [[ 7.50016599e-01 6.61324747e-01 -1.11660203e-02 3.37805047e+02] [-6.61248750e-01 7.50099700e-01 1.00264761e-02 -1.20579046e+02] [ 1.50063853e-02 -1.36506494e-04 9.99887389e-01 4.18589914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.95232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.84, Y:-120.61, Z:4.19 [[ 7.48222572e-01 6.63347343e-01 -1.15448795e-02 3.37839018e+02] [-6.63265713e-01 7.48311623e-01 1.04071461e-02 -1.20608718e+02] [ 1.55427202e-02 -1.29538850e-04 9.99879196e-01 4.18813432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.88, Y:-120.64, Z:4.19 [[ 7.45670195e-01 6.66222530e-01 -1.11131059e-02 3.37876886e+02] [-6.66146894e-01 7.45752998e-01 1.00389826e-02 -1.20640277e+02] [ 1.49758284e-02 -8.28091370e-05 9.99887853e-01 4.18913072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.01232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.91, Y:-120.67, Z:4.19 [[ 7.44409780e-01 6.67640016e-01 -1.05303282e-02 3.37911608e+02] [-6.67571471e-01 7.44484251e-01 9.56715052e-03 -1.20669393e+02] [ 1.42270760e-02 -9.21337356e-05 9.99898786e-01 4.18942328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.95, Y:-120.70, Z:4.19 [[ 7.42312793e-01 6.69972369e-01 -1.04279491e-02 3.37946100e+02] [-6.69904921e-01 7.42386031e-01 9.50672215e-03 -1.20699229e+02] [ 1.41108049e-02 -7.12270274e-05 9.99900435e-01 4.19023410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.07232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:337.98, Y:-120.73, Z:4.19 [[ 7.41409366e-01 6.70975110e-01 -1.02251550e-02 3.37981298e+02] [-6.70909887e-01 7.41479869e-01 9.35560636e-03 -1.20728464e+02] [ 1.38591256e-02 -7.61766036e-05 9.99903955e-01 4.19169524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.05, Y:-120.78, Z:4.19 [[ 7.34631481e-01 6.78390132e-01 -1.01693569e-02 3.38052530e+02] [-6.78328159e-01 7.34701847e-01 9.17093143e-03 -1.20781935e+02] [ 1.36929147e-02 1.60906174e-04 9.99906235e-01 4.19443537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.13232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.09, Y:-120.81, Z:4.20 [[ 7.32591154e-01 6.80586691e-01 -1.05809447e-02 3.38086031e+02] [-6.80514585e-01 7.32667559e-01 9.90690600e-03 -1.20812595e+02] [ 1.44948233e-02 -5.72245310e-05 9.99894943e-01 4.19621149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.12, Y:-120.84, Z:4.20 [[ 7.30333996e-01 6.82989786e-01 -1.17135356e-02 3.38120107e+02] [-6.82900937e-01 7.30427923e-01 1.10163549e-02 -1.20843697e+02] [ 1.60799513e-02 -4.64341054e-05 9.99870708e-01 4.19936290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.15, Y:-120.87, Z:4.20 [[ 7.28284949e-01 6.85183135e-01 -1.11850450e-02 3.38154697e+02] [-6.85101803e-01 7.28370833e-01 1.05569131e-02 -1.20874141e+02] [ 1.53802794e-02 -2.55464524e-05 9.99881716e-01 4.19954980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.19, Y:-120.90, Z:4.20 [[ 7.27005930e-01 6.86549818e-01 -1.05700271e-02 3.38190242e+02] [-6.86476861e-01 7.27082765e-01 1.00085675e-02 -1.20903925e+02] [ 1.45566647e-02 -2.02088685e-05 9.99894046e-01 4.19984709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.23, Y:-120.94, Z:4.20 [[ 7.24709554e-01 6.88978607e-01 -1.02245911e-02 3.38226605e+02] [-6.88910222e-01 7.24781677e-01 9.70702132e-03 -1.20936066e+02] [ 1.40985263e-02 9.05422162e-06 9.99900611e-01 4.20133647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.26, Y:-120.97, Z:4.20 [[ 7.23198524e-01 6.90564893e-01 -1.01991586e-02 3.38260879e+02] [-6.90496292e-01 7.23270439e-01 9.73359386e-03 -1.20966471e+02] [ 1.40984281e-02 3.16045933e-06 9.99900612e-01 4.20277362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.29, Y:-121.00, Z:4.21 [[ 7.20924837e-01 6.92926472e-01 -1.09674428e-02 3.38294793e+02] [-6.92846631e-01 7.21008256e-01 1.05186182e-02 -1.20998423e+02] [ 1.51962458e-02 1.56226730e-05 9.99884530e-01 4.20677996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.33, Y:-121.03, Z:4.21 [[ 7.19182060e-01 6.94732813e-01 -1.11123540e-02 3.38331036e+02] [-6.94650344e-01 7.19267905e-01 1.07042530e-02 -1.21030815e+02] [ 1.54293554e-02 2.08938414e-05 9.99880960e-01 4.20895740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.37, Y:-121.06, Z:4.21 [[ 7.18542270e-01 6.95402974e-01 -1.05693161e-02 3.38366023e+02] [-6.95327650e-01 7.18619999e-01 1.02350414e-02 -1.21061052e+02] [ 1.47128002e-02 -5.17213712e-06 9.99891761e-01 4.21065330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.40, Y:-121.09, Z:4.21 [[ 7.16565683e-01 6.97435931e-01 -1.08048316e-02 3.38402860e+02] [-6.97356955e-01 7.16647139e-01 1.04954894e-02 -1.21093631e+02] [ 1.50631831e-02 1.41168931e-05 9.99886544e-01 4.21174288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.44, Y:-121.12, Z:4.21 [[ 7.14138092e-01 6.99916674e-01 -1.11101252e-02 3.38437570e+02] [-6.99832519e-01 7.14224509e-01 1.08534310e-02 -1.21124322e+02] [ 1.55316211e-02 2.43783933e-05 9.99879377e-01 4.21331223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.47, Y:-121.16, Z:4.21 [[ 7.12241914e-01 7.01856984e-01 -1.04033908e-02 3.38472743e+02] [-7.01782747e-01 7.12317888e-01 1.02079516e-02 -1.21155330e+02] [ 1.45750434e-02 3.03892212e-05 9.99893778e-01 4.21382123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.51, Y:-121.19, Z:4.22 [[ 7.10827690e-01 7.03293608e-01 -1.01042589e-02 3.38507616e+02] [-7.03223211e-01 7.10899500e-01 9.95067414e-03 -1.21186203e+02] [ 1.41813581e-02 3.23346927e-05 9.99899439e-01 4.21545731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.54, Y:-121.22, Z:4.22 [[ 7.09548753e-01 7.04577956e-01 -1.05105407e-02 3.38542551e+02] [-7.04501341e-01 7.09626594e-01 1.03902688e-02 -1.21216562e+02] [ 1.47793136e-02 3.22877046e-05 9.99890779e-01 4.21767847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.58, Y:-121.25, Z:4.22 [[ 7.08779079e-01 7.05346919e-01 -1.08600292e-02 3.38577767e+02] [-7.05264438e-01 7.08862274e-01 1.07865104e-02 -1.21247261e+02] [ 1.53064969e-02 1.39395485e-05 9.99882849e-01 4.21950868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.76, Y:-120.02, Z:6.08 [[ 7.59619450e-01 -6.49608533e-01 3.14172688e-02 3.39756252e+02] [-6.48923242e-01 -7.60265261e-01 -2.99225455e-02 -1.20019327e+02] [ 4.33233989e-02 2.34235164e-03 -9.99058355e-01 6.07700842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.71, Y:-121.38, Z:4.22 [[ 7.63482523e-01 6.45679660e-01 -1.38641105e-02 3.38714959e+02] [-6.45572289e-01 7.63608392e-01 1.17747303e-02 -1.21380320e+02] [ 1.81894550e-02 -3.95152299e-05 9.99834557e-01 4.22423344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.75, Y:-121.41, Z:4.23 [[ 7.62352817e-01 6.47007730e-01 -1.41130697e-02 3.38749500e+02] [-6.46896890e-01 7.62483440e-01 1.19756532e-02 -1.21407082e+02] [ 1.85093221e-02 2.79494010e-08 9.99828688e-01 4.22576947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.79, Y:-121.43, Z:4.23 [[ 7.61975333e-01 6.47447485e-01 -1.43298810e-02 3.38785536e+02] [-6.47332442e-01 7.62110067e-01 1.22047654e-02 -1.21432628e+02] [ 1.88228912e-02 -2.35333449e-05 9.99822833e-01 4.22775612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70232058799996 meters Centerline goodness [0,1] 0.9999530780780781 Centerline is valid? [True, True] Translation: X:338.82, Y:-121.46, Z:4.23 [[ 7.61631362e-01 6.47875214e-01 -1.32429775e-02 3.38821485e+02] [-6.47776412e-01 7.61746484e-01 1.13143204e-02 -1.21459194e+02] [ 1.74180593e-02 -3.88527571e-05 9.99848293e-01 4.22778531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.73232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.87, Y:-121.49, Z:4.23 [[ 7.60210721e-01 6.49534100e-01 -1.36055915e-02 3.38866619e+02] [-6.49429818e-01 7.60332462e-01 1.16386607e-02 -1.21493627e+02] [ 1.79044798e-02 -1.19578208e-05 9.99839702e-01 4.23114886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.90, Y:-121.52, Z:4.23 [[ 7.59638211e-01 6.50191258e-01 -1.41815639e-02 3.38900483e+02] [-6.50075802e-01 7.59770571e-01 1.22527928e-02 -1.21521153e+02] [ 1.87413937e-02 -8.85980563e-05 9.99824361e-01 4.23382312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.79232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.93, Y:-121.55, Z:4.24 [[ 7.58767744e-01 6.51210578e-01 -1.40104967e-02 3.38934836e+02] [-6.51097278e-01 7.58897078e-01 1.21474105e-02 -1.21548340e+02] [ 1.85430472e-02 -9.48669627e-05 9.99828058e-01 4.23528184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:338.97, Y:-121.57, Z:4.24 [[ 7.58677756e-01 6.51315347e-01 -1.40136478e-02 3.38971572e+02] [-6.51201216e-01 7.58807158e-01 1.21931572e-02 -1.21573445e+02] [ 1.85752466e-02 -1.24972650e-04 9.99827457e-01 4.23522190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.85232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.01, Y:-121.60, Z:4.24 [[ 7.57609999e-01 6.52569793e-01 -1.34072476e-02 3.39007550e+02] [-6.52464880e-01 7.57728613e-01 1.17016738e-02 -1.21601664e+02] [ 1.77952140e-02 -1.17546847e-04 9.99841646e-01 4.23686327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.04, Y:-121.63, Z:4.24 [[ 7.56625075e-01 6.53729766e-01 -1.24855490e-02 3.39041778e+02] [-6.53638293e-01 7.56728076e-01 1.09362184e-02 -1.21629626e+02] [ 1.65974970e-02 -1.13584077e-04 9.99862246e-01 4.23841885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.91232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.08, Y:-121.66, Z:4.24 [[ 7.55992829e-01 6.54457150e-01 -1.26759826e-02 3.39076575e+02] [-6.54362288e-01 7.56099082e-01 1.11433646e-02 -1.21657310e+02] [ 1.68771535e-02 -1.29618754e-04 9.99857562e-01 4.23990711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.942320588 meters Centerline goodness [0,1] 0.9999522809696507 Centerline is valid? [True, True] Translation: X:339.13, Y:-121.69, Z:4.24 [[ 7.54123874e-01 6.56611477e-01 -1.25916745e-02 3.39125361e+02] [-6.56518223e-01 7.54228985e-01 1.10662227e-02 -1.21692764e+02] [ 1.67632147e-02 -7.86389360e-05 9.99859484e-01 4.24174653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.97232058799995 meters Centerline goodness [0,1] 0.9999524872903501 Centerline is valid? [True, True] Translation: X:339.17, Y:-121.73, Z:4.24 [[ 7.51880007e-01 6.59177833e-01 -1.26901651e-02 3.39167148e+02] [-6.59081642e-01 7.51987084e-01 1.12612030e-02 -1.21726175e+02] [ 1.69659756e-02 -1.03218578e-04 9.99856062e-01 4.24367406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.20, Y:-121.75, Z:4.24 [[ 7.50608750e-01 6.60624838e-01 -1.27015189e-02 3.39201728e+02] [-6.60526948e-01 7.50716193e-01 1.13731572e-02 -1.21754322e+02] [ 1.70486260e-02 -1.47095782e-04 9.99854651e-01 4.24490254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.24, Y:-121.78, Z:4.25 [[ 7.49012100e-01 6.62451928e-01 -1.17608354e-02 3.39238810e+02] [-6.62367773e-01 7.49104418e-01 1.05595269e-02 -1.21782378e+02] [ 1.58052727e-02 -1.19215080e-04 9.99875082e-01 4.24510017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.27, Y:-121.81, Z:4.25 [[ 7.47987627e-01 6.63598219e-01 -1.23253230e-02 3.39273187e+02] [-6.63505117e-01 7.48089156e-01 1.11164127e-02 -1.21809818e+02] [ 1.65972722e-02 -1.37024277e-04 9.99862246e-01 4.24688412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.09232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.31, Y:-121.84, Z:4.25 [[ 7.46379285e-01 6.65391999e-01 -1.30939137e-02 3.39306819e+02] [-6.65286380e-01 7.46494118e-01 1.18559880e-02 -1.21837980e+02] [ 1.76634091e-02 -1.37861440e-04 9.99843980e-01 4.24808131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.34, Y:-121.87, Z:4.25 [[ 7.45582987e-01 6.66278450e-01 -1.33804476e-02 3.39344563e+02] [-6.66167687e-01 7.45703028e-01 1.21493696e-02 -1.21869164e+02] [ 1.80727034e-02 -1.44741463e-04 9.99836665e-01 4.25044595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.15232058799995 meters Centerline goodness [0,1] 0.9999530141427431 Centerline is valid? [True, True] Translation: X:339.38, Y:-121.90, Z:4.25 [[ 7.44667801e-01 6.67317765e-01 -1.25246128e-02 3.39378709e+02] [-6.67219859e-01 7.44773104e-01 1.14316785e-02 -1.21897037e+02] [ 1.69565569e-02 -1.56132533e-04 9.99856215e-01 4.25298433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.41, Y:-121.92, Z:4.26 [[ 7.44111584e-01 6.67934550e-01 -1.27038351e-02 3.39414429e+02] [-6.67833268e-01 7.44219999e-01 1.16326968e-02 -1.21924918e+02] [ 1.72243283e-02 -1.71980702e-04 9.99851635e-01 4.25542836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.21232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.45, Y:-121.95, Z:4.26 [[ 7.42539396e-01 6.69697833e-01 -1.18346458e-02 3.39451132e+02] [-6.69609643e-01 7.42633686e-01 1.08689657e-02 -1.21954711e+02] [ 1.60677294e-02 -1.46042278e-04 9.99870895e-01 4.25537726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.49, Y:-121.98, Z:4.26 [[ 7.42314146e-01 6.69955992e-01 -1.13436278e-02 3.39485883e+02] [-6.69874183e-01 7.42400794e-01 1.04709209e-02 -1.21982820e+02] [ 1.54365745e-02 -1.73909344e-04 9.99880834e-01 4.25502396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.27232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.52, Y:-122.01, Z:4.26 [[ 7.41999856e-01 6.70308163e-01 -1.10986495e-02 3.39520921e+02] [-6.70229353e-01 7.42082833e-01 1.02802470e-02 -1.22011319e+02] [ 1.51270507e-02 -1.89301095e-04 9.99885562e-01 4.25545250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.55, Y:-122.04, Z:4.26 [[ 7.40939407e-01 6.71482498e-01 -1.09567026e-02 3.39554616e+02] [-6.71405291e-01 7.41020390e-01 1.01841760e-02 -1.22040891e+02] [ 1.49576360e-02 -1.89469203e-04 9.99888110e-01 4.25780441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.33232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.59, Y:-122.07, Z:4.26 [[ 7.40058043e-01 6.72453614e-01 -1.09649793e-02 3.39589060e+02] [-6.72375844e-01 7.40139243e-01 1.02286618e-02 -1.22070377e+02] [ 1.49939120e-02 -1.97216251e-04 9.99887566e-01 4.26015984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.62, Y:-122.10, Z:4.26 [[ 7.39794014e-01 6.72732162e-01 -1.16728366e-02 3.39624070e+02] [-6.72643346e-01 7.39886060e-01 1.09337563e-02 -1.22099383e+02] [ 1.59920586e-02 -2.37071626e-04 9.99872091e-01 4.26265909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.39232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.66, Y:-122.13, Z:4.26 [[ 7.38591459e-01 6.74044989e-01 -1.20834102e-02 3.39658237e+02] [-6.73949275e-01 7.38690254e-01 1.13614981e-02 -1.22128920e+02] [ 1.65840582e-02 -2.47899943e-04 9.99862444e-01 4.26337643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.422320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.69, Y:-122.16, Z:4.26 [[ 7.37376465e-01 6.75393484e-01 -1.09357387e-02 3.39692619e+02] [-6.75314788e-01 7.37457520e-01 1.03122831e-02 -1.22158672e+02] [ 1.50294916e-02 -2.18968805e-04 9.99887027e-01 4.26391283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.45232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.73, Y:-122.19, Z:4.27 [[ 7.35437963e-01 6.77523408e-01 -9.64544940e-03 3.39730090e+02] [-6.77462242e-01 7.35501193e-01 9.10521971e-03 -1.22191026e+02] [ 1.32632390e-02 -1.61896457e-04 9.99912026e-01 4.26553035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.77, Y:-122.22, Z:4.27 [[ 7.33506243e-01 6.79595933e-01 -1.08609530e-02 3.39765400e+02] [-6.79517484e-01 7.33586621e-01 1.03275789e-02 -1.22219706e+02] [ 1.49860304e-02 -1.95136155e-04 9.99887684e-01 4.26714252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.51232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.80, Y:-122.25, Z:4.27 [[ 7.31077837e-01 6.82171143e-01 -1.29509588e-02 3.39799141e+02] [-6.82058945e-01 7.31192510e-01 1.23737306e-02 -1.22248721e+02] [ 1.79106460e-02 -2.12842908e-04 9.99839569e-01 4.26880002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54232058799994 meters Centerline goodness [0,1] 0.9999526895964422 Centerline is valid? [True, True] Translation: X:339.83, Y:-122.28, Z:4.27 [[ 7.29282914e-01 6.84080490e-01 -1.34281541e-02 3.39833141e+02] [-6.83959302e-01 7.29406499e-01 1.28775914e-02 -1.22278193e+02] [ 1.86038919e-02 -2.07096484e-04 9.99826911e-01 4.27014718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.57232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.89, Y:-122.33, Z:4.27 [[ 7.24147652e-01 6.89552912e-01 -1.12676771e-02 3.39893871e+02] [-6.89469427e-01 7.24235308e-01 1.07297557e-02 -1.22326929e+02] [ 1.55591838e-02 -1.20853335e-06 9.99878949e-01 4.27222998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.93, Y:-122.36, Z:4.27 [[ 7.22028982e-01 6.91795377e-01 -9.65951427e-03 3.39929978e+02] [-6.91731592e-01 7.22093585e-01 9.39458645e-03 -1.22358909e+02] [ 1.34742048e-02 -1.01372505e-04 9.99909214e-01 4.27363272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.63232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:339.97, Y:-122.39, Z:4.28 [[ 7.20027105e-01 6.93870556e-01 -1.02283239e-02 3.39965627e+02] [-6.93798376e-01 7.20099742e-01 1.00087364e-02 -1.22387818e+02] [ 1.43101809e-02 -1.10167004e-04 9.99897598e-01 4.27616480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.00, Y:-122.42, Z:4.28 [[ 7.19122940e-01 6.94805345e-01 -1.03792623e-02 3.40000420e+02] [-6.94730541e-01 7.19197829e-01 1.01959452e-02 -1.22417465e+02] [ 1.45489401e-02 -1.21347600e-04 9.99894151e-01 4.27698981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.04, Y:-122.45, Z:4.28 [[ 7.18225394e-01 6.95726836e-01 -1.07913329e-02 3.40035459e+02] [-6.95645433e-01 7.18306446e-01 1.06433349e-02 -1.22447718e+02] [ 1.51563377e-02 -1.37371918e-04 9.99885127e-01 4.27828192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.07, Y:-122.48, Z:4.28 [[ 7.15622569e-01 6.98425990e-01 -9.24527345e-03 3.40069933e+02] [-6.98366171e-01 7.15682283e-01 9.14117682e-03 -1.22477585e+02] [ 1.30011139e-02 -8.50462156e-05 9.99915478e-01 4.27805542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.10, Y:-122.51, Z:4.28 [[ 7.14404486e-01 6.99672317e-01 -9.21299292e-03 3.40103949e+02] [-6.99612571e-01 7.14463884e-01 9.14382249e-03 -1.22508036e+02] [ 1.29800302e-02 -8.68621418e-05 9.99915752e-01 4.28172402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.22, Y:-121.35, Z:6.13 [[ 7.54054081e-01 -6.55958822e-01 3.34733659e-02 3.41216013e+02] [-6.55197979e-01 -7.54794212e-01 -3.16434355e-02 -1.21349843e+02] [ 4.60222935e-02 1.92918004e-03 -9.98938550e-01 6.13245250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.24, Y:-122.64, Z:4.29 [[ 7.69459921e-01 6.38581195e-01 -1.20618543e-02 3.40237673e+02] [-6.38499071e-01 7.69554433e-01 1.02426114e-02 -1.22636487e+02] [ 1.58229924e-02 -1.79796185e-04 9.99874792e-01 4.28636633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.27, Y:-122.66, Z:4.29 [[ 7.69513599e-01 6.38505753e-01 -1.26183900e-02 3.40271919e+02] [-6.38415978e-01 7.69617028e-01 1.07083997e-02 -1.22660504e+02] [ 1.65487026e-02 -1.84477376e-04 9.99863044e-01 4.28630585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.31, Y:-122.69, Z:4.29 [[ 7.69285317e-01 6.38792294e-01 -1.20210741e-02 3.40305728e+02] [-6.38710476e-01 7.69379211e-01 1.02253814e-02 -1.22687068e+02] [ 1.57806593e-02 -1.88249829e-04 9.99875460e-01 4.28718560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.35, Y:-122.72, Z:4.29 [[ 7.68029099e-01 6.40317796e-01 -1.11545149e-02 3.40347767e+02] [-6.40247647e-01 7.68110084e-01 9.47889938e-03 -1.22719807e+02] [ 1.46374033e-02 -1.38418628e-04 9.99892858e-01 4.28907852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.38, Y:-122.75, Z:4.29 [[ 7.67639677e-01 6.40771276e-01 -1.18953104e-02 3.40381428e+02] [-6.40690004e-01 7.67731806e-01 1.02074791e-02 -1.22746769e+02] [ 1.56730675e-02 -2.14459541e-04 9.99877147e-01 4.29047733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.41, Y:-122.77, Z:4.29 [[ 7.66670942e-01 6.41911453e-01 -1.28589459e-02 3.40414658e+02] [-6.41816049e-01 7.66778737e-01 1.10692154e-02 -1.22773708e+02] [ 1.69654225e-02 -2.33367984e-04 9.99856050e-01 4.29196738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.45, Y:-122.80, Z:4.29 [[ 7.66100483e-01 6.42601608e-01 -1.23783595e-02 3.40447960e+02] [-6.42512839e-01 7.66200444e-01 1.06832338e-02 -1.22800631e+02] [ 1.63493678e-02 -2.31175703e-04 9.99866313e-01 4.29282760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.48, Y:-122.83, Z:4.29 [[ 7.65769139e-01 6.43020725e-01 -1.10441599e-02 3.40480753e+02] [-6.42949834e-01 7.65848747e-01 9.55031870e-03 -1.22827323e+02] [ 1.45992089e-02 -2.12498557e-04 9.99893403e-01 4.29424283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.51, Y:-122.86, Z:4.29 [[ 7.64572504e-01 6.44448275e-01 -1.07381342e-02 3.40513462e+02] [-6.44381002e-01 7.64647880e-01 9.31363026e-03 -1.22855084e+02] [ 1.42130445e-02 -2.01495936e-04 9.99898969e-01 4.29475533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.55, Y:-122.88, Z:4.30 [[ 7.63278200e-01 6.45966006e-01 -1.15891561e-02 3.40546154e+02] [-6.45887403e-01 7.63366148e-01 1.00789889e-02 -1.22882587e+02] [ 1.53574537e-02 -2.07782608e-04 9.99882046e-01 4.29821363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.58, Y:-122.91, Z:4.30 [[ 7.62055269e-01 6.47416351e-01 -1.11280886e-02 3.40579587e+02] [-6.47343617e-01 7.62136491e-01 9.70619693e-03 -1.22909974e+02] [ 1.47650730e-02 -1.92961413e-04 9.99890972e-01 4.29854037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.61, Y:-122.94, Z:4.30 [[ 7.60210088e-01 6.49584366e-01 -1.09897536e-02 3.40611736e+02] [-6.49513178e-01 7.60289499e-01 9.61820570e-03 -1.22937279e+02] [ 1.46032303e-02 -1.73867245e-04 9.99893352e-01 4.29989589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.65, Y:-122.97, Z:4.30 [[ 7.59091176e-01 6.50891794e-01 -1.09753756e-02 3.40645458e+02] [-6.50820507e-01 7.59170497e-01 9.63455953e-03 -1.22965185e+02] [ 1.46032371e-02 -1.70509583e-04 9.99893353e-01 4.30123971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.68, Y:-122.99, Z:4.30 [[ 7.57569871e-01 6.52655814e-01 -1.13260108e-02 3.40679525e+02] [-6.52579541e-01 7.57654512e-01 9.97914133e-03 -1.22993854e+02] [ 1.50941478e-02 -1.68773853e-04 9.99886063e-01 4.30366764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.23232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.71, Y:-123.02, Z:4.31 [[ 7.56285088e-01 6.54144688e-01 -1.12957149e-02 3.40712578e+02] [-6.54068453e-01 7.56369420e-01 9.98795592e-03 -1.23021817e+02] [ 1.50773016e-02 -1.65571367e-04 9.99886317e-01 4.30500839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.75, Y:-123.05, Z:4.31 [[ 7.54735503e-01 6.55938082e-01 -1.09340688e-02 3.40745543e+02] [-6.55866389e-01 7.54814687e-01 9.69889287e-03 -1.23049649e+02] [ 1.46150689e-02 -1.48810544e-04 9.99893183e-01 4.30711051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.29232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.78, Y:-123.08, Z:4.31 [[ 7.54241092e-01 6.56521181e-01 -1.00157174e-02 3.40779474e+02] [-6.56460748e-01 7.54307575e-01 8.90889490e-03 -1.23076317e+02] [ 1.34038097e-02 -1.44529254e-04 9.99910154e-01 4.30588508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32232058799997 meters Centerline goodness [0,1] 0.9999526985478454 Centerline is valid? [True, True] Translation: X:340.81, Y:-123.11, Z:4.31 [[ 7.52899004e-01 6.58040856e-01 -1.11946909e-02 3.40812145e+02] [-6.57964899e-01 7.52982208e-01 9.99932524e-03 -1.23105586e+02] [ 1.50093676e-02 -1.62768331e-04 9.99887340e-01 4.30745644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.35232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.85, Y:-123.13, Z:4.31 [[ 7.51419400e-01 6.59713994e-01 -1.20967547e-02 3.40845028e+02] [-6.59624843e-01 7.51516744e-01 1.08466787e-02 -1.23134105e+02] [ 1.62466194e-02 -1.71084867e-04 9.99868000e-01 4.30988747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.88, Y:-123.16, Z:4.31 [[ 7.49694145e-01 6.61676366e-01 -1.19614609e-02 3.40877748e+02] [-6.61588873e-01 7.49789546e-01 1.07610639e-02 -1.23162391e+02] [ 1.60889200e-02 -1.53937142e-04 9.99870553e-01 4.31138485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.41232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.91, Y:-123.19, Z:4.31 [[ 7.46970678e-01 6.64770374e-01 -1.07311053e-02 3.40914610e+02] [-6.64700101e-01 7.47047751e-01 9.66610139e-03 -1.23194123e+02] [ 1.44423859e-02 -8.73275134e-05 9.99895699e-01 4.31234921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.95, Y:-123.22, Z:4.31 [[ 7.45850290e-01 6.66043787e-01 -9.64456031e-03 3.40947855e+02] [-6.65986542e-01 7.45912639e-01 8.73277012e-03 -1.23222805e+02] [ 1.30104067e-02 -9.01917692e-05 9.99915357e-01 4.31308286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.47232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:340.98, Y:-123.25, Z:4.32 [[ 7.43484154e-01 6.68669397e-01 -1.06090054e-02 3.40979325e+02] [-6.68599814e-01 7.43559837e-01 9.64665481e-03 -1.23253192e+02] [ 1.43388532e-02 -7.89559817e-05 9.99897190e-01 4.31587886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.01, Y:-123.28, Z:4.32 [[ 7.41292839e-01 6.71103222e-01 -1.02660795e-02 3.41014599e+02] [-6.71038001e-01 7.41363921e-01 9.35622687e-03 -1.23283409e+02] [ 1.38898949e-02 -4.67745283e-05 9.99903530e-01 4.31676398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.53232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.05, Y:-123.31, Z:4.32 [[ 7.38548140e-01 6.74133952e-01 -9.48995873e-03 3.41049237e+02] [-6.74077958e-01 7.38609108e-01 8.68865167e-03 -1.23312228e+02] [ 1.28666850e-02 -2.00155310e-05 9.99917221e-01 4.31717045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.14, Y:-123.38, Z:4.32 [[ 7.28043621e-01 6.85472815e-01 -8.91664077e-03 3.41139754e+02] [-6.85427547e-01 7.28098128e-01 7.88637565e-03 -1.23378500e+02] [ 1.18980856e-02 3.70085726e-04 9.99929147e-01 4.32026861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.59232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.17, Y:-123.41, Z:4.32 [[ 7.26475835e-01 6.87137296e-01 -8.67165204e-03 3.41172645e+02] [-6.87088467e-01 7.26527588e-01 8.19161765e-03 -1.23409056e+02] [ 1.19289604e-02 7.17983021e-06 9.99928847e-01 4.32333245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.21, Y:-123.44, Z:4.33 [[ 7.23184174e-01 6.90574533e-01 -1.05576586e-02 3.41206921e+02] [-6.90501751e-01 7.23261234e-01 1.00259140e-02 -1.23439611e+02] [ 1.45595861e-02 3.94994141e-05 9.99894003e-01 4.32508270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.65232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.24, Y:-123.47, Z:4.33 [[ 7.21530511e-01 6.92297333e-01 -1.08685020e-02 3.41241510e+02] [-6.92219741e-01 7.21612361e-01 1.03648161e-02 -1.23469620e+02] [ 1.50183800e-02 4.48606277e-05 9.99887217e-01 4.32604737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.28, Y:-123.50, Z:4.33 [[ 7.19548077e-01 6.94372417e-01 -9.87481846e-03 3.41275707e+02] [-6.94308164e-01 7.19615830e-01 9.44616760e-03 -1.23499557e+02] [ 1.36652339e-02 5.91953400e-05 9.99906625e-01 4.32766321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.71232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.32, Y:-123.54, Z:4.33 [[ 7.16220971e-01 6.97789268e-01 -1.08470481e-02 3.41321693e+02] [-6.97712141e-01 7.16303092e-01 1.03754142e-02 -1.23538935e+02] [ 1.50096267e-02 1.37027912e-04 9.99887340e-01 4.33091061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.36, Y:-123.57, Z:4.33 [[ 7.14410526e-01 6.99635933e-01 -1.12766245e-02 3.41356510e+02] [-6.99550548e-01 7.14499514e-01 1.09304773e-02 -1.23570347e+02] [ 1.57044975e-02 7.97208124e-05 9.99876674e-01 4.33255271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.77232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.39, Y:-123.60, Z:4.33 [[ 7.12205762e-01 7.01886149e-01 -1.08989184e-02 3.41391380e+02] [-7.01806036e-01 7.12289144e-01 1.06048633e-02 -1.23600676e+02] [ 1.52065880e-02 9.60819639e-05 9.99884369e-01 4.33289814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.43, Y:-123.63, Z:4.34 [[ 7.10898013e-01 7.03215097e-01 -1.06086254e-02 3.41425780e+02] [-7.03138811e-01 7.10977158e-01 1.03582739e-02 -1.23631441e+02] [ 1.48265849e-02 9.56599272e-05 9.99890076e-01 4.33537521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.83232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.46, Y:-123.66, Z:4.34 [[ 7.09552418e-01 7.04587549e-01 -9.57871603e-03 3.41461241e+02] [-7.04525107e-01 7.09617064e-01 9.38063533e-03 -1.23659908e+02] [ 1.34066992e-02 9.23934587e-05 9.99910122e-01 4.33609345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.50, Y:-123.69, Z:4.34 [[ 7.08283217e-01 7.05867557e-01 -9.26695341e-03 3.41497563e+02] [-7.05808882e-01 7.08343831e-01 9.10154365e-03 -1.23691362e+02] [ 1.29886737e-02 9.42274138e-05 9.99915639e-01 4.33718030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.89232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.55, Y:-123.73, Z:4.34 [[ 7.05111291e-01 7.09008736e-01 -1.11660374e-02 3.41546506e+02] [-7.08923571e-01 7.05199677e-01 1.09902803e-02 -1.23732737e+02] [ 1.56664907e-02 1.66496349e-04 9.99877259e-01 4.34041615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.922320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.64, Y:-122.59, Z:6.19 [[ 7.61780752e-01 -6.47049931e-01 3.18821617e-02 3.42643080e+02] [-6.46344383e-01 -7.62443586e-01 -3.03103309e-02 -1.22587610e+02] [ 4.39206472e-02 2.48297052e-03 -9.99031937e-01 6.18681331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.95232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.68, Y:-123.86, Z:4.34 [[ 7.59556382e-01 6.50332669e-01 -1.18963401e-02 3.41678096e+02] [-6.50254097e-01 7.59649536e-01 1.01089955e-02 -1.23857239e+02] [ 1.56112592e-02 5.72918175e-05 9.99878135e-01 4.34355271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.71, Y:-123.88, Z:4.34 [[ 7.58459752e-01 6.51639096e-01 -1.02612036e-02 3.41713012e+02] [-6.51581062e-01 7.58529156e-01 8.69710337e-03 -1.23883254e+02] [ 1.34507947e-02 8.96031034e-05 9.99909530e-01 4.34353184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.01232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.75, Y:-123.91, Z:4.35 [[ 7.58035993e-01 6.52125369e-01 -1.06740582e-02 3.41746234e+02] [-6.52062141e-01 7.58111137e-01 9.08117328e-03 -1.23910471e+02] [ 1.40141859e-02 7.62930345e-05 9.99901794e-01 4.34695673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.78, Y:-123.94, Z:4.35 [[ 7.57079758e-01 6.53226301e-01 -1.12088851e-02 3.41780436e+02] [-6.53156161e-01 7.57162726e-01 9.57266171e-03 -1.23937255e+02] [ 1.47400644e-02 7.38839711e-05 9.99891357e-01 4.34944085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.07232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.82, Y:-123.96, Z:4.35 [[ 7.56038087e-01 6.54409451e-01 -1.24371390e-02 3.41816292e+02] [-6.54322533e-01 7.56140374e-01 1.06657244e-02 -1.23961611e+02] [ 1.63839738e-02 7.42064714e-05 9.99865771e-01 4.35040560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.85, Y:-123.99, Z:4.35 [[ 7.55389010e-01 6.55163293e-01 -1.21861750e-02 3.41851268e+02] [-6.55079376e-01 7.55487297e-01 1.04859411e-02 -1.23986853e+02] [ 1.60765041e-02 6.19472526e-05 9.99870763e-01 4.35089968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.13232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.89, Y:-124.01, Z:4.35 [[ 7.54538278e-01 6.56174859e-01 -1.03219411e-02 3.41886168e+02] [-6.56114477e-01 7.54608873e-01 8.90176740e-03 -1.24012737e+02] [ 1.36301443e-02 5.56507314e-05 9.99907104e-01 4.35177955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.92, Y:-124.04, Z:4.35 [[ 7.53099868e-01 6.57822588e-01 -1.04895937e-02 3.41919475e+02] [-6.57759934e-01 7.53172914e-01 9.07915552e-03 -1.24039925e+02] [ 1.38729515e-02 6.21236546e-05 9.99903764e-01 4.35407333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.96, Y:-124.07, Z:4.36 [[ 7.51863146e-01 6.59214359e-01 -1.17574924e-02 3.41955013e+02] [-6.59135175e-01 7.51955068e-01 1.02174588e-02 -1.24068289e+02] [ 1.55766015e-02 6.76461076e-05 9.99878675e-01 4.35700911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:341.99, Y:-124.10, Z:4.36 [[ 7.50406043e-01 6.60875329e-01 -1.16004376e-02 3.41989281e+02] [-6.60797821e-01 7.50495699e-01 1.01215545e-02 -1.24095505e+02] [ 1.53951642e-02 7.02682077e-05 9.99881485e-01 4.35842529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.02, Y:-124.12, Z:4.36 [[ 7.49700748e-01 6.61675432e-01 -1.15935731e-02 3.42024670e+02] [-6.61597625e-01 7.49790383e-01 1.01471442e-02 -1.24121663e+02] [ 1.54068657e-02 6.29588242e-05 9.99881305e-01 4.35906027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.06, Y:-124.15, Z:4.36 [[ 7.48120249e-01 6.63471362e-01 -1.10383499e-02 3.42061166e+02] [-6.63400590e-01 7.48201675e-01 9.69072842e-03 -1.24147635e+02] [ 1.46884327e-02 7.30176803e-05 9.99892116e-01 4.35900402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.09, Y:-124.17, Z:4.36 [[ 7.46859498e-01 6.64902885e-01 -1.02490700e-02 3.42094868e+02] [-6.64841612e-01 7.46929815e-01 9.02677755e-03 -1.24174491e+02] [ 1.36572664e-02 7.22736761e-05 9.99906733e-01 4.35954365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.13, Y:-124.20, Z:4.36 [[ 7.45486629e-01 6.66431847e-01 -1.08755997e-02 3.42128581e+02] [-6.66362493e-01 7.45565951e-01 9.61462470e-03 -1.24202625e+02] [ 1.45159689e-02 7.95175525e-05 9.99894635e-01 4.36330491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.16, Y:-124.23, Z:4.37 [[ 7.43891852e-01 6.68205251e-01 -1.12540916e-02 3.42163289e+02] [-6.68130617e-01 7.43976972e-01 9.98720779e-03 -1.24230676e+02] [ 1.50462897e-02 8.98006876e-05 9.99886794e-01 4.36528150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.20, Y:-124.26, Z:4.37 [[ 7.43088000e-01 6.69090548e-01 -1.17499692e-02 3.42199074e+02] [-6.69008646e-01 7.43180887e-01 1.04690434e-02 -1.24256339e+02] [ 1.57370905e-02 8.14104932e-05 9.99876161e-01 4.36542220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.23, Y:-124.28, Z:4.37 [[ 7.42291558e-01 6.69967869e-01 -1.20953129e-02 3.42232929e+02] [-6.69880557e-01 7.42390092e-01 1.08161958e-02 -1.24283424e+02] [ 1.62259441e-02 7.36441179e-05 9.99868348e-01 4.36701837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.27, Y:-124.31, Z:4.37 [[ 7.40733660e-01 6.71683171e-01 -1.24644459e-02 3.42267028e+02] [-6.71590012e-01 7.40838519e-01 1.11868305e-02 -1.24310526e+02] [ 1.67481474e-02 8.45354734e-05 9.99859736e-01 4.36997363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.30, Y:-124.34, Z:4.37 [[ 7.39609323e-01 6.72939896e-01 -1.13993829e-02 3.42301341e+02] [-6.72861677e-01 7.39697161e-01 1.02603039e-02 -1.24337789e+02] [ 1.53366590e-02 8.15914361e-05 9.99882383e-01 4.37035934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.34, Y:-124.37, Z:4.37 [[ 7.37230327e-01 6.75533269e-01 -1.20933049e-02 3.42336344e+02] [-6.75444919e-01 7.37329499e-01 1.09257283e-02 -1.24365307e+02] [ 1.62974434e-02 1.13583127e-04 9.99867181e-01 4.37193855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.37, Y:-124.39, Z:4.37 [[ 7.35903950e-01 6.76980385e-01 -1.19555374e-02 3.42369860e+02] [-6.76893598e-01 7.36001049e-01 1.08403162e-02 -1.24393407e+02] [ 1.61379695e-02 1.15195196e-04 9.99869768e-01 4.37268794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.40, Y:-124.42, Z:4.37 [[ 7.34725382e-01 6.78257360e-01 -1.20651017e-02 3.42403654e+02] [-6.78168540e-01 7.34824428e-01 1.09768571e-02 -1.24421460e+02] [ 1.63108655e-02 1.17196893e-04 9.99866962e-01 4.37456094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.612320588 meters Centerline goodness [0,1] 0.9999523809523809 Centerline is valid? [True, True] Translation: X:342.44, Y:-124.45, Z:4.38 [[ 7.33248599e-01 6.79859073e-01 -1.17529733e-02 3.42438566e+02] [-6.79774420e-01 7.33342775e-01 1.07290493e-02 -1.24448193e+02] [ 1.59131996e-02 1.22310238e-04 9.99873370e-01 4.37557123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.47, Y:-124.48, Z:4.38 [[ 7.31819490e-01 6.81407646e-01 -1.11289644e-02 3.42472855e+02] [-6.81331427e-01 7.31904095e-01 1.01922483e-02 -1.24476393e+02] [ 1.50904105e-02 1.23627213e-04 9.99886126e-01 4.37703830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.672320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.51, Y:-124.50, Z:4.38 [[ 7.29856619e-01 6.83506796e-01 -1.13038002e-02 3.42507288e+02] [-6.83427822e-01 7.29944135e-01 1.03909866e-02 -1.24504224e+02] [ 1.53534527e-02 1.41401196e-04 9.99882119e-01 4.38048592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.54, Y:-124.53, Z:4.38 [[ 7.28811620e-01 6.84626308e-01 -1.09745330e-02 3.42541700e+02] [-6.84551490e-01 7.28894231e-01 1.01221232e-02 -1.24532382e+02] [ 1.49291456e-02 1.35511942e-04 9.99888545e-01 4.38180014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.73232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.60, Y:-124.58, Z:4.38 [[ 7.24880777e-01 6.88771158e-01 -1.19226978e-02 3.42598741e+02] [-6.88683916e-01 7.24978774e-01 1.09654471e-02 -1.24575914e+02] [ 1.61963866e-02 2.62328406e-04 9.99868796e-01 4.38404996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.63, Y:-124.60, Z:4.39 [[ 7.23741335e-01 6.89968749e-01 -1.18997936e-02 3.42632180e+02] [-6.89878627e-01 7.23839144e-01 1.11523458e-02 -1.24604288e+02] [ 1.63083065e-02 1.37999633e-04 9.99867001e-01 4.38585100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.79232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.67, Y:-124.63, Z:4.39 [[ 7.22457068e-01 6.91329918e-01 -1.08962943e-02 3.42667577e+02] [-6.91254097e-01 7.22539222e-01 1.02394314e-02 -1.24634092e+02] [ 1.49518253e-02 1.34558471e-04 9.99888206e-01 4.38683546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.70, Y:-124.66, Z:4.39 [[ 7.21360073e-01 6.92468560e-01 -1.12667242e-02 3.42703234e+02] [-6.92386929e-01 7.21448041e-01 1.06331720e-02 -1.24660834e+02] [ 1.54914935e-02 1.30586869e-04 9.99879991e-01 4.38808364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.85232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.74, Y:-124.69, Z:4.39 [[ 7.21321387e-01 6.92501115e-01 -1.17329475e-02 3.42738224e+02] [-6.92411901e-01 7.21416797e-01 1.11159709e-02 -1.24688662e+02] [ 1.61621677e-02 1.05844927e-04 9.99869378e-01 4.38865042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.77, Y:-124.72, Z:4.39 [[ 7.20191668e-01 6.93661804e-01 -1.25404331e-02 3.42772454e+02] [-6.93559283e-01 7.20300833e-01 1.19260563e-02 -1.24719508e+02] [ 1.73055341e-02 1.08487366e-04 9.99850242e-01 4.39116624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.91232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.81, Y:-124.75, Z:4.39 [[ 7.18790896e-01 6.95134207e-01 -1.13173374e-02 3.42805138e+02] [-6.95050332e-01 7.18879979e-01 1.07987457e-02 -1.24749128e+02] [ 1.56423848e-02 1.04079024e-04 9.99877645e-01 4.39214262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.84, Y:-124.78, Z:4.39 [[ 7.18344372e-01 6.95631525e-01 -8.83994893e-03 3.42839828e+02] [-6.95580218e-01 7.18398757e-01 8.44898509e-03 -1.24776945e+02] [ 1.22279887e-02 7.96127210e-05 9.99925232e-01 4.39225852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.97232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.88, Y:-124.81, Z:4.39 [[ 7.15874925e-01 6.98172662e-01 -8.83325666e-03 3.42876017e+02] [-6.98121384e-01 7.15929412e-01 8.46229232e-03 -1.24806339e+02] [ 1.22321294e-02 1.08742485e-04 9.99925179e-01 4.39341615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.91, Y:-124.84, Z:4.39 [[ 7.14290904e-01 6.99791906e-01 -8.93263583e-03 3.42908711e+02] [-6.99738983e-01 7.14346749e-01 8.60685121e-03 -1.24835879e+02] [ 1.24040042e-02 1.02717976e-04 9.99923062e-01 4.39453183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.03232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.94, Y:-124.87, Z:4.40 [[ 7.11775075e-01 7.02341708e-01 -9.61084053e-03 3.42940734e+02] [-7.02280157e-01 7.11839945e-01 9.29909583e-03 -1.24865784e+02] [ 1.33725230e-02 1.30637971e-04 9.99910575e-01 4.39669612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:342.97, Y:-124.90, Z:4.40 [[ 7.08916953e-01 7.05244055e-01 -8.22047068e-03 3.42974394e+02] [-7.05199031e-01 7.08964598e-01 7.97025640e-03 -1.24895092e+02] [ 1.14489986e-02 1.46818074e-04 9.99934447e-01 4.39673033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.09232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.01, Y:-124.93, Z:4.40 [[ 7.07317642e-01 7.06848160e-01 -8.21171458e-03 3.43009134e+02] [-7.06803140e-01 7.07365289e-01 7.97926967e-03 -1.24926551e+02] [ 1.14488140e-02 1.60187446e-04 9.99934447e-01 4.39816280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.06, Y:-124.97, Z:4.40 [[ 7.03667049e-01 7.10477333e-01 -8.63956861e-03 3.43055403e+02] [-7.10427815e-01 7.03720047e-01 8.39138557e-03 -1.24965436e+02] [ 1.20417269e-02 2.33048325e-04 9.99927469e-01 4.40104856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.15232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.09, Y:-124.99, Z:4.40 [[ 7.00324179e-01 7.13775817e-01 -8.37423534e-03 3.43090041e+02] [-7.13728104e-01 7.00374218e-01 8.25524018e-03 -1.24994864e+02] [ 1.17574893e-02 1.95582806e-04 9.99930859e-01 4.40217895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.12, Y:-125.02, Z:4.40 [[ 6.97558880e-01 7.16479812e-01 -8.26366671e-03 3.43123796e+02] [-7.16433194e-01 6.97607792e-01 8.17596939e-03 -1.25024814e+02] [ 1.16227153e-02 2.17145085e-04 9.99932430e-01 4.40317379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.21232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.18, Y:-125.07, Z:4.41 [[ 6.91866669e-01 7.21970989e-01 -8.85461122e-03 3.43180788e+02] [-7.21918762e-01 6.91923224e-01 8.69211763e-03 -1.25069983e+02] [ 1.24021679e-02 3.78523499e-04 9.99923019e-01 4.40645057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.20, Y:-124.02, Z:6.25 [[ 7.68521847e-01 -6.38926038e-01 3.38775517e-02 3.44203231e+02] [-6.38118250e-01 -7.69261569e-01 -3.22759522e-02 -1.24023205e+02] [ 4.66826449e-02 3.18689044e-03 -9.98904687e-01 6.24648300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.27232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.31, Y:-125.20, Z:4.41 [[ 7.47661245e-01 6.64012552e-01 -9.48649840e-03 3.43310954e+02] [-6.63962739e-01 7.47721395e-01 8.13616367e-03 -1.25196651e+02] [ 1.24957726e-02 2.15587198e-04 9.99921902e-01 4.41138191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.302320588 meters Centerline goodness [0,1] 0.9999519438704407 Centerline is valid? [True, True] Translation: X:343.35, Y:-125.22, Z:4.41 [[ 7.46996085e-01 6.64752982e-01 -1.00160936e-02 3.43346003e+02] [-6.64697677e-01 7.47063191e-01 8.57829281e-03 -1.25220006e+02] [ 1.31851006e-02 2.49723017e-04 9.99913042e-01 4.41296179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.33232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.38, Y:-125.24, Z:4.41 [[ 7.46342305e-01 6.65484730e-01 -1.01605952e-02 3.43380190e+02] [-6.65427557e-01 7.46411423e-01 8.72656983e-03 -1.25244942e+02] [ 1.33913833e-02 2.48131826e-04 9.99910301e-01 4.41381234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.362320588 meters Centerline goodness [0,1] 0.9999518721724902 Centerline is valid? [True, True] Translation: X:343.41, Y:-125.27, Z:4.41 [[ 7.45879205e-01 6.66016472e-01 -9.28818456e-03 3.43414947e+02] [-6.65968528e-01 7.45937001e-01 7.99436820e-03 -1.25268651e+02] [ 1.22527814e-02 2.22805600e-04 9.99924907e-01 4.41385715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.39232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.45, Y:-125.29, Z:4.42 [[ 7.45135045e-01 6.66846602e-01 -9.45382348e-03 3.43448491e+02] [-6.66796708e-01 7.45194981e-01 8.16028483e-03 -1.25294427e+02] [ 1.24866000e-02 2.23264181e-04 9.99922014e-01 4.41581739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.422320588 meters Centerline goodness [0,1] 0.9999517700395486 Centerline is valid? [True, True] Translation: X:343.48, Y:-125.32, Z:4.42 [[ 7.44301701e-01 6.67769315e-01 -9.95590164e-03 3.43483065e+02] [-6.67713717e-01 7.44368248e-01 8.61996895e-03 -1.25318219e+02] [ 1.31670078e-02 2.31834542e-04 9.99913284e-01 4.41767358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.45232058799996 meters Centerline goodness [0,1] 0.9998567061520826 Centerline is valid? [True, True] Translation: X:343.52, Y:-125.34, Z:4.42 [[ 7.42737281e-01 6.69504946e-01 -1.02204486e-02 3.43516147e+02] [-6.69446174e-01 7.42807555e-01 8.87448404e-03 -1.25344764e+02] [ 1.35333374e-02 2.50630025e-04 9.99908389e-01 4.41874732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48232058799994 meters Centerline goodness [0,1] 0.9998085116568529 Centerline is valid? [True, True] Translation: X:343.55, Y:-125.37, Z:4.42 [[ 7.42238646e-01 6.70044505e-01 -1.10523728e-02 3.43549625e+02] [-6.69975389e-01 7.42320884e-01 9.62721050e-03 -1.25370968e+02] [ 1.46550666e-02 2.59130070e-04 9.99892575e-01 4.42026526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.51232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.58, Y:-125.40, Z:4.42 [[ 7.41314881e-01 6.71049087e-01 -1.20569399e-02 3.43583946e+02] [-6.70966431e-01 7.41412871e-01 1.05358352e-02 -1.25395103e+02] [ 1.60092330e-02 2.79430509e-04 9.99871805e-01 4.42232151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54232058799994 meters Centerline goodness [0,1] 0.9999521622655951 Centerline is valid? [True, True] Translation: X:343.62, Y:-125.42, Z:4.42 [[ 7.41313782e-01 6.71070561e-01 -1.08710043e-02 3.43618316e+02] [-6.71003072e-01 7.41393449e-01 9.52007620e-03 -1.25420206e+02] [ 1.44483342e-02 2.37113577e-04 9.99895589e-01 4.42220053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.57232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.66, Y:-125.45, Z:4.42 [[ 7.40908740e-01 6.71513236e-01 -1.11451347e-02 3.43658517e+02] [-6.71442242e-01 7.40992519e-01 9.76739609e-03 -1.25449185e+02] [ 1.48173972e-02 2.46565115e-04 9.99890186e-01 4.42431126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.69, Y:-125.48, Z:4.43 [[ 7.40976038e-01 6.71442751e-01 -1.09152815e-02 3.43691658e+02] [-6.71373696e-01 7.41056405e-01 9.63147375e-03 -1.25475311e+02] [ 1.45558225e-02 1.91541613e-04 9.99894040e-01 4.42573121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.63232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.73, Y:-125.50, Z:4.43 [[ 7.41431507e-01 6.70921144e-01 -1.20057843e-02 3.43725799e+02] [-6.70836987e-01 7.41528683e-01 1.06277501e-02 -1.25500024e+02] [ 1.60330157e-02 1.74175458e-04 9.99871448e-01 4.42802207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.76, Y:-125.53, Z:4.43 [[ 7.40860107e-01 6.71556422e-01 -1.17589514e-02 3.43759889e+02] [-6.71475357e-01 7.40953403e-01 1.04354961e-02 -1.25526849e+02] [ 1.57208595e-02 1.64603314e-04 9.99876406e-01 4.42940636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.692320588 meters Centerline goodness [0,1] 0.9999521026918288 Centerline is valid? [True, True] Translation: X:343.80, Y:-125.55, Z:4.43 [[ 7.40991678e-01 6.71415548e-01 -1.15106406e-02 3.43795305e+02] [-6.71337515e-01 7.41081063e-01 1.02371750e-02 -1.25552890e+02] [ 1.54037163e-02 1.41863353e-04 9.99881346e-01 4.43099027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.83, Y:-125.58, Z:4.43 [[ 7.40759835e-01 6.71657744e-01 -1.22776602e-02 3.43827821e+02] [-6.71568176e-01 7.40861566e-01 1.09692314e-02 -1.25578637e+02] [ 1.64636158e-02 1.19719767e-04 9.99864458e-01 4.43237345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.86, Y:-125.61, Z:4.43 [[ 7.39862747e-01 6.72644784e-01 -1.23332952e-02 3.43860915e+02] [-6.72554082e-01 7.39965526e-01 1.10465905e-02 -1.25605466e+02] [ 1.65566448e-02 1.21847256e-04 9.99862922e-01 4.43372405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.90, Y:-125.63, Z:4.43 [[ 7.38877569e-01 6.73733480e-01 -1.19639918e-02 3.43897781e+02] [-6.73647971e-01 7.38974412e-01 1.07344499e-02 -1.25631861e+02] [ 1.60732421e-02 1.28074539e-04 9.99870809e-01 4.43466986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.93, Y:-125.66, Z:4.43 [[ 7.38188729e-01 6.74518414e-01 -1.01148126e-02 3.43932630e+02] [-6.74457021e-01 7.38258016e-01 9.10106427e-03 -1.25657706e+02] [ 1.36061769e-02 1.03703316e-04 9.99907426e-01 4.43444228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:343.99, Y:-125.70, Z:4.44 [[ 7.34779558e-01 6.78234747e-01 -9.82999905e-03 3.43987301e+02] [-6.78177854e-01 7.34845279e-01 8.78715729e-03 -1.25699006e+02] [ 1.31832838e-02 2.09864111e-04 9.99913075e-01 4.43655933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.02, Y:-125.73, Z:4.44 [[ 7.33515356e-01 6.79587166e-01 -1.07937758e-02 3.44020169e+02] [-6.79515536e-01 7.33594762e-01 9.86725037e-03 -1.25726072e+02] [ 1.46239141e-02 9.67586730e-05 9.99893060e-01 4.43862610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.05, Y:-125.75, Z:4.44 [[ 7.32427261e-01 6.80746342e-01 -1.16071111e-02 3.44054398e+02] [-6.80663124e-01 7.32519220e-01 1.06444276e-02 -1.25751091e+02] [ 1.57485871e-02 1.04263540e-04 9.99875978e-01 4.43890111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.09, Y:-125.78, Z:4.44 [[ 7.31644874e-01 6.81583895e-01 -1.17971236e-02 3.44087483e+02] [-6.81497533e-01 7.31739970e-01 1.08502959e-02 -1.25777929e+02] [ 1.60278138e-02 1.01147285e-04 9.99871541e-01 4.44095350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.12, Y:-125.80, Z:4.44 [[ 7.30967208e-01 6.82323159e-01 -1.10474980e-02 3.44120630e+02] [-6.82247142e-01 7.31050681e-01 1.01852297e-02 -1.25804557e+02] [ 1.50258990e-02 9.20549805e-05 9.99887101e-01 4.44226176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.16, Y:-125.83, Z:4.44 [[ 7.30318125e-01 6.83008053e-01 -1.16376511e-02 3.44156020e+02] [-6.82923411e-01 7.30410837e-01 1.07528809e-02 -1.25831847e+02] [ 1.58445707e-02 9.46005257e-05 9.99874462e-01 4.44448749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.19, Y:-125.86, Z:4.44 [[ 7.30022650e-01 6.83345354e-01 -1.02984274e-02 3.44188794e+02] [-6.83278589e-01 7.30095283e-01 9.55231353e-03 -1.25857851e+02] [ 1.40463623e-02 6.32897023e-05 9.99901343e-01 4.44402448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.22, Y:-125.88, Z:4.44 [[ 7.29685578e-01 6.83704324e-01 -1.03612174e-02 3.44220929e+02] [-6.83636409e-01 7.29759135e-01 9.63667957e-03 -1.25883564e+02] [ 1.41498325e-02 5.15593240e-05 9.99899885e-01 4.44491421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.25, Y:-125.91, Z:4.45 [[ 7.29546135e-01 6.83829675e-01 -1.18072852e-02 3.44252916e+02] [-6.83740914e-01 7.29641675e-01 1.10176066e-02 -1.25909200e+02] [ 1.61492537e-02 3.52716776e-05 9.99869592e-01 4.44748908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.28, Y:-125.94, Z:4.45 [[ 7.28982981e-01 6.84429291e-01 -1.18472720e-02 3.44284365e+02] [-6.84339538e-01 7.29079244e-01 1.10838821e-02 -1.25936259e+02] [ 1.62237337e-02 2.75952620e-05 9.99868386e-01 4.44900704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.32, Y:-125.96, Z:4.45 [[ 7.28907868e-01 6.84515188e-01 -1.15011584e-02 3.44317436e+02] [-6.84430193e-01 7.28998599e-01 1.07867630e-02 -1.25961862e+02] [ 1.57680315e-02 9.18366019e-06 9.99875677e-01 4.44903642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.172320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.35, Y:-125.99, Z:4.45 [[ 7.28385245e-01 6.85069526e-01 -1.16051749e-02 3.44348990e+02] [-6.84982574e-01 7.28477690e-01 1.09146198e-02 -1.25988336e+02] [ 1.59313844e-02 -7.05486075e-07 9.99873087e-01 4.45012529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.38, Y:-126.02, Z:4.45 [[ 7.28134985e-01 6.85327201e-01 -1.20859911e-02 3.44379870e+02] [-6.85232400e-01 7.28235283e-01 1.13986960e-02 -1.26015765e+02] [ 1.66132816e-02 -1.80766094e-05 9.99861990e-01 4.45207449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.23232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.41, Y:-126.04, Z:4.45 [[ 7.27442099e-01 6.86068818e-01 -1.17289869e-02 3.44410806e+02] [-6.85979197e-01 7.27536649e-01 1.10889880e-02 -1.26042803e+02] [ 1.61410767e-02 -2.07557245e-05 9.99869724e-01 4.45286894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.46, Y:-126.08, Z:4.45 [[ 7.25020973e-01 6.88617297e-01 -1.22803809e-02 3.44456424e+02] [-6.88519582e-01 7.25124966e-01 1.16003841e-02 -1.26080159e+02] [ 1.68930359e-02 4.47609659e-05 9.99857301e-01 4.45466339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.29232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.49, Y:-126.11, Z:4.45 [[ 7.23790087e-01 6.89923423e-01 -1.15576534e-02 3.44488748e+02] [-6.89835137e-01 7.23882359e-01 1.10369155e-02 -1.26105769e+02] [ 1.59810079e-02 -1.55345736e-05 9.99872295e-01 4.45402099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.52, Y:-126.13, Z:4.46 [[ 7.21556394e-01 6.92239719e-01 -1.26704804e-02 3.44518659e+02] [-6.92133331e-01 7.21667632e-01 1.21359306e-02 -1.26134105e+02] [ 1.75448488e-02 1.29034984e-05 9.99846077e-01 4.45693374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.35232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.55, Y:-126.16, Z:4.46 [[ 7.20045321e-01 6.93822650e-01 -1.20360165e-02 3.44549049e+02] [-6.93726420e-01 7.20145909e-01 1.15552781e-02 -1.26162212e+02] [ 1.66850017e-02 2.93786966e-05 9.99860795e-01 4.45804317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.58, Y:-126.19, Z:4.46 [[ 7.18824279e-01 6.95091185e-01 -1.18279199e-02 3.44581732e+02] [-6.94998072e-01 7.18921583e-01 1.13770413e-02 -1.26191160e+02] [ 1.64114280e-02 4.22880411e-05 9.99865323e-01 4.45914365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.41232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.61, Y:-126.22, Z:4.46 [[ 7.16992536e-01 6.96967401e-01 -1.25755627e-02 3.44613071e+02] [-6.96861486e-01 7.17102809e-01 1.21503296e-02 -1.26217962e+02] [ 1.74863550e-02 5.17296886e-05 9.99847101e-01 4.46106960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.64, Y:-126.25, Z:4.46 [[ 7.15220432e-01 6.98777674e-01 -1.30190522e-02 3.44644902e+02] [-6.98663816e-01 7.15338910e-01 1.26141032e-02 -1.26246577e+02] [ 1.81274883e-02 7.40763181e-05 9.99835681e-01 4.46284475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.47232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.68, Y:-126.27, Z:4.46 [[ 7.12448829e-01 7.01605844e-01 -1.28804241e-02 3.44677815e+02] [-7.01494314e-01 7.12565242e-01 1.25101249e-02 -1.26274777e+02] [ 1.79553193e-02 1.22720431e-04 9.99838783e-01 4.46377837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.71, Y:-126.30, Z:4.47 [[ 7.11657959e-01 7.02408412e-01 -1.28596882e-02 3.44709702e+02] [-7.02296491e-01 7.11774129e-01 1.25390817e-02 -1.26302307e+02] [ 1.79607498e-02 1.07776589e-04 9.99838687e-01 4.46500446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.53232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.74, Y:-126.33, Z:4.47 [[ 7.09812856e-01 7.04276963e-01 -1.26359808e-02 3.44741062e+02] [-7.04168613e-01 7.09925307e-01 1.23540660e-02 -1.26330723e+02] [ 1.76712867e-02 1.28786188e-04 9.99843842e-01 4.46597750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.77, Y:-126.36, Z:4.47 [[ 7.07792341e-01 7.06314733e-01 -1.22270240e-02 3.44772275e+02] [-7.06213049e-01 7.07897927e-01 1.19855557e-02 -1.26359492e+02] [ 1.71210595e-02 1.51599408e-04 9.99853412e-01 4.46706595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.59232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.81, Y:-126.39, Z:4.47 [[ 7.06537697e-01 7.07572183e-01 -1.20867359e-02 3.44805049e+02] [-7.07472590e-01 7.06641054e-01 1.18724562e-02 -1.26388858e+02] [ 1.69416035e-02 1.62696493e-04 9.99856467e-01 4.46898997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.84, Y:-126.42, Z:4.47 [[ 7.05061055e-01 7.09044824e-01 -1.20144348e-02 3.44838190e+02] [-7.08945814e-01 7.05163394e-01 1.18499640e-02 -1.26415363e+02] [ 1.68742953e-02 1.62635146e-04 9.99857606e-01 4.47001720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.65232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.87, Y:-126.44, Z:4.47 [[ 7.04162893e-01 7.09933964e-01 -1.21814215e-02 3.44870499e+02] [-7.09831729e-01 7.04268230e-01 1.20489207e-02 -1.26442737e+02] [ 1.71329262e-02 1.62356670e-04 9.99853207e-01 4.47109868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.90, Y:-126.47, Z:4.47 [[ 7.02865042e-01 7.11226473e-01 -1.17319207e-02 3.44903402e+02] [-7.11131445e-01 7.02962926e-01 1.16271922e-02 -1.26470955e+02] [ 1.65166722e-02 1.70590844e-04 9.99863576e-01 4.47152125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.71232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:344.94, Y:-126.51, Z:4.47 [[ 7.00250262e-01 7.13798067e-01 -1.19117780e-02 3.44943134e+02] [-7.13700142e-01 7.00351534e-01 1.18252284e-02 -1.26506463e+02] [ 1.67832571e-02 2.20818362e-04 9.99859127e-01 4.47357037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.83, Y:-125.59, Z:6.31 [[ 7.64537110e-01 -6.43949924e-01 2.84868865e-02 3.45829363e+02] [-6.43370526e-01 -7.65063050e-01 -2.74389545e-02 -1.25586860e+02] [ 3.94635769e-02 2.65047588e-03 -9.99217494e-01 6.31258980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.77232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.06, Y:-126.62, Z:4.48 [[ 7.57014804e-01 6.53246276e-01 -1.40673280e-02 3.45064107e+02] [-6.53136295e-01 7.57145488e-01 1.19870902e-02 -1.26619037e+02] [ 1.84815359e-02 1.13477758e-04 9.99829195e-01 4.47769087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.10, Y:-126.64, Z:4.48 [[ 7.56587274e-01 6.53770715e-01 -1.26312497e-02 3.45097480e+02] [-6.53682257e-01 7.56692697e-01 1.07549472e-02 -1.26640393e+02] [ 1.65892439e-02 1.19767591e-04 9.99862382e-01 4.48189635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.83232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.13, Y:-126.66, Z:4.48 [[ 7.56458424e-01 6.53934350e-01 -1.18540212e-02 3.45129493e+02] [-6.53856078e-01 7.56551291e-01 1.01179919e-02 -1.26664668e+02] [ 1.55846775e-02 9.69835609e-05 9.99878547e-01 4.48078575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.16, Y:-126.69, Z:4.48 [[ 7.57791905e-01 6.52377728e-01 -1.24390295e-02 3.45162266e+02] [-6.52290745e-01 7.57893989e-01 1.06529237e-02 -1.26686092e+02] [ 1.63771958e-02 4.11644976e-05 9.99865884e-01 4.48094165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.89232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.19, Y:-126.71, Z:4.48 [[ 7.58455777e-01 6.51603004e-01 -1.25841367e-02 3.45193596e+02] [-6.51513451e-01 7.58560166e-01 1.08026819e-02 -1.26708935e+02] [ 1.65848848e-02 5.37784858e-06 9.99862461e-01 4.48221909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.23, Y:-126.73, Z:4.48 [[ 7.60510751e-01 6.49204508e-01 -1.25261307e-02 3.45226100e+02] [-6.49115026e-01 7.60613898e-01 1.07787200e-02 -1.26730813e+02] [ 1.65251428e-02 -6.64328302e-05 9.99863448e-01 4.48401460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.95232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.26, Y:-126.75, Z:4.49 [[ 7.61939569e-01 6.47539742e-01 -1.18480174e-02 3.45257720e+02] [-6.47459279e-01 7.62031673e-01 1.02084274e-02 -1.26753949e+02] [ 1.56389270e-02 -1.07095960e-04 9.99877699e-01 4.48694105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.29, Y:-126.78, Z:4.49 [[ 7.61086029e-01 6.48542987e-01 -1.18343317e-02 3.45287240e+02] [-6.48462398e-01 7.61178023e-01 1.02242493e-02 -1.26778540e+02] [ 1.56388984e-02 -1.07414213e-04 9.99877699e-01 4.48809969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.01232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.32, Y:-126.81, Z:4.49 [[ 7.60453623e-01 6.49275156e-01 -1.23312464e-02 3.45320724e+02] [-6.49187439e-01 7.60553588e-01 1.06728420e-02 -1.26805020e+02] [ 1.63081848e-02 -1.10911102e-04 9.99867007e-01 4.48957372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.35, Y:-126.83, Z:4.49 [[ 7.60128600e-01 6.49670375e-01 -1.15288769e-02 3.45353637e+02] [-6.49593066e-01 7.60216014e-01 1.00230319e-02 -1.26829158e+02] [ 1.52761037e-02 -1.29714740e-04 9.99883305e-01 4.48738702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.07232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.38, Y:-126.86, Z:4.49 [[ 7.61129648e-01 6.48496427e-01 -1.15776914e-02 3.45382377e+02] [-6.48417835e-01 7.61217678e-01 1.00974312e-02 -1.26855121e+02] [ 1.53612914e-02 -1.78272710e-04 9.99881993e-01 4.49077927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.41, Y:-126.88, Z:4.49 [[ 7.60947816e-01 6.48702243e-01 -1.19925282e-02 3.45413948e+02] [-6.48617484e-01 7.61042284e-01 1.04881500e-02 -1.26879805e+02] [ 1.59305075e-02 -2.02371419e-04 9.99873081e-01 4.48861549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.13232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.44, Y:-126.91, Z:4.49 [[ 7.61347747e-01 6.48211900e-01 -1.30744473e-02 3.45440684e+02] [-6.48110388e-01 7.61459955e-01 1.14743824e-02 -1.26907855e+02] [ 1.73934993e-02 -2.62310125e-04 9.99848687e-01 4.49303834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.47, Y:-126.93, Z:4.49 [[ 7.60409276e-01 6.49296319e-01 -1.38572324e-02 3.45469657e+02] [-6.49181914e-01 7.60535479e-01 1.21912826e-02 -1.26933992e+02] [ 1.84546718e-02 -2.74499724e-04 9.99829660e-01 4.49472635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.50, Y:-126.96, Z:4.50 [[ 7.59547280e-01 6.50304816e-01 -1.38410624e-02 3.45498909e+02] [-6.50190245e-01 7.59673331e-01 1.22095986e-02 -1.26958891e+02] [ 1.84546467e-02 -2.74443653e-04 9.99829661e-01 4.49588484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.53, Y:-126.98, Z:4.50 [[ 7.57903627e-01 6.52221909e-01 -1.37358797e-02 3.45529505e+02] [-6.52108798e-01 7.58028046e-01 1.21489308e-02 -1.26982682e+02] [ 1.83359809e-02 -2.50430734e-04 9.99831850e-01 4.49501667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.56, Y:-127.01, Z:4.50 [[ 7.56639164e-01 6.53711770e-01 -1.25736446e-02 3.45556845e+02] [-6.53616657e-01 7.56743598e-01 1.11531612e-02 -1.27009455e+02] [ 1.68059778e-02 -2.20574998e-04 9.99858745e-01 4.49648402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.58, Y:-127.04, Z:4.50 [[ 7.54564174e-01 6.56112821e-01 -1.22013611e-02 3.45584461e+02] [-6.56023308e-01 7.54662796e-01 1.08389875e-02 -1.27036767e+02] [ 1.63195119e-02 -1.74334352e-04 9.99866813e-01 4.49776903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.61, Y:-127.06, Z:4.50 [[ 7.52932158e-01 6.58010499e-01 -1.07400554e-02 3.45612344e+02] [-6.57941166e-01 7.53008743e-01 9.55273543e-03 -1.27064518e+02] [ 1.43731558e-02 -1.26237125e-04 9.99896693e-01 4.50011371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.64, Y:-127.09, Z:4.50 [[ 7.49975721e-01 6.61365845e-01 -1.14732925e-02 3.45640898e+02] [-6.61286683e-01 7.50063471e-01 1.02328515e-02 -1.27093448e+02] [ 1.53733560e-02 -8.72546519e-05 9.99881819e-01 4.50255781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.67, Y:-127.12, Z:4.50 [[ 7.48118925e-01 6.63468953e-01 -1.12703989e-02 3.45674101e+02] [-6.63392535e-01 7.48203812e-01 1.00697315e-02 -1.27120407e+02] [ 1.51135096e-02 -5.66582242e-05 9.99885783e-01 4.50088735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.70, Y:-127.15, Z:4.50 [[ 7.45664924e-01 6.66238201e-01 -1.05109963e-02 3.45704353e+02] [-6.66171332e-01 7.45739002e-01 9.43913506e-03 -1.27146330e+02] [ 1.41271722e-02 -3.63075222e-05 9.99900206e-01 4.50032363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.74, Y:-127.18, Z:4.50 [[ 7.43583168e-01 6.68564362e-01 -1.02842734e-02 3.45738384e+02] [-6.68500476e-01 7.43654284e-01 9.24228695e-03 -1.27175846e+02] [ 1.38270077e-02 2.63265651e-06 9.99904402e-01 4.50157003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.77, Y:-127.20, Z:4.50 [[ 7.40243043e-01 6.72269037e-01 -9.72521192e-03 3.45767203e+02] [-6.72211657e-01 7.40306923e-01 8.78331840e-03 -1.27204909e+02] [ 1.31043947e-02 3.56104872e-05 9.99914133e-01 4.50304483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.80, Y:-127.23, Z:4.51 [[ 7.38480375e-01 6.74192564e-01 -1.05414877e-02 3.45798038e+02] [-6.74124943e-01 7.38555607e-01 9.54865748e-03 -1.27231483e+02] [ 1.42231087e-02 5.47836133e-05 9.99898845e-01 4.50531180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.84, Y:-127.26, Z:4.51 [[ 7.34279386e-01 6.78749435e-01 -1.15320573e-02 3.45836152e+02] [-6.78668951e-01 7.34369922e-01 1.04533870e-02 -1.27261987e+02] [ 1.55640265e-02 1.50742605e-04 9.99878862e-01 4.50630549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.87, Y:-127.29, Z:4.51 [[ 7.32782199e-01 6.80374001e-01 -1.10211977e-02 3.45866596e+02] [-6.80299648e-01 7.32865064e-01 1.00591539e-02 -1.27288377e+02] [ 1.49210376e-02 1.26547976e-04 9.99888667e-01 4.50774218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.90, Y:-127.31, Z:4.51 [[ 7.29989160e-01 6.83365409e-01 -1.12935396e-02 3.45897523e+02] [-6.83287298e-01 7.30076494e-01 1.03335248e-02 -1.27314383e+02] [ 1.53067212e-02 1.73371071e-04 9.99882830e-01 4.51007554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.94, Y:-127.35, Z:4.51 [[ 7.26807488e-01 6.86767682e-01 -1.00511951e-02 3.45939443e+02] [-6.86706441e-01 7.26876947e-01 9.17435722e-03 -1.27348196e+02] [ 1.36066341e-02 2.34228892e-04 9.99907398e-01 4.51050866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:345.97, Y:-127.37, Z:4.51 [[ 7.25700969e-01 6.87941380e-01 -9.73453856e-03 3.45972036e+02] [-6.87882865e-01 7.25766232e-01 8.97441306e-03 -1.27371867e+02] [ 1.32388695e-02 1.83482026e-04 9.99912345e-01 4.51473921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.67232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.00, Y:-127.40, Z:4.52 [[ 7.23345253e-01 6.90415262e-01 -9.92025099e-03 3.46003156e+02] [-6.90354381e-01 7.23413243e-01 9.17102469e-03 -1.27400407e+02] [ 1.35082564e-02 2.14671561e-04 9.99908736e-01 4.51530072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.04, Y:-127.43, Z:4.52 [[ 7.22686945e-01 6.91084569e-01 -1.12115314e-02 3.46035897e+02] [-6.91006152e-01 7.22773872e-01 1.04128840e-02 -1.27425111e+02] [ 1.52995854e-02 2.21981875e-04 9.99882930e-01 4.51852460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.73232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.07, Y:-127.45, Z:4.52 [[ 7.21860492e-01 6.91947689e-01 -1.12172328e-02 3.46067506e+02] [-6.91868904e-01 7.21947606e-01 1.04438053e-02 -1.27451218e+02] [ 1.53248214e-02 2.21884127e-04 9.99882543e-01 4.51934801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.10, Y:-127.48, Z:4.52 [[ 7.21904924e-01 6.91902812e-01 -1.11256243e-02 3.46100318e+02] [-6.91824910e-01 7.21990622e-01 1.03844028e-02 -1.27475774e+02] [ 1.52175938e-02 2.00432521e-04 9.99884186e-01 4.51971729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.79232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.13, Y:-127.50, Z:4.52 [[ 7.21840911e-01 6.91972301e-01 -1.09559821e-02 3.46131331e+02] [-6.91896399e-01 7.21924028e-01 1.02504149e-02 -1.27501768e+02] [ 1.50023899e-02 1.81235728e-04 9.99887441e-01 4.52098988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.16, Y:-127.53, Z:4.52 [[ 7.21678128e-01 6.92139987e-01 -1.10868507e-02 3.46162814e+02] [-6.92061877e-01 7.21763265e-01 1.03994491e-02 -1.27527711e+02] [ 1.51999561e-02 1.67731709e-04 9.99884460e-01 4.52221613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.85232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.20, Y:-127.55, Z:4.52 [[ 7.21917190e-01 6.91893196e-01 -1.09259034e-02 3.46195644e+02] [-6.91816966e-01 7.21999851e-01 1.02713908e-02 -1.27553772e+02] [ 1.49952060e-02 1.43631779e-04 9.99887555e-01 4.52479062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.23, Y:-127.58, Z:4.53 [[ 7.22068454e-01 6.91718722e-01 -1.19313916e-02 3.46227134e+02] [-6.91627216e-01 7.22167012e-01 1.12516585e-02 -1.27580593e+02] [ 1.63994403e-02 1.27607547e-04 9.99865512e-01 4.52703763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.91232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.26, Y:-127.61, Z:4.53 [[ 7.21648903e-01 6.92150499e-01 -1.22697565e-02 3.46258989e+02] [-6.92053245e-01 7.21753194e-01 1.16031829e-02 -1.27607231e+02] [ 1.68868848e-02 1.17900581e-04 9.99857399e-01 4.52819172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.29, Y:-127.63, Z:4.53 [[ 7.20893407e-01 6.92947870e-01 -1.16595729e-02 3.46290226e+02] [-6.92859714e-01 7.20987682e-01 1.10535046e-02 -1.27634059e+02] [ 1.60659109e-02 1.10049806e-04 9.99870929e-01 4.52854161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.97232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.32, Y:-127.66, Z:4.53 [[ 7.20128039e-01 6.93758386e-01 -1.07195886e-02 3.46321058e+02] [-6.93683643e-01 7.20207811e-01 1.01839647e-02 -1.27660616e+02] [ 1.47855424e-02 1.02244711e-04 9.99890683e-01 4.52892564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.35, Y:-127.69, Z:4.53 [[ 7.19233599e-01 6.94703716e-01 -9.47504583e-03 3.46352154e+02] [-6.94645183e-01 7.19296001e-01 9.01845003e-03 -1.27687280e+02] [ 1.30805133e-02 9.54226633e-05 9.99914442e-01 4.53111287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.03232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.38, Y:-127.71, Z:4.53 [[ 7.18439505e-01 6.95517267e-01 -1.00204366e-02 3.46382293e+02] [-6.95451516e-01 7.18509375e-01 9.56382585e-03 -1.27713862e+02] [ 1.38515836e-02 9.76975019e-05 9.99904057e-01 4.53404432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.41, Y:-127.74, Z:4.54 [[ 7.17580934e-01 6.96401763e-01 -1.01088335e-02 3.46413421e+02] [-6.96334657e-01 7.17652126e-01 9.66805040e-03 -1.27739857e+02] [ 1.39874732e-02 1.01522470e-04 9.99902165e-01 4.53830670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.09232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.44, Y:-127.77, Z:4.54 [[ 7.16182212e-01 6.97842962e-01 -9.91158700e-03 3.46443347e+02] [-6.97778217e-01 7.16250787e-01 9.50635090e-03 -1.27766731e+02] [ 1.37331221e-02 1.07810082e-04 9.99905690e-01 4.53622153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.48, Y:-127.79, Z:4.54 [[ 7.14867310e-01 6.99196539e-01 -9.43022676e-03 3.46478867e+02] [-6.99137890e-01 7.14929497e-01 9.05675033e-03 -1.27792269e+02] [ 1.30743958e-02 1.18654099e-04 9.99914519e-01 4.53887807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.15232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.52, Y:-127.82, Z:4.54 [[ 7.13029285e-01 7.01070217e-01 -9.47576254e-03 3.46515079e+02] [-7.01010910e-01 7.13092232e-01 9.11991946e-03 -1.27823615e+02] [ 1.31507966e-02 1.39843265e-04 9.99913515e-01 4.54060112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.55, Y:-127.85, Z:4.54 [[ 7.11988460e-01 7.02128045e-01 -9.41489300e-03 3.46546271e+02] [-7.02068572e-01 7.12050698e-01 9.13906026e-03 -1.27849939e+02] [ 1.31206717e-02 1.02995046e-04 9.99913915e-01 4.54380345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.21232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.58, Y:-127.88, Z:4.55 [[ 7.11703061e-01 7.02402423e-01 -1.04685357e-02 3.46580182e+02] [-7.02328448e-01 7.11780041e-01 1.01943052e-02 -1.27875899e+02] [ 1.46117994e-02 9.70322160e-05 9.99893237e-01 4.54547046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.61, Y:-127.90, Z:4.55 [[ 7.11031592e-01 7.03074706e-01 -1.09559825e-02 3.46610554e+02] [-7.02993137e-01 7.11115989e-01 1.07097710e-02 -1.27902260e+02] [ 1.53207434e-02 8.69949828e-05 9.99882627e-01 4.54689258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.27232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.64, Y:-127.93, Z:4.55 [[ 7.10563962e-01 7.03551335e-01 -1.06945768e-02 3.46640827e+02] [-7.03473224e-01 7.10644435e-01 1.04838222e-02 -1.27928812e+02] [ 1.49759486e-02 7.39222053e-05 9.99887851e-01 4.54724697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.67, Y:-127.96, Z:4.55 [[ 7.10443812e-01 7.03674172e-01 -1.05947473e-02 3.46672242e+02] [-7.03597086e-01 7.10522805e-01 1.04155633e-02 -1.27955351e+02] [ 1.48569724e-02 5.47608422e-05 9.99889628e-01 4.54819918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.33232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.70, Y:-127.98, Z:4.55 [[ 7.10681928e-01 7.03441635e-01 -1.00530049e-02 3.46702672e+02] [-7.03371832e-01 7.10753027e-01 9.90965870e-03 -1.27982471e+02] [ 1.41160702e-02 2.83851068e-05 9.99900363e-01 4.54990338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.73, Y:-128.01, Z:4.55 [[ 7.11288874e-01 7.02849902e-01 -8.37576111e-03 3.46732918e+02] [-7.02801237e-01 7.11338186e-01 8.27079810e-03 -1.28009194e+02] [ 1.17711284e-02 3.56860055e-06 9.99930718e-01 4.55035589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.39232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.76, Y:-128.04, Z:4.55 [[ 7.11321923e-01 7.02792456e-01 -1.01924597e-02 3.46762738e+02] [-7.02719807e-01 7.11394942e-01 1.01048979e-02 -1.28036719e+02] [ 1.43525103e-02 -2.53921266e-05 9.99896997e-01 4.55394963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.79, Y:-128.06, Z:4.56 [[ 7.12436946e-01 7.01664419e-01 -1.00320075e-02 3.46792609e+02] [-7.01593503e-01 7.12507571e-01 9.97588014e-03 -1.28063804e+02] [ 1.41476015e-02 -6.87942815e-05 9.99899915e-01 4.55500250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.45232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.60, Y:-127.24, Z:6.38 [[ 7.55090075e-01 -6.54737884e-01 3.40188528e-02 3.47595288e+02] [-6.53954948e-01 -7.55853442e-01 -3.20702400e-02 -1.27236282e+02] [ 4.67108680e-02 1.96912282e-03 -9.98906511e-01 6.37521584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.91, Y:-128.18, Z:4.56 [[ 7.67293783e-01 6.41229825e-01 -9.19578875e-03 3.46907205e+02] [-6.41182143e-01 7.67348878e-01 7.82044324e-03 -1.28177673e+02] [ 1.20710796e-02 -1.04401945e-04 9.99927136e-01 4.55961215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.51232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.94, Y:-128.20, Z:4.56 [[ 7.67186853e-01 6.41349865e-01 -9.73049870e-03 3.46937522e+02] [-6.41296727e-01 7.67248553e-01 8.25626438e-03 -1.28200557e+02] [ 1.27608651e-02 -9.39605151e-05 9.99918572e-01 4.56056836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:346.97, Y:-128.22, Z:4.56 [[ 7.67199171e-01 6.41320703e-01 -1.06389864e-02 3.46966682e+02] [-6.41256760e-01 7.67272924e-01 9.05694306e-03 -1.28223839e+02] [ 1.39714113e-02 -1.26157240e-04 9.99902387e-01 4.56145543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.57232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.00, Y:-128.25, Z:4.56 [[ 7.66247706e-01 6.42469576e-01 -9.86393060e-03 3.47002662e+02] [-6.42414788e-01 7.66311187e-01 8.39082721e-03 -1.28252189e+02] [ 1.29496916e-02 -9.27172187e-05 9.99916145e-01 4.56358280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.03, Y:-128.28, Z:4.56 [[ 7.64913734e-01 6.44088750e-01 -7.52734822e-03 3.47033181e+02] [-6.44056593e-01 7.64950767e-01 6.43646115e-03 -1.28275738e+02] [ 9.90370302e-03 -7.52992830e-05 9.99950954e-01 4.56495768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.63232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.06, Y:-128.30, Z:4.57 [[ 7.64242443e-01 6.44863863e-01 -9.16980338e-03 3.47063839e+02] [-6.44815829e-01 7.64297447e-01 7.87147948e-03 -1.28300478e+02] [ 1.20844900e-02 -1.02884344e-04 9.99926975e-01 4.56591636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.09, Y:-128.32, Z:4.57 [[ 7.63786156e-01 6.45341909e-01 -1.28268260e-02 3.47094314e+02] [-6.45247075e-01 7.63893834e-01 1.10644980e-02 -1.28323250e+02] [ 1.69387176e-02 -1.74438505e-04 9.99856514e-01 4.56600876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.12, Y:-128.35, Z:4.57 [[ 7.63328214e-01 6.45906582e-01 -1.16070916e-02 3.47124352e+02] [-6.45828777e-01 7.63416441e-01 1.00263922e-02 -1.28346324e+02] [ 1.53371573e-02 -1.57234313e-04 9.99882367e-01 4.56699754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.15, Y:-128.37, Z:4.57 [[ 7.62714523e-01 6.46677154e-01 -8.67268988e-03 3.47153419e+02] [-6.46633694e-01 7.62763821e-01 7.49791497e-03 -1.28369927e+02] [ 1.14639444e-02 -1.10715136e-04 9.99934281e-01 4.56926948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.18, Y:-128.39, Z:4.57 [[ 7.62890919e-01 6.46479577e-01 -7.84869276e-03 3.47181626e+02] [-6.46443850e-01 7.62931284e-01 6.79736448e-03 -1.28393774e+02] [ 1.03823706e-02 -1.11908466e-04 9.99946095e-01 4.57169012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.21, Y:-128.42, Z:4.57 [[ 7.62673059e-01 6.46718307e-01 -9.23234593e-03 3.47210731e+02] [-6.46668554e-01 7.62728922e-01 8.02319849e-03 -1.28417642e+02] [ 1.22305266e-02 -1.48809535e-04 9.99925193e-01 4.57368707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.24, Y:-128.44, Z:4.57 [[ 7.63051124e-01 6.46258293e-01 -1.01588104e-02 3.47242898e+02] [-6.46197700e-01 7.63118721e-01 8.85151452e-03 -1.28439389e+02] [ 1.34727431e-02 -1.89558179e-04 9.99909221e-01 4.57379978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.27, Y:-128.46, Z:4.57 [[ 7.62021833e-01 6.47506390e-01 -7.62892584e-03 3.47272604e+02] [-6.47472208e-01 7.62060009e-01 6.65449325e-03 -1.28462531e+02] [ 1.01225262e-02 -1.31351677e-04 9.99948757e-01 4.57460292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.32, Y:-128.50, Z:4.57 [[ 7.57640711e-01 6.52639926e-01 -6.45592395e-03 3.47323123e+02] [-6.52616566e-01 7.57668216e-01 5.52196163e-03 -1.28498128e+02] [ 8.49530101e-03 2.95799751e-05 9.99963914e-01 4.57365138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.35, Y:-128.52, Z:4.57 [[ 7.57193500e-01 6.53159657e-01 -6.36130655e-03 3.47350523e+02] [-6.53135413e-01 7.57220213e-01 5.62854355e-03 -1.28521970e+02] [ 8.49324747e-03 -1.07102011e-04 9.99963926e-01 4.57480852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.38, Y:-128.55, Z:4.58 [[ 7.55345606e-01 6.55266755e-01 -8.85980453e-03 3.47379693e+02] [-6.55219692e-01 7.55397554e-01 7.85434490e-03 -1.28546001e+02] [ 1.18393658e-02 -1.27626514e-04 9.99929904e-01 4.58119123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.41, Y:-128.57, Z:4.58 [[ 7.53214158e-01 6.57733751e-01 -7.39897395e-03 3.47412939e+02] [-6.57701051e-01 7.53250495e-01 6.55896987e-03 -1.28565347e+02] [ 9.88733664e-03 -7.39960243e-05 9.99951116e-01 4.58036058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.44, Y:-128.59, Z:4.58 [[ 7.52436721e-01 6.58623077e-01 -7.39074622e-03 3.47440921e+02] [-6.58590330e-01 7.52473014e-01 6.56820505e-03 -1.28589412e+02] [ 9.88730850e-03 -7.46846861e-05 9.99951117e-01 4.58146629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.47, Y:-128.61, Z:4.58 [[ 7.51041937e-01 6.60209816e-01 -7.68162234e-03 3.47470215e+02] [-6.60174336e-01 7.51081217e-01 6.84481110e-03 -1.28612936e+02] [ 1.02885337e-02 -6.95302606e-05 9.99947069e-01 4.58240621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.50, Y:-128.64, Z:4.58 [[ 7.50211756e-01 6.61153102e-01 -7.67444820e-03 3.47498748e+02] [-6.61117590e-01 7.50251005e-01 6.85283032e-03 -1.28637582e+02] [ 1.02885325e-02 -6.73611626e-05 9.99947069e-01 4.58353495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.53, Y:-128.66, Z:4.58 [[ 7.49380362e-01 6.62095393e-01 -7.66581318e-03 3.47527249e+02] [-6.62059831e-01 7.49419566e-01 6.86245357e-03 -1.28662265e+02] [ 1.02885093e-02 -6.73609565e-05 9.99947070e-01 4.58466490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.56, Y:-128.69, Z:4.59 [[ 7.48547784e-01 6.63036637e-01 -7.65716610e-03 3.47555719e+02] [-6.63001027e-01 7.48586944e-01 6.87206594e-03 -1.28686985e+02] [ 1.02884861e-02 -6.73607501e-05 9.99947070e-01 4.58579484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.59, Y:-128.71, Z:4.59 [[ 7.48008966e-01 6.63634176e-01 -8.50107981e-03 3.47585083e+02] [-6.63590037e-01 7.48057266e-01 7.65433538e-03 -1.28710698e+02] [ 1.14389731e-02 -8.42796248e-05 9.99934569e-01 4.58811446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.17232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.61, Y:-128.73, Z:4.59 [[ 7.47840577e-01 6.63813240e-01 -9.29804264e-03 3.47613942e+02] [-6.63760123e-01 7.47898369e-01 8.39815461e-03 -1.28734978e+02] [ 1.25287971e-02 -1.08810869e-04 9.99921506e-01 4.59088208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.64, Y:-128.76, Z:4.59 [[ 7.48873255e-01 6.62673021e-01 -7.30173561e-03 3.47644124e+02] [-6.62640129e-01 7.48908844e-01 6.60330639e-03 -1.28757618e+02] [ 9.84416737e-03 -1.06616525e-04 9.99951539e-01 4.59195695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.23232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.67, Y:-128.78, Z:4.59 [[ 7.48420832e-01 6.63180151e-01 -7.63843689e-03 3.47674055e+02] [-6.63144022e-01 7.48459801e-01 6.92334509e-03 -1.28781920e+02] [ 1.03084880e-02 -1.16191930e-04 9.99946859e-01 4.59311531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.70, Y:-128.80, Z:4.59 [[ 7.48534525e-01 6.63052841e-01 -7.54955145e-03 3.47703860e+02] [-6.63017349e-01 7.48572584e-01 6.86159250e-03 -1.28804111e+02] [ 1.02009856e-02 -1.30655287e-04 9.99947960e-01 4.59432210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.29232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.73, Y:-128.83, Z:4.60 [[ 7.47362080e-01 6.64366523e-01 -8.18808509e-03 3.47734938e+02] [-6.64324685e-01 7.47406921e-01 7.45702731e-03 -1.28830824e+02] [ 1.10740308e-02 -1.33552387e-04 9.99938672e-01 4.59584016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.76, Y:-128.86, Z:4.60 [[ 7.46623471e-01 6.65207638e-01 -7.22430034e-03 3.47763760e+02] [-6.65174920e-01 7.46658412e-01 6.59866486e-03 -1.28855359e+02] [ 9.78356688e-03 -1.21294662e-04 9.99952132e-01 4.59635029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.35232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.79, Y:-128.88, Z:4.60 [[ 7.45426735e-01 6.66546407e-01 -7.40741314e-03 3.47793531e+02] [-6.66511935e-01 7.45463529e-01 6.77985938e-03 -1.28880561e+02] [ 1.00410473e-02 -1.16759174e-04 9.99949581e-01 4.59799921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.82, Y:-128.91, Z:4.60 [[ 7.44877620e-01 6.67157970e-01 -7.58770150e-03 3.47822913e+02] [-6.67121642e-01 7.44916255e-01 6.96329136e-03 -1.28906215e+02] [ 1.02978175e-02 -1.24880011e-04 9.99946968e-01 4.60007035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.41232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.86, Y:-128.93, Z:4.60 [[ 7.43316371e-01 6.68871725e-01 -9.55966912e-03 3.47856141e+02] [-6.68813898e-01 7.43377827e-01 8.79631426e-03 -1.28933946e+02] [ 1.29900520e-02 -1.44804825e-04 9.99915615e-01 4.60188857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.89, Y:-128.96, Z:4.60 [[ 7.42226128e-01 6.70081302e-01 -9.56158467e-03 3.47886671e+02] [-6.70022847e-01 7.42287695e-01 8.85227990e-03 -1.28956783e+02] [ 1.30291939e-02 -1.63913257e-04 9.99915103e-01 4.60175057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.47232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.91, Y:-128.98, Z:4.60 [[ 7.41304966e-01 6.71110736e-01 -8.79364870e-03 3.47914979e+02] [-6.71061175e-01 7.41357106e-01 8.15718334e-03 -1.28980622e+02] [ 1.19936073e-02 -1.45884284e-04 9.99928063e-01 4.60238963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.94, Y:-129.01, Z:4.60 [[ 7.40051565e-01 6.72501154e-01 -8.11656648e-03 3.47942324e+02] [-6.72458815e-01 7.40096063e-01 7.54716743e-03 -1.29006241e+02] [ 1.10825177e-02 -1.27236395e-04 9.99938579e-01 4.60404154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:347.97, Y:-129.03, Z:4.61 [[ 7.38239054e-01 6.74497132e-01 -7.53120605e-03 3.47969500e+02] [-6.74460732e-01 7.38277462e-01 7.00785869e-03 -1.29033405e+02] [ 1.02869003e-02 -9.39722234e-05 9.99947084e-01 4.60708907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.00, Y:-129.06, Z:4.61 [[ 7.37699520e-01 6.75086009e-01 -7.63537679e-03 3.47999313e+02] [-6.75048445e-01 7.37739026e-01 7.12217642e-03 -1.29059213e+02] [ 1.04409971e-02 -9.97768931e-05 9.99945486e-01 4.60863427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.59232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.03, Y:-129.08, Z:4.61 [[ 7.36308542e-01 6.76601044e-01 -7.79478795e-03 3.48028968e+02] [-6.76561705e-01 7.36349793e-01 7.29670643e-03 -1.29084320e+02] [ 1.06766497e-02 -9.89722508e-05 9.99942998e-01 4.60820066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.06, Y:-129.11, Z:4.61 [[ 7.34428293e-01 6.78636095e-01 -8.25420519e-03 3.48056748e+02] [-6.78591911e-01 7.34474671e-01 7.74443671e-03 -1.29110742e+02] [ 1.13181589e-02 -8.64965666e-05 9.99935944e-01 4.61027828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.65232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.09, Y:-129.14, Z:4.61 [[ 7.31538303e-01 6.81741477e-01 -8.95937420e-03 3.48085778e+02] [-6.81689403e-01 7.31593163e-01 8.42631257e-03 -1.29139410e+02] [ 1.22991837e-02 -5.66599512e-05 9.99924361e-01 4.61381030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.11, Y:-129.17, Z:4.61 [[ 7.29283572e-01 6.84156436e-01 -8.68572568e-03 3.48114527e+02] [-6.84107358e-01 7.29335293e-01 8.19467200e-03 -1.29166389e+02] [ 1.19412439e-02 -3.42708184e-05 9.99928700e-01 4.61497332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.71232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.14, Y:-129.19, Z:4.62 [[ 7.25159868e-01 6.88535865e-01 -7.84402850e-03 3.48143315e+02] [-6.88495934e-01 7.25202291e-01 7.41530105e-03 -1.29193393e+02] [ 1.07942082e-02 2.33029919e-05 9.99941741e-01 4.61537557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.17, Y:-129.22, Z:4.62 [[ 7.22281733e-01 6.91546697e-01 -8.50078752e-03 3.48171670e+02] [-6.91499698e-01 7.22331754e-01 8.06262088e-03 -1.29220456e+02] [ 1.17160676e-02 5.48082245e-05 9.99931363e-01 4.61656768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.77232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.21, Y:-129.25, Z:4.62 [[ 7.17312116e-01 6.96693598e-01 -9.01992764e-03 3.48207710e+02] [-6.96641181e-01 7.17368808e-01 8.54736924e-03 -1.29252567e+02] [ 1.24255122e-02 1.52521528e-04 9.99922789e-01 4.61817576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.24, Y:-129.28, Z:4.62 [[ 7.14853966e-01 6.99207574e-01 -9.62163013e-03 3.48237024e+02] [-6.99146951e-01 7.14918700e-01 9.20832741e-03 -1.29278917e+02] [ 1.33172156e-02 1.44324003e-04 9.99911312e-01 4.62010067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.83232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.27, Y:-129.30, Z:4.62 [[ 7.11597592e-01 7.02506757e-01 -1.06359232e-02 3.48266949e+02] [-7.02432576e-01 7.11677043e-01 1.02108657e-02 -1.29304011e+02] [ 1.47425445e-02 2.04991472e-04 9.99891302e-01 4.62124077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.30, Y:-129.33, Z:4.62 [[ 7.09554009e-01 7.04589634e-01 -9.30355278e-03 3.48298425e+02] [-7.04532912e-01 7.09614969e-01 8.94271487e-03 -1.29331726e+02] [ 1.29028845e-02 2.09319944e-04 9.99916732e-01 4.62253547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.89232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.33, Y:-129.36, Z:4.62 [[ 7.07133037e-01 7.07023133e-01 -9.00875256e-03 3.48328095e+02] [-7.06969788e-01 7.07190384e-01 8.68793475e-03 -1.29358984e+02] [ 1.25134740e-02 2.25390191e-04 9.99921678e-01 4.62413961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92232058799993 meters Centerline goodness [0,1] 0.9999515386479283 Centerline is valid? [True, True] Translation: X:348.36, Y:-129.38, Z:4.63 [[ 7.05514120e-01 7.08642941e-01 -8.66074941e-03 3.48358626e+02] [-7.08593457e-01 7.05567240e-01 8.37753933e-03 -1.29384129e+02] [ 1.20474252e-02 2.26478078e-04 9.99927401e-01 4.62672114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.95232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.40, Y:-129.42, Z:4.63 [[ 7.04246168e-01 7.09898682e-01 -9.01086887e-03 3.48398026e+02] [-7.09845363e-01 7.04303762e-01 8.70464470e-03 -1.29415073e+02] [ 1.25258046e-02 2.66110811e-04 9.99921514e-01 4.62806050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.43, Y:-129.44, Z:4.63 [[ 7.03473894e-01 7.10658332e-01 -9.44533500e-03 3.48428069e+02] [-7.10598608e-01 7.03537264e-01 9.21608107e-03 -1.29440652e+02] [ 1.31946300e-02 2.28569462e-04 9.99912921e-01 4.63004417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.01232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.46, Y:-129.46, Z:4.63 [[ 7.03159034e-01 7.10991394e-01 -7.65575261e-03 3.48459653e+02] [-7.10952084e-01 7.03200685e-01 7.47864342e-03 -1.29464445e+02] [ 1.07007816e-02 1.84197593e-04 9.99942728e-01 4.63052505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.49, Y:-129.49, Z:4.63 [[ 7.02777334e-01 7.11373621e-01 -7.18258214e-03 3.48489602e+02] [-7.11338888e-01 7.02814018e-01 7.03161514e-03 -1.29489111e+02] [ 1.00501249e-02 1.67590249e-04 9.99949482e-01 4.63164044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.07232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.52, Y:-129.52, Z:4.63 [[ 7.02082767e-01 7.12053788e-01 -7.69356151e-03 3.48524473e+02] [-7.12013944e-01 7.02124895e-01 7.53498146e-03 -1.29517544e+02] [ 1.07671532e-02 1.87742437e-04 9.99942015e-01 4.63363587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.55, Y:-129.54, Z:4.63 [[ 7.01871346e-01 7.12253792e-01 -8.43508276e-03 3.48554084e+02] [-7.12205212e-01 7.01922010e-01 8.32033901e-03 -1.29543650e+02] [ 1.18469633e-02 1.67702368e-04 9.99929808e-01 4.63494667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.13232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.59, Y:-129.57, Z:4.64 [[ 7.01143460e-01 7.12962470e-01 -9.07556561e-03 3.48587938e+02] [-7.12906167e-01 7.01202169e-01 8.96182978e-03 -1.29573323e+02] [ 1.27532546e-02 1.86498359e-04 9.99918657e-01 4.63610777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.62, Y:-129.60, Z:4.64 [[ 7.01547160e-01 7.12574985e-01 -8.27486985e-03 3.48620187e+02] [-7.12527580e-01 7.01595948e-01 8.22028517e-03 -1.29598051e+02] [ 1.16631847e-02 1.29155269e-04 9.99931974e-01 4.63607505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.65, Y:-129.62, Z:4.64 [[ 7.02353619e-01 7.11779796e-01 -8.30153073e-03 3.48649886e+02] [-7.11731787e-01 7.02402671e-01 8.26751495e-03 -1.29623854e+02] [ 1.17156675e-02 1.01744253e-04 9.99931364e-01 4.63864932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.35, Y:-128.90, Z:6.43 [[ 7.62356902e-01 -6.46259047e-01 3.40763446e-02 3.49349473e+02] [-6.45462501e-01 -7.63113895e-01 -3.21767391e-02 -1.28897297e+02] [ 4.67986408e-02 2.53515656e-03 -9.98901126e-01 6.43330479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.75, Y:-129.73, Z:4.64 [[ 7.58357181e-01 6.51770162e-01 -9.48909849e-03 3.48753662e+02] [-6.51720016e-01 7.58416544e-01 8.08500953e-03 -1.29726909e+02] [ 1.24662572e-02 5.29103919e-05 9.99922292e-01 4.64236584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.78, Y:-129.75, Z:4.64 [[ 7.58500425e-01 6.51586411e-01 -1.05950234e-02 3.48783793e+02] [-6.51523814e-01 7.58574417e-01 9.03182804e-03 -1.29748618e+02] [ 1.39221301e-02 5.22646320e-05 9.99903081e-01 4.64346530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.81, Y:-129.77, Z:4.64 [[ 7.58849724e-01 6.51184319e-01 -1.02994883e-02 3.48812140e+02] [-6.51124945e-01 7.58919615e-01 8.79344157e-03 -1.29771813e+02] [ 1.35426349e-02 3.33530444e-05 9.99908294e-01 4.64462327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.84, Y:-129.80, Z:4.65 [[ 7.58801824e-01 6.51232765e-01 -1.07553796e-02 3.48840208e+02] [-6.51167785e-01 7.58878044e-01 9.19949437e-03 -1.29795051e+02] [ 1.41530336e-02 2.29635804e-05 9.99899841e-01 4.64673335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.87, Y:-129.82, Z:4.65 [[ 7.58459779e-01 6.51632354e-01 -1.06788676e-02 3.48868789e+02] [-6.51568127e-01 7.58534953e-01 9.14883680e-03 -1.29818624e+02] [ 1.40619724e-02 1.89849988e-05 9.99901125e-01 4.64762721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.90, Y:-129.84, Z:4.65 [[ 7.57668952e-01 6.52524922e-01 -1.22059401e-02 3.48896930e+02] [-6.52440774e-01 7.57767263e-01 1.04790946e-02 -1.29842103e+02] [ 1.60871322e-02 2.39683877e-05 9.99870593e-01 4.64936700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.93, Y:-129.87, Z:4.65 [[ 7.56877541e-01 6.53439688e-01 -1.23677809e-02 3.48925268e+02] [-6.53353133e-01 7.56978582e-01 1.06353088e-02 -1.29865684e+02] [ 1.63116781e-02 3.09020477e-05 9.99866955e-01 4.65056584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:348.95, Y:-129.89, Z:4.65 [[ 7.54723121e-01 6.55921451e-01 -1.26514686e-02 3.48953295e+02] [-6.55830893e-01 7.54829149e-01 1.08993264e-02 -1.29889282e+02] [ 1.66987993e-02 7.12503714e-05 9.99860563e-01 4.65219672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.492320588 meters Centerline goodness [0,1] 0.9999516417621742 Centerline is valid? [True, True] Translation: X:348.98, Y:-129.91, Z:4.65 [[ 7.54061787e-01 6.56711430e-01 -1.09963331e-02 3.48981480e+02] [-6.56642927e-01 7.54141958e-01 9.48542613e-03 -1.29912637e+02] [ 1.45219839e-02 6.80669779e-05 9.99894548e-01 4.65165520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.01, Y:-129.94, Z:4.65 [[ 7.52067502e-01 6.58994871e-01 -1.09650672e-02 3.49009354e+02] [-6.58926765e-01 7.52147426e-01 9.47463726e-03 -1.29936472e+02] [ 1.44910844e-02 9.96094695e-05 9.99894994e-01 4.65304964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.04, Y:-129.96, Z:4.65 [[ 7.50988594e-01 6.60219956e-01 -1.12134429e-02 3.49037859e+02] [-6.60148616e-01 7.51072298e-01 9.70604756e-03 -1.29960225e+02] [ 1.48302326e-02 1.13407801e-04 9.99890020e-01 4.65354739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.07, Y:-129.98, Z:4.65 [[ 7.49930516e-01 6.61421131e-01 -1.12386948e-02 3.49065739e+02] [-6.61349364e-01 7.50014714e-01 9.74407332e-03 -1.29983868e+02] [ 1.48741224e-02 1.25325697e-04 9.99889366e-01 4.65439609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.09, Y:-130.01, Z:4.66 [[ 7.49518416e-01 6.61895344e-01 -1.08026636e-02 3.49094155e+02] [-6.61828890e-01 7.49596251e-01 9.37984419e-03 -1.30007478e+02] [ 1.43061113e-02 1.19148871e-04 9.99897655e-01 4.65539492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.12, Y:-130.03, Z:4.66 [[ 7.48138029e-01 6.63464538e-01 -1.02125582e-02 3.49122263e+02] [-6.63405108e-01 7.48207718e-01 8.88100791e-03 -1.30031444e+02] [ 1.35333487e-02 1.30843542e-04 9.99908411e-01 4.65665119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.67232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.15, Y:-130.05, Z:4.66 [[ 7.47007887e-01 6.64747260e-01 -9.50245268e-03 3.49151474e+02] [-6.64695765e-01 7.47068311e-01 8.27513091e-03 -1.30053758e+02] [ 1.25998519e-02 1.34651994e-04 9.99920610e-01 4.65839060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.18, Y:-130.08, Z:4.66 [[ 7.45821679e-01 6.66082785e-01 -9.15129277e-03 3.49180030e+02] [-6.66034992e-01 7.45877807e-01 7.98036296e-03 -1.30076424e+02] [ 1.21413286e-02 1.43153510e-04 9.99926281e-01 4.65994391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.73232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.21, Y:-130.10, Z:4.66 [[ 7.44651213e-01 6.67409965e-01 -7.64921637e-03 3.49208765e+02] [-6.67376578e-01 7.44690487e-01 6.67692458e-03 -1.30099936e+02] [ 1.01525447e-02 1.32927867e-04 9.99948453e-01 4.65857756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.24, Y:-130.12, Z:4.66 [[ 7.43606193e-01 6.68580523e-01 -7.06496685e-03 3.49236863e+02] [-6.68552023e-01 7.43639743e-01 6.17456556e-03 -1.30123006e+02] [ 9.38198440e-03 1.31852696e-04 9.99955980e-01 4.65984515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.79232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.26, Y:-130.15, Z:4.66 [[ 7.43066100e-01 6.69180792e-01 -7.05961949e-03 3.49264412e+02] [-6.69152261e-01 7.43099624e-01 6.18066213e-03 -1.30146648e+02] [ 9.38198096e-03 1.31319841e-04 9.99955980e-01 4.66092210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.29, Y:-130.17, Z:4.66 [[ 7.42124303e-01 6.70229040e-01 -6.67488294e-03 3.49293260e+02] [-6.70203507e-01 7.42154308e-01 5.85165676e-03 -1.30169512e+02] [ 8.87574342e-03 1.30873264e-04 9.99960601e-01 4.66019460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.85232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.32, Y:-130.19, Z:4.66 [[ 7.41484121e-01 6.70934570e-01 -6.93547078e-03 3.49322208e+02] [-6.70906936e-01 7.41516543e-01 6.09085390e-03 -1.30192312e+02] [ 9.22933076e-03 1.36784001e-04 9.99957399e-01 4.66168282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.35, Y:-130.21, Z:4.66 [[ 7.40676453e-01 6.71826434e-01 -6.90175399e-03 3.49351448e+02] [-6.71799021e-01 7.40708595e-01 6.07068952e-03 -1.30214979e+02] [ 9.19063819e-03 1.40174789e-04 9.99957755e-01 4.66385335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.91232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.38, Y:-130.24, Z:4.66 [[ 7.40042165e-01 6.72535210e-01 -5.82967035e-03 3.49379130e+02] [-6.72515642e-01 7.40065116e-01 5.13179617e-03 -1.30238611e+02] [ 7.76564928e-03 1.22798944e-04 9.99969839e-01 4.66344821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:349.41, Y:-130.26, Z:4.66 [[ 7.40138092e-01 6.72439881e-01 -4.49570317e-03 3.49407831e+02] [-6.72428249e-01 7.40151739e-01 3.95646671e-03 -1.30261449e+02] [ 5.98798853e-03 9.47060905e-05 9.99982067e-01 4.66489796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.97232058799995 meters Centerline goodness [0,1] 0.9999515926033498 Centerline is valid? [True, True] Translation: X:349.44, Y:-130.28, Z:4.67 [[ 7.39667232e-01 6.72957628e-01 -4.51848951e-03 3.49435661e+02] [-6.72945843e-01 7.39681027e-01 3.98375662e-03 -1.30284987e+02] [ 6.02314037e-03 9.40445032e-05 9.99981856e-01 4.66618077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.002320588 meters Centerline goodness [0,1] 0.9998544678373921 Centerline is valid? [True, True] Translation: X:349.46, Y:-130.31, Z:4.67 [[ 7.40475810e-01 6.72071000e-01 -4.01814254e-03 3.49464535e+02] [-6.72061656e-01 7.40486708e-01 3.54472126e-03 -1.30307982e+02] [ 5.35768551e-03 7.56591839e-05 9.99985645e-01 4.66762581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03232058799995 meters Centerline goodness [0,1] 0.9998543265028649 Centerline is valid? [True, True] Translation: X:349.49, Y:-130.33, Z:4.67 [[ 7.40434050e-01 6.72113171e-01 -4.61538711e-03 3.49492724e+02] [-6.72100769e-01 7.40448431e-01 4.08379732e-03 -1.30331525e+02] [ 6.16223011e-03 7.82226317e-05 9.99981010e-01 4.66862267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.062320588 meters Centerline goodness [0,1] 0.9994189987411639 Centerline is valid? [True, True] Translation: X:349.52, Y:-130.36, Z:4.67 [[ 7.40009044e-01 6.72572364e-01 -5.74714191e-03 3.49520981e+02] [-6.72553023e-01 7.40031355e-01 5.10139637e-03 -1.30355223e+02] [ 7.68412344e-03 9.01782118e-05 9.99970473e-01 4.66968193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09232058799995 meters Centerline goodness [0,1] 0.9994186609824629 Centerline is valid? [True, True] Translation: X:349.55, Y:-130.38, Z:4.67 [[ 7.39817222e-01 6.72785082e-01 -5.54171302e-03 3.49548525e+02] [-6.72767051e-01 7.39837973e-01 4.92631577e-03 -1.30378881e+02] [ 7.41432149e-03 8.37086743e-05 9.99972510e-01 4.67106481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.122320588 meters Centerline goodness [0,1] 0.999418942475305 Centerline is valid? [True, True] Translation: X:349.58, Y:-130.40, Z:4.67 [[ 7.39372749e-01 6.73275482e-01 -5.29752707e-03 3.49575960e+02] [-6.73258974e-01 7.39391722e-01 4.71538104e-03 -1.30402963e+02] [ 7.09169811e-03 8.01833971e-05 9.99974850e-01 4.67297082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.15232058799995 meters Centerline goodness [0,1] 0.9998058817820052 Centerline is valid? [True, True] Translation: X:349.61, Y:-130.43, Z:4.67 [[ 7.39616471e-01 6.73011454e-01 -4.80191496e-03 3.49605479e+02] [-6.72997866e-01 7.39632056e-01 4.27717363e-03 -1.30425888e+02] [ 6.43023707e-03 6.82104568e-05 9.99979323e-01 4.67299557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.182320588 meters Centerline goodness [0,1] 0.999757845796203 Centerline is valid? [True, True] Translation: X:349.63, Y:-130.45, Z:4.67 [[ 7.39795826e-01 6.72816124e-01 -4.53859691e-03 3.49634241e+02] [-6.72803948e-01 7.39809745e-01 4.04819046e-03 -1.30449306e+02] [ 6.08138604e-03 5.87515167e-05 9.99981506e-01 4.67273641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.21232058799995 meters Centerline goodness [0,1] 0.9995627671978236 Centerline is valid? [True, True] Translation: X:349.66, Y:-130.47, Z:4.67 [[ 7.39808381e-01 6.72807071e-01 -3.76894734e-03 3.49661646e+02] [-6.72798673e-01 7.39817980e-01 3.36188266e-03 -1.30473396e+02] [ 5.05023343e-03 4.85938056e-05 9.99987246e-01 4.67354553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.242320588 meters Centerline goodness [0,1] 0.9996121776226489 Centerline is valid? [True, True] Translation: X:349.69, Y:-130.50, Z:4.67 [[ 7.39720910e-01 6.72899873e-01 -4.32859124e-03 3.49688602e+02] [-6.72888736e-01 7.39733573e-01 3.87182222e-03 -1.30498038e+02] [ 5.80735294e-03 4.85924301e-05 9.99983136e-01 4.67499032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.27232058799996 meters Centerline goodness [0,1] 0.9998057309373483 Centerline is valid? [True, True] Translation: X:349.72, Y:-130.52, Z:4.67 [[ 7.41004451e-01 6.71485447e-01 -4.43825988e-03 3.49716331e+02] [-6.71473667e-01 7.41017742e-01 3.97753364e-03 -1.30522910e+02] [ 5.95968527e-03 3.28045042e-05 9.99982240e-01 4.67081415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.302320588 meters Centerline goodness [0,1] 0.9998532146002544 Centerline is valid? [True, True] Translation: X:349.74, Y:-130.55, Z:4.68 [[ 7.41030208e-01 6.71455011e-01 -4.73278267e-03 3.49744564e+02] [-6.71441572e-01 7.41045321e-01 4.24824002e-03 -1.30546548e+02] [ 6.35970850e-03 2.97128551e-05 9.99979776e-01 4.67665507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.33232058799996 meters Centerline goodness [0,1] 0.9997574934523232 Centerline is valid? [True, True] Translation: X:349.77, Y:-130.57, Z:4.68 [[ 7.40485005e-01 6.72058657e-01 -4.37260623e-03 3.49772330e+02] [-6.72047162e-01 7.40497915e-01 3.93072074e-03 -1.30570689e+02] [ 5.87958069e-03 2.79578401e-05 9.99982715e-01 4.67736346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.362320588 meters Centerline goodness [0,1] 0.9996115562029619 Centerline is valid? [True, True] Translation: X:349.80, Y:-130.59, Z:4.68 [[ 7.40205379e-01 6.72367072e-01 -4.30315062e-03 3.49799283e+02] [-6.72355906e-01 7.40217887e-01 3.87508500e-03 -1.30594968e+02] [ 5.79074861e-03 2.48899702e-05 9.99983233e-01 4.67919814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.39232058799996 meters Centerline goodness [0,1] 0.9999516651360626 Centerline is valid? [True, True] Translation: X:349.83, Y:-130.62, Z:4.68 [[ 7.40219233e-01 6.72349434e-01 -4.66099658e-03 3.49825676e+02] [-6.72336273e-01 7.40233907e-01 4.20687738e-03 -1.30621267e+02] [ 6.27871934e-03 1.97455190e-05 9.99980288e-01 4.67970731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42232058799993 meters Centerline goodness [0,1] 0.9997094149554436 Centerline is valid? [True, True] Translation: X:349.85, Y:-130.65, Z:4.68 [[ 7.39722373e-01 6.72901437e-01 -3.80357799e-03 3.49852298e+02] [-6.72892678e-01 7.39732151e-01 3.43333420e-03 -1.30646531e+02] [ 5.12392445e-03 1.96856640e-05 9.99986872e-01 4.68041561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.45232058799996 meters Centerline goodness [0,1] 0.9999032414126754 Centerline is valid? [True, True] Translation: X:349.88, Y:-130.67, Z:4.68 [[ 7.39663629e-01 6.72968755e-01 -3.28185318e-03 3.49879488e+02] [-6.72962234e-01 7.39670909e-01 2.96270529e-03 -1.30670991e+02] [ 4.42129942e-03 1.71579049e-05 9.99990226e-01 4.68093290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48232058799994 meters Centerline goodness [0,1] 0.9997097242380262 Centerline is valid? [True, True] Translation: X:349.91, Y:-130.70, Z:4.68 [[ 7.38998565e-01 6.73698811e-01 -3.32161761e-03 3.49906784e+02] [-6.73692171e-01 7.39006029e-01 2.99131194e-03 -1.30695994e+02] [ 4.46993874e-03 2.71725486e-05 9.99990009e-01 4.68167745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.51232058799997 meters Centerline goodness [0,1] 0.999903381642512 Centerline is valid? [True, True] Translation: X:349.93, Y:-130.72, Z:4.68 [[ 7.38370154e-01 6.74388427e-01 -3.12484718e-03 3.49934248e+02] [-6.74382538e-01 7.38376766e-01 2.81833083e-03 -1.30721042e+02] [ 4.20796425e-03 2.63709996e-05 9.99991146e-01 4.68132355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54232058799994 meters Centerline goodness [0,1] 0.9998549743788069 Centerline is valid? [True, True] Translation: X:349.96, Y:-130.75, Z:4.68 [[ 7.37658333e-01 6.75164218e-01 -3.66913831e-03 3.49961142e+02] [-6.75156026e-01 7.37667458e-01 3.32597724e-03 -1.30746927e+02] [ 4.95218475e-03 2.38060149e-05 9.99987738e-01 4.68236998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.57232058799997 meters Centerline goodness [0,1] 0.9997584190945548 Centerline is valid? [True, True] Translation: X:349.99, Y:-130.77, Z:4.68 [[ 7.36695816e-01 6.76212972e-01 -3.91036547e-03 3.49988359e+02] [-6.76203624e-01 7.36706193e-01 3.55573331e-03 -1.30772953e+02] [ 5.28522345e-03 2.47094528e-05 9.99986033e-01 4.68345402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60232058799994 meters Centerline goodness [0,1] 0.9999517001545595 Centerline is valid? [True, True] Translation: X:350.01, Y:-130.80, Z:4.69 [[ 7.35842243e-01 6.77131661e-01 -5.37647933e-03 3.50013840e+02] [-6.77113797e-01 7.35861884e-01 4.91866126e-03 -1.30800729e+02] [ 7.28692748e-03 2.11295955e-05 9.99973450e-01 4.68573392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.63232058799997 meters Centerline goodness [0,1] 0.9998550024166264 Centerline is valid? [True, True] Translation: X:350.04, Y:-130.83, Z:4.69 [[ 7.34608520e-01 6.78473213e-01 -4.94182059e-03 3.50042980e+02] [-6.78458167e-01 7.34625141e-01 4.51864063e-03 -1.30829292e+02] [ 6.69616228e-03 3.33866295e-05 9.99977580e-01 4.68666571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66232058799994 meters Centerline goodness [0,1] 0.9996616723054615 Centerline is valid? [True, True] Translation: X:350.07, Y:-130.86, Z:4.69 [[ 7.32199842e-01 6.81076601e-01 -4.24910743e-03 3.50070133e+02] [-6.81065475e-01 7.32212170e-01 3.89329197e-03 -1.30857359e+02] [ 5.76287824e-03 4.32526062e-05 9.99983394e-01 4.68652573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.692320588 meters Centerline goodness [0,1] 0.9998550584597545 Centerline is valid? [True, True] Translation: X:350.10, Y:-130.89, Z:4.69 [[ 7.30421232e-01 6.82985055e-01 -4.02969057e-03 3.50099911e+02] [-6.82975060e-01 7.30432346e-01 3.69527419e-03 -1.30885476e+02] [ 5.46723339e-03 5.30714292e-05 9.99985053e-01 4.68776420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.13, Y:-130.91, Z:4.69 [[ 7.28078740e-01 6.85471040e-01 -5.55000705e-03 3.50126281e+02] [-6.85451820e-01 7.28099890e-01 5.13345522e-03 -1.30912987e+02] [ 7.55979441e-03 6.67028324e-05 9.99971422e-01 4.68827492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.15, Y:-130.94, Z:4.69 [[ 7.25977280e-01 6.87686320e-01 -6.67192935e-03 3.50152640e+02] [-6.87658391e-01 7.26007933e-01 6.19828590e-03 -1.30940063e+02] [ 9.10635005e-03 8.81934612e-05 9.99958532e-01 4.69097737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78232058799995 meters Centerline goodness [0,1] 0.9998064360029034 Centerline is valid? [True, True] Translation: X:350.18, Y:-130.97, Z:4.69 [[ 7.24420752e-01 6.89325395e-01 -6.71371570e-03 3.50178711e+02] [-6.89297049e-01 7.24451855e-01 6.25208305e-03 -1.30966936e+02] [ 9.17348341e-03 9.86057195e-05 9.99957918e-01 4.69165068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.812320588 meters Centerline goodness [0,1] 0.9999033349444176 Centerline is valid? [True, True] Translation: X:350.21, Y:-131.00, Z:4.69 [[ 7.21742460e-01 6.92146795e-01 -4.54262760e-03 3.50205028e+02] [-6.92133918e-01 7.21756749e-01 4.22321472e-03 -1.30995399e+02] [ 6.20175666e-03 9.60332551e-05 9.99980764e-01 4.69176275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84232058799995 meters Centerline goodness [0,1] 0.9998549533433254 Centerline is valid? [True, True] Translation: X:350.23, Y:-131.02, Z:4.69 [[ 7.19334611e-01 6.94647546e-01 -4.74378730e-03 3.50232670e+02] [-6.94633482e-01 7.19350244e-01 4.42187667e-03 -1.31022884e+02] [ 6.48409033e-03 1.14384551e-04 9.99978972e-01 4.69359988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.872320588 meters Centerline goodness [0,1] 0.9998550794647602 Centerline is valid? [True, True] Translation: X:350.26, Y:-131.05, Z:4.69 [[ 7.17900275e-01 6.96126456e-01 -5.21078602e-03 3.50261042e+02] [-6.96109398e-01 7.17919174e-01 4.87505438e-03 -1.31049828e+02] [ 7.13457753e-03 1.27474233e-04 9.99974540e-01 4.69473098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.29, Y:-131.08, Z:4.70 [[ 7.15144050e-01 6.98945513e-01 -6.64519644e-03 3.50290339e+02] [-6.98917659e-01 7.15174900e-01 6.24246550e-03 -1.31078238e+02] [ 9.11562095e-03 1.80183083e-04 9.99958436e-01 4.69634658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.932320588 meters Centerline goodness [0,1] 0.9998549954081879 Centerline is valid? [True, True] Translation: X:350.33, Y:-131.12, Z:4.70 [[ 7.10960879e-01 7.03204066e-01 -6.21855811e-03 3.50331395e+02] [-7.03180352e-01 7.10988026e-01 5.78102071e-03 -1.31116010e+02] [ 8.48655762e-03 2.62688313e-04 9.99963954e-01 4.69688017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96232058799995 meters Centerline goodness [0,1] 0.9999516744792926 Centerline is valid? [True, True] Translation: X:350.36, Y:-131.14, Z:4.70 [[ 7.09315521e-01 7.04860076e-01 -6.61551391e-03 3.50359087e+02] [-7.04832054e-01 7.09346342e-01 6.28829745e-03 -1.31143648e+02] [ 9.12506040e-03 2.02439276e-04 9.99958345e-01 4.69837467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.992320588 meters Centerline goodness [0,1] 0.9999031523897148 Centerline is valid? [True, True] Translation: X:350.39, Y:-131.17, Z:4.70 [[ 7.07475609e-01 7.06714484e-01 -5.73597696e-03 3.50386844e+02] [-7.06693421e-01 7.07498835e-01 5.45951815e-03 -1.31171287e+02] [ 7.91651757e-03 1.91101252e-04 9.99968646e-01 4.69926937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02232058799996 meters Centerline goodness [0,1] 0.9998547285845721 Centerline is valid? [True, True] Translation: X:350.42, Y:-131.20, Z:4.70 [[ 7.06517647e-01 7.07677998e-01 -4.96640237e-03 3.50416042e+02] [-7.07662197e-01 7.06535082e-01 4.73217323e-03 -1.31196858e+02] [ 6.85779239e-03 1.71171317e-04 9.99976470e-01 4.69974539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.052320588 meters Centerline goodness [0,1] 0.9999029832646131 Centerline is valid? [True, True] Translation: X:350.45, Y:-131.22, Z:4.70 [[ 7.05048386e-01 7.09140517e-01 -5.14790091e-03 3.50445524e+02] [-7.09123513e-01 7.05067155e-01 4.91434019e-03 -1.31224149e+02] [ 7.11457359e-03 1.85649953e-04 9.99974674e-01 4.70134212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.47, Y:-131.25, Z:4.70 [[ 7.03875277e-01 7.10306856e-01 -4.87495220e-03 3.50472768e+02] [-7.10291529e-01 7.03892137e-01 4.66949887e-03 -1.31251501e+02] [ 6.74821758e-03 1.75892442e-04 9.99977215e-01 4.70147679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.112320588 meters Centerline goodness [0,1] 0.9999516136836503 Centerline is valid? [True, True] Translation: X:350.50, Y:-131.28, Z:4.70 [[ 7.02761772e-01 7.11402668e-01 -5.66880495e-03 3.50501443e+02] [-7.11381806e-01 7.02784606e-01 5.45192986e-03 -1.31278555e+02] [ 7.86246631e-03 2.01276808e-04 9.99969070e-01 4.70350623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14232058799996 meters Centerline goodness [0,1] 0.9999515433444783 Centerline is valid? [True, True] Translation: X:350.53, Y:-131.30, Z:4.70 [[ 7.02875057e-01 7.11284882e-01 -6.36173350e-03 3.50530401e+02] [-7.11258420e-01 7.02903815e-01 6.13898794e-03 -1.31304359e+02] [ 8.83825606e-03 2.09895017e-04 9.99960920e-01 4.70407740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.17232058799993 meters Centerline goodness [0,1] 0.9999515668135807 Centerline is valid? [True, True] Translation: X:350.56, Y:-131.33, Z:4.71 [[ 7.02970192e-01 7.11190586e-01 -6.39205325e-03 3.50558769e+02] [-7.11163721e-01 7.02999225e-01 6.18480383e-03 -1.31331090e+02] [ 8.89218275e-03 1.98063632e-04 9.99960444e-01 4.70600794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.59, Y:-131.36, Z:4.71 [[ 7.02632495e-01 7.11526173e-01 -6.17105401e-03 3.50587604e+02] [-7.11501049e-01 7.02659569e-01 5.98228417e-03 -1.31358281e+02] [ 8.59270192e-03 1.87364148e-04 9.99963065e-01 4.70806253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.23232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.62, Y:-131.39, Z:4.71 [[ 7.04274324e-01 7.09906339e-01 -5.53775376e-03 3.50615081e+02] [-7.09885976e-01 7.04296081e-01 5.37876704e-03 -1.31385831e+02] [ 7.71863909e-03 1.43046220e-04 9.99970201e-01 4.70873758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.64, Y:-131.41, Z:4.71 [[ 7.04495313e-01 7.09686767e-01 -5.57197428e-03 3.50643436e+02] [-7.09666018e-01 7.04517336e-01 5.42832569e-03 -1.31412315e+02] [ 7.77796338e-03 1.30010797e-04 9.99969743e-01 4.70880562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.29232058799994 meters Centerline goodness [0,1] 0.9999032601335011 Centerline is valid? [True, True] Translation: X:350.67, Y:-131.44, Z:4.71 [[ 7.05675843e-01 7.08503993e-01 -6.61039412e-03 3.50671718e+02] [-7.08474501e-01 7.05706793e-01 6.46554142e-03 -1.31439859e+02] [ 9.24586194e-03 1.20719288e-04 9.99957249e-01 4.70827137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.70, Y:-131.47, Z:4.71 [[ 7.05693033e-01 7.08488129e-01 -6.47412572e-03 3.50699610e+02] [-7.08459722e-01 7.05722721e-01 6.34536791e-03 -1.31467761e+02] [ 9.06455546e-03 1.08775383e-04 9.99958910e-01 4.70921921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.35232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.73, Y:-131.50, Z:4.71 [[ 7.05969865e-01 7.08206651e-01 -7.06321241e-03 3.50725901e+02] [-7.08172567e-01 7.06005191e-01 6.94876291e-03 -1.31497072e+02] [ 9.90782474e-03 9.63560461e-05 9.99950912e-01 4.71026368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.75, Y:-131.53, Z:4.71 [[ 7.05177286e-01 7.08995880e-01 -7.05959897e-03 3.50752407e+02] [-7.08961696e-01 7.05212616e-01 6.96279449e-03 -1.31525706e+02] [ 9.91511086e-03 9.49807367e-05 9.99950840e-01 4.71216035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.41232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.78, Y:-131.55, Z:4.71 [[ 7.04537207e-01 7.09634491e-01 -6.79796330e-03 3.50779756e+02] [-7.09602694e-01 7.04569997e-01 6.71832742e-03 -1.31554354e+02] [ 9.55719784e-03 9.05414315e-05 9.99954325e-01 4.71320838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.442320588 meters Centerline goodness [0,1] 0.9999516674722088 Centerline is valid? [True, True] Translation: X:350.81, Y:-131.58, Z:4.71 [[ 7.04043214e-01 7.10121462e-01 -7.11766716e-03 3.50807518e+02] [-7.10086411e-01 7.04079187e-01 7.05603375e-03 -1.31583511e+02] [ 1.00220423e-02 8.64060446e-05 9.99949774e-01 4.71400539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.47232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.84, Y:-131.61, Z:4.71 [[ 7.03550123e-01 7.10620951e-01 -5.92351200e-03 3.50835652e+02] [-7.10596639e-01 7.03575056e-01 5.87864954e-03 -1.31611199e+02] [ 8.34512681e-03 7.33031052e-05 9.99965176e-01 4.71374068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.58, Y:-130.85, Z:6.53 [[ 7.62544516e-01 -6.45924908e-01 3.61507290e-02 3.51577453e+02] [-6.45039109e-01 -7.63396725e-01 -3.39114758e-02 -1.30845987e+02] [ 4.95016150e-02 2.54037588e-03 -9.98770813e-01 6.53232004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.53232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.94, Y:-131.73, Z:4.72 [[ 7.58426112e-01 6.51718444e-01 -7.27340595e-03 3.50939800e+02] [-6.51689086e-01 7.58460986e-01 6.18615242e-03 -1.31727244e+02] [ 9.54822428e-03 4.82597483e-05 9.99954414e-01 4.71699131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:350.97, Y:-131.75, Z:4.72 [[ 7.57684387e-01 6.52578503e-01 -7.46104377e-03 3.50967527e+02] [-6.52547754e-01 7.57721118e-01 6.33529801e-03 -1.31751852e+02] [ 9.78766972e-03 6.85309607e-05 9.99952097e-01 4.71844640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.59232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.00, Y:-131.78, Z:4.72 [[ 7.57214813e-01 6.53131195e-01 -6.73563950e-03 3.50996264e+02] [-6.53106033e-01 7.57244768e-01 5.73329728e-03 -1.31776608e+02] [ 8.84512308e-03 5.77491626e-05 9.99960879e-01 4.71969285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.02, Y:-131.80, Z:4.72 [[ 7.56099487e-01 6.54426120e-01 -6.32606608e-03 3.51022926e+02] [-6.54403943e-01 7.56125948e-01 5.38800637e-03 -1.31803021e+02] [ 8.30935481e-03 6.59337356e-05 9.99965475e-01 4.72022507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.65232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.05, Y:-131.83, Z:4.72 [[ 7.55467826e-01 6.55158119e-01 -6.01689621e-03 3.51054956e+02] [-6.55138089e-01 7.55491783e-01 5.12351537e-03 -1.31830993e+02] [ 7.90242834e-03 7.12468732e-05 9.99968773e-01 4.72060745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.08, Y:-131.86, Z:4.72 [[ 7.54520141e-01 6.56231323e-01 -7.73354638e-03 3.51081728e+02] [-6.56197797e-01 7.54559770e-01 6.63363748e-03 -1.31857040e+02] [ 1.01886237e-02 6.95230062e-05 9.99948092e-01 4.72129581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.71232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.11, Y:-131.88, Z:4.72 [[ 7.53745246e-01 6.57121309e-01 -7.72588782e-03 3.51110121e+02] [-6.57087739e-01 7.53784837e-01 6.64252577e-03 -1.31880617e+02] [ 1.01886023e-02 6.98139415e-05 9.99948092e-01 4.72239360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.14, Y:-131.91, Z:4.72 [[ 7.52793166e-01 6.58223244e-01 -6.67906513e-03 3.51138137e+02] [-6.58198147e-01 7.52822792e-01 5.74824488e-03 -1.31906104e+02] [ 8.81178085e-03 6.89088291e-05 9.99961173e-01 4.72322962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.77232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.17, Y:-131.93, Z:4.72 [[ 7.51384639e-01 6.59831120e-01 -6.63455725e-03 3.51166591e+02] [-6.59806351e-01 7.51413925e-01 5.71780975e-03 -1.31935000e+02] [ 8.75808751e-03 8.12485966e-05 9.99961644e-01 4.72424392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.20, Y:-131.96, Z:4.73 [[ 7.49756581e-01 6.61676974e-01 -6.97505330e-03 3.51195395e+02] [-6.61649440e-01 7.49789020e-01 6.03688608e-03 -1.31961948e+02] [ 9.22428689e-03 8.88450501e-05 9.99957451e-01 4.72539406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.83232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.22, Y:-131.99, Z:4.73 [[ 7.48323049e-01 6.63293182e-01 -7.40058696e-03 3.51223784e+02] [-6.63262065e-01 7.48359636e-01 6.42568998e-03 -1.31989420e+02] [ 9.80041692e-03 1.00036662e-04 9.99951970e-01 4.72628686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.25, Y:-132.02, Z:4.73 [[ 7.47276200e-01 6.64469325e-01 -7.66791930e-03 3.51252749e+02] [-6.64435783e-01 7.47315533e-01 6.67720390e-03 -1.32015129e+02] [ 1.01671524e-02 1.05124406e-04 9.99948308e-01 4.72794335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.89232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.28, Y:-132.04, Z:4.73 [[ 7.45921036e-01 6.65996223e-01 -7.13010225e-03 3.51281089e+02] [-6.65967174e-01 7.45955105e-01 6.22130507e-03 -1.32042155e+02] [ 9.46210186e-03 1.07811724e-04 9.99955227e-01 4.72835244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.34, Y:-132.09, Z:4.73 [[ 7.40181838e-01 6.72374666e-01 -6.56928585e-03 3.51341248e+02] [-6.72351787e-01 7.40210926e-01 5.55503129e-03 -1.32089435e+02] [ 8.59771947e-03 3.05137811e-04 9.99962992e-01 4.73183812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.95232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.39, Y:-132.13, Z:4.73 [[ 7.35421081e-01 6.77581083e-01 -6.30148229e-03 3.51393268e+02] [-6.77559211e-01 7.35448032e-01 5.45054975e-03 -1.32131918e+02] [ 8.32760215e-03 2.61178174e-04 9.99965291e-01 4.73327571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.43, Y:-132.16, Z:4.73 [[ 7.32051159e-01 6.81208154e-01 -7.52009203e-03 3.51430684e+02] [-6.81174839e-01 7.32089759e-01 6.73966779e-03 -1.32164513e+02] [ 1.00964990e-02 1.88715865e-04 9.99949011e-01 4.73438964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.01232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.47, Y:-132.20, Z:4.74 [[ 7.28716046e-01 6.84764122e-01 -8.42740551e-03 3.51473405e+02] [-6.84722215e-01 7.28764733e-01 7.57973696e-03 -1.32200616e+02] [ 1.13319279e-02 2.46955817e-04 9.99935761e-01 4.73599799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.50, Y:-132.23, Z:4.74 [[ 7.26549708e-01 6.87069957e-01 -7.77149452e-03 3.51502338e+02] [-6.87033196e-01 7.26591249e-01 7.10940582e-03 -1.32227265e+02] [ 1.05313591e-02 1.73937994e-04 9.99944529e-01 4.73837031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.07232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.53, Y:-132.25, Z:4.74 [[ 7.25062519e-01 6.88653555e-01 -6.37372366e-03 3.51532215e+02] [-6.88628891e-01 7.25090515e-01 5.83057843e-03 -1.32253813e+02] [ 8.63677513e-03 1.61596375e-04 9.99962689e-01 4.73825950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.56, Y:-132.28, Z:4.74 [[ 7.23893257e-01 6.89890272e-01 -5.47403725e-03 3.51562899e+02] [-6.89872089e-01 7.23913939e-01 5.01093521e-03 -1.32281675e+02] [ 7.41972731e-03 1.49003303e-04 9.99972462e-01 4.73675033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.13232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.59, Y:-132.31, Z:4.74 [[ 7.23508822e-01 6.90293203e-01 -5.50253170e-03 3.51592834e+02] [-6.90274663e-01 7.23529733e-01 5.06102737e-03 -1.32307924e+02] [ 7.47483809e-03 1.36560266e-04 9.99972054e-01 4.73728205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.62, Y:-132.33, Z:4.74 [[ 7.22689122e-01 6.91148420e-01 -5.85608772e-03 3.51624056e+02] [-6.91127327e-01 7.22712834e-01 5.40158308e-03 -1.32332180e+02] [ 7.96556536e-03 1.43636919e-04 9.99968264e-01 4.74269108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.66, Y:-132.36, Z:4.74 [[ 7.21926365e-01 6.91950227e-01 -5.21610802e-03 3.51655901e+02] [-6.91933509e-01 7.21945196e-01 4.81182843e-03 -1.32356892e+02] [ 7.09528990e-03 1.35414119e-04 9.99974819e-01 4.74274688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.69, Y:-132.38, Z:4.74 [[ 7.21662763e-01 6.92229469e-01 -4.60639004e-03 3.51686604e+02] [-6.92216388e-01 7.21677455e-01 4.25724239e-03 -1.32381874e+02] [ 6.27131648e-03 1.16325368e-04 9.99980328e-01 4.74297044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.72, Y:-132.41, Z:4.75 [[ 7.21429547e-01 6.92468479e-01 -5.17822784e-03 3.51716658e+02] [-6.92451797e-01 7.21448121e-01 4.80800659e-03 -1.32407565e+02] [ 7.06521576e-03 1.17035156e-04 9.99975034e-01 4.74532712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.75, Y:-132.43, Z:4.75 [[ 7.21257332e-01 6.92643902e-01 -5.68198279e-03 3.51746454e+02] [-6.92623709e-01 7.21279703e-01 5.29032070e-03 -1.32433529e+02] [ 7.76260724e-03 1.19793396e-04 9.99969863e-01 4.74544071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.78, Y:-132.46, Z:4.75 [[ 7.21509843e-01 6.92376469e-01 -6.19445422e-03 3.51777396e+02] [-6.92352273e-01 7.21536425e-01 5.78948303e-03 -1.32458612e+02] [ 8.47802617e-03 1.11575461e-04 9.99964055e-01 4.74592649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.81, Y:-132.48, Z:4.75 [[ 7.22037514e-01 6.91840199e-01 -4.35501640e-03 3.51807912e+02] [-6.91828258e-01 7.22050644e-01 4.06566861e-03 -1.32484644e+02] [ 5.95733538e-03 7.73581508e-05 9.99982252e-01 4.74705025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.84, Y:-132.51, Z:4.75 [[ 7.21832197e-01 6.92053795e-01 -4.45258024e-03 3.51837020e+02] [-6.92041242e-01 7.21845926e-01 4.16888418e-03 -1.32511282e+02] [ 6.09916902e-03 7.21343349e-05 9.99981397e-01 4.74896026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.87, Y:-132.54, Z:4.75 [[ 7.23293040e-01 6.90521858e-01 -5.17130833e-03 3.51867168e+02] [-6.90504697e-01 7.23311525e-01 4.86842645e-03 -1.32536433e+02] [ 7.10222179e-03 4.95137215e-05 9.99974778e-01 4.75098431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.90, Y:-132.56, Z:4.75 [[ 7.23823524e-01 6.89945836e-01 -7.36542236e-03 3.51896925e+02] [-6.89910663e-01 7.23860996e-01 6.96667063e-03 -1.32562486e+02] [ 1.01381674e-02 3.88433375e-05 9.99948607e-01 4.75092864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.93, Y:-132.59, Z:4.75 [[ 7.23557155e-01 6.90238634e-01 -5.97255693e-03 3.51926456e+02] [-6.90215479e-01 7.23581804e-01 5.65378410e-03 -1.32589900e+02] [ 8.22409373e-03 3.15153046e-05 9.99966181e-01 4.75175019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:351.99, Y:-132.64, Z:4.75 [[ 7.17442056e-01 6.96595934e-01 -5.56789034e-03 3.51991270e+02] [-6.96577842e-01 7.17463610e-01 5.02777912e-03 -1.32642724e+02] [ 7.49708919e-03 2.71328842e-04 9.99971860e-01 4.75490963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.02, Y:-132.67, Z:4.76 [[ 7.17484402e-01 6.96558973e-01 -4.66150963e-03 3.52021506e+02] [-6.96544434e-01 7.17499544e-01 4.50058499e-03 -1.32670447e+02] [ 6.47955389e-03 1.78490547e-05 9.99979007e-01 4.75616086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.06, Y:-132.71, Z:4.76 [[ 7.15630360e-01 6.98463135e-01 -4.73686792e-03 3.52060436e+02] [-6.98448525e-01 7.15646032e-01 4.51827081e-03 -1.32707290e+02] [ 6.54576633e-03 7.50466489e-05 9.99978573e-01 4.75708710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.09, Y:-132.74, Z:4.76 [[ 7.14625280e-01 6.99494576e-01 -4.24824024e-03 3.52089004e+02] [-6.99482335e-01 7.14637907e-01 4.13827134e-03 -1.32736484e+02] [ 5.93065187e-03 1.42556862e-05 9.99982413e-01 4.75795494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.12, Y:-132.77, Z:4.76 [[ 7.13556565e-01 7.00577554e-01 -5.30276390e-03 3.52117443e+02] [-7.00558293e-01 7.13576268e-01 5.19498258e-03 -1.32765365e+02] [ 7.42341467e-03 7.98130319e-06 9.99972446e-01 4.75965802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.15, Y:-132.79, Z:4.76 [[ 7.12809350e-01 7.01346392e-01 -4.00864325e-03 3.52146604e+02] [-7.01335407e-01 7.12820621e-01 3.92536801e-03 -1.32793373e+02] [ 5.61048626e-03 1.33644214e-05 9.99984261e-01 4.76044866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.18, Y:-132.83, Z:4.76 [[ 7.11161877e-01 7.03014417e-01 -4.41742126e-03 3.52180023e+02] [-7.03001158e-01 7.11175596e-01 4.31789960e-03 -1.32825524e+02] [ 6.17710787e-03 3.47266759e-05 9.99980921e-01 4.76279593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.21, Y:-132.86, Z:4.76 [[ 7.09891679e-01 7.04291541e-01 -5.21813722e-03 3.52207332e+02] [-7.04272604e-01 7.09910857e-01 5.16474552e-03 -1.32856144e+02] [ 7.34189885e-03 8.58121412e-06 9.99973048e-01 4.76481560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.73232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.98, Y:-132.04, Z:6.59 [[ 7.57955991e-01 -6.51275307e-01 3.66495432e-02 3.52978531e+02] [-6.50375065e-01 -7.58838455e-01 -3.42997723e-02 -1.32042108e+02] [ 5.01496775e-02 2.16176894e-03 -9.98739374e-01 6.59144979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.31, Y:-132.96, Z:4.76 [[ 7.63574116e-01 6.45687026e-01 -6.54477441e-03 3.52308941e+02] [-6.45663092e-01 7.63602163e-01 5.55942702e-03 -1.32961173e+02] [ 8.58725380e-03 -1.93152883e-05 9.99963129e-01 4.76429201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.79232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.34, Y:-132.99, Z:4.77 [[ 7.62875967e-01 6.46509133e-01 -6.79705296e-03 3.52336465e+02] [-6.46483453e-01 7.62906246e-01 5.76231971e-03 -1.32985895e+02] [ 8.91090648e-03 -1.75295224e-06 9.99960297e-01 4.76527007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.36, Y:-133.01, Z:4.77 [[ 7.62310971e-01 6.47175631e-01 -6.75917221e-03 3.52362974e+02] [-6.47150162e-01 7.62340936e-01 5.74153510e-03 -1.33012815e+02] [ 8.86857527e-03 -2.63580928e-06 9.99960673e-01 4.76881065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.85232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.39, Y:-133.04, Z:4.77 [[ 7.61277942e-01 6.48401143e-01 -5.64385213e-03 3.52392536e+02] [-6.48383407e-01 7.61298862e-01 4.79586349e-03 -1.33037619e+02] [ 7.40630157e-03 8.39498803e-06 9.99972573e-01 4.76952745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.42, Y:-133.06, Z:4.77 [[ 7.60807502e-01 6.48961061e-01 -4.63527965e-03 3.52423704e+02] [-6.48949093e-01 7.60821622e-01 3.94135965e-03 -1.33061616e+02] [ 6.08440993e-03 9.44453510e-06 9.99981490e-01 4.76881347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.91232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.45, Y:-133.09, Z:4.77 [[ 7.60102580e-01 6.49784763e-01 -4.88162022e-03 3.52453022e+02] [-6.49771405e-01 7.60118255e-01 4.16639988e-03 -1.33085819e+02] [ 6.41787180e-03 5.04593767e-06 9.99979405e-01 4.76926453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.48, Y:-133.11, Z:4.77 [[ 7.59354079e-01 6.50660057e-01 -4.78248290e-03 3.52482502e+02] [-6.50647211e-01 7.59369139e-01 4.08872570e-03 -1.33110917e+02] [ 6.29204043e-03 6.91861967e-06 9.99980205e-01 4.76875769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.97232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.51, Y:-133.14, Z:4.77 [[ 7.58571088e-01 6.51567887e-01 -5.40309557e-03 3.52512508e+02] [-6.51551380e-01 7.58590330e-01 4.63802545e-03 -1.33136125e+02] [ 7.12072449e-03 2.12236746e-06 9.99974647e-01 4.77016128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.54, Y:-133.16, Z:4.77 [[ 7.57429930e-01 6.52907335e-01 -3.45162672e-03 3.52542585e+02] [-6.52900658e-01 7.57437794e-01 2.95279074e-03 -1.33161308e+02] [ 4.54229126e-03 1.70372757e-05 9.99989684e-01 4.77168486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.57, Y:-133.19, Z:4.77 [[ 7.56878481e-01 6.53539614e-01 -4.57579678e-03 3.52573068e+02] [-6.53527732e-01 7.56892313e-01 3.94090129e-03 -1.33185710e+02] [ 6.03892051e-03 7.62670736e-06 9.99981766e-01 4.77307337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.60, Y:-133.21, Z:4.77 [[ 7.56291440e-01 6.54214129e-01 -5.20871593e-03 3.52602971e+02] [-6.54198617e-01 7.56309377e-01 4.50509719e-03 -1.33210281e+02] [ 6.88669893e-03 3.68320049e-07 9.99976286e-01 4.77312320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.09232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.63, Y:-133.24, Z:4.77 [[ 7.55776432e-01 6.54819117e-01 -3.72940523e-03 3.52633251e+02] [-6.54811199e-01 7.55785633e-01 3.22018199e-03 -1.33235040e+02] [ 4.92726762e-03 8.31865576e-06 9.99987861e-01 4.77256794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.66, Y:-133.26, Z:4.77 [[ 7.55246882e-01 6.55432943e-01 -3.13135582e-03 3.52663168e+02] [-6.55427371e-01 7.55253373e-01 2.70258138e-03 -1.33259480e+02] [ 4.13632791e-03 1.12601508e-05 9.99991445e-01 4.77424743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.15232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.69, Y:-133.28, Z:4.78 [[ 7.56221676e-01 6.54311432e-01 -2.30770408e-03 3.52694415e+02] [-6.54308438e-01 7.56225197e-01 1.97956894e-03 -1.33284727e+02] [ 3.04039856e-03 1.29573155e-05 9.99995378e-01 4.77520695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.72, Y:-133.31, Z:4.78 [[ 7.56050245e-01 6.54508062e-01 -2.68780548e-03 3.52724052e+02] [-6.54503933e-01 7.56055022e-01 2.32494828e-03 -1.33310563e+02] [ 3.55382622e-03 1.40154133e-06 9.99993685e-01 4.77592217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.21232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.75, Y:-133.33, Z:4.78 [[ 7.57562718e-01 6.52758714e-01 -2.18845323e-03 3.52754564e+02] [-6.52755978e-01 7.57565879e-01 1.88970633e-03 -1.33334453e+02] [ 2.89141977e-03 -3.04513144e-06 9.99995820e-01 4.77677609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.79, Y:-133.36, Z:4.78 [[ 7.57448351e-01 6.52893699e-01 -1.34688585e-03 3.52786429e+02] [-6.52892701e-01 7.57449548e-01 1.14140561e-03 -1.33359378e+02] [ 1.76541461e-03 1.48161422e-05 9.99998442e-01 4.77636326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.27232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.82, Y:-133.38, Z:4.78 [[ 7.57473492e-01 6.52864254e-01 -1.47454381e-03 3.52817180e+02] [-6.52863031e-01 7.57474928e-01 1.26375745e-03 -1.33384035e+02] [ 1.94199203e-03 5.41236949e-06 9.99998114e-01 4.77722775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.85, Y:-133.41, Z:4.78 [[ 7.57011867e-01 6.53396579e-01 -2.43793679e-03 3.52846525e+02] [-6.53393114e-01 7.57015793e-01 2.12802462e-03 -1.33409421e+02] [ 3.23600066e-03 -1.80087811e-05 9.99994764e-01 4.77868141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.33232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.88, Y:-133.44, Z:4.78 [[ 7.56514921e-01 6.53963528e-01 -4.10834276e-03 3.52875693e+02] [-6.53953451e-01 7.56526074e-01 3.63083846e-03 -1.33435225e+02] [ 5.48250435e-03 -6.01185387e-05 9.99984969e-01 4.78094766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.91, Y:-133.46, Z:4.78 [[ 7.56051380e-01 6.54505811e-01 -2.90761669e-03 3.52905863e+02] [-6.54500800e-01 7.56056970e-01 2.56138773e-03 -1.33460672e+02] [ 3.87476702e-03 -3.35032782e-05 9.99992493e-01 4.78170913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.39232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.94, Y:-133.49, Z:4.78 [[ 7.56632185e-01 6.53837690e-01 -2.00325365e-03 3.52935865e+02] [-6.53835339e-01 7.56634836e-01 1.75315489e-03 -1.33485142e+02] [ 2.66201024e-03 -1.66953858e-05 9.99996457e-01 4.78271542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:352.97, Y:-133.51, Z:4.78 [[ 7.56463194e-01 6.54031527e-01 -2.48947259e-03 3.52966806e+02] [-6.54027853e-01 7.56467290e-01 2.19247884e-03 -1.33512059e+02] [ 3.31715487e-03 -3.03451292e-05 9.99994498e-01 4.78453071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.45232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.00, Y:-133.54, Z:4.78 [[ 7.57626160e-01 6.52680072e-01 -3.36532255e-03 3.52996510e+02] [-6.52673194e-01 7.57633630e-01 2.99725099e-03 -1.33536930e+02] [ 4.50592753e-03 -7.43399350e-05 9.99989845e-01 4.78483661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.02, Y:-133.56, Z:4.78 [[ 7.57471616e-01 6.52860014e-01 -3.24862443e-03 3.53024943e+02] [-6.52853562e-01 7.57478578e-01 2.90356549e-03 -1.33561066e+02] [ 4.35638522e-03 -7.84924140e-05 9.99990508e-01 4.78477532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.51232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.05, Y:-133.59, Z:4.79 [[ 7.57189870e-01 6.53184748e-01 -3.63111730e-03 3.53053589e+02] [-6.53176649e-01 7.57198571e-01 3.25412669e-03 -1.33587113e+02] [ 4.87502275e-03 -9.22307374e-05 9.99988113e-01 4.78720331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.08, Y:-133.61, Z:4.79 [[ 7.56283969e-01 6.54231727e-01 -3.92489604e-03 3.53081790e+02] [-6.54222197e-01 7.56294147e-01 3.53275857e-03 -1.33612696e+02] [ 5.27961864e-03 -1.04014562e-04 9.99986057e-01 4.78941450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.57232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.11, Y:-133.64, Z:4.79 [[ 7.54703497e-01 6.56048057e-01 -4.85587466e-03 3.53111422e+02] [-6.56033356e-01 7.54719107e-01 4.39385806e-03 -1.33638970e+02] [ 6.54740343e-03 -1.30444292e-04 9.99978557e-01 4.78981046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.14, Y:-133.66, Z:4.79 [[ 7.53892893e-01 6.56979435e-01 -4.85060585e-03 3.53139701e+02] [-6.56964716e-01 7.53908486e-01 4.39964298e-03 -1.33663927e+02] [ 6.54738787e-03 -1.30182679e-04 9.99978557e-01 4.79092942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.63232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.17, Y:-133.69, Z:4.79 [[ 7.53250055e-01 6.57717322e-01 -4.72008045e-03 3.53168585e+02] [-6.57703340e-01 7.53264832e-01 4.29060859e-03 -1.33689475e+02] [ 6.37747821e-03 -1.27488479e-04 9.99979656e-01 4.79098874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.20, Y:-133.72, Z:4.79 [[ 7.52551985e-01 6.58518927e-01 -4.28163169e-03 3.53197183e+02] [-6.58507417e-01 7.52564157e-01 3.89504772e-03 -1.33716406e+02] [ 5.78716519e-03 -1.11739668e-04 9.99983248e-01 4.79247544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.23, Y:-133.74, Z:4.79 [[ 7.51819577e-01 6.59356125e-01 -4.10168887e-03 3.53226327e+02] [-6.59345533e-01 7.51830758e-01 3.73894646e-03 -1.33742790e+02] [ 5.54907310e-03 -1.06582911e-04 9.99984598e-01 4.79314856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.25, Y:-133.77, Z:4.79 [[ 7.51176559e-01 6.60089769e-01 -3.90825060e-03 3.53254163e+02] [-6.60080112e-01 7.51186718e-01 3.57207342e-03 -1.33768452e+02] [ 5.29371506e-03 -1.03499325e-04 9.99985983e-01 4.79448881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.28, Y:-133.79, Z:4.80 [[ 7.49972063e-01 6.61456661e-01 -4.12196989e-03 3.53282124e+02] [-6.61445885e-01 7.49983383e-01 3.77715881e-03 -1.33794983e+02] [ 5.58983578e-03 -1.06303562e-04 9.99984371e-01 4.79587331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.31, Y:-133.82, Z:4.80 [[ 7.50199077e-01 6.61201481e-01 -3.73452286e-03 3.53310186e+02] [-6.61192591e-01 7.50208365e-01 3.43030813e-03 -1.33821499e+02] [ 5.06979510e-03 -1.04175147e-04 9.99987143e-01 4.79712254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.34, Y:-133.85, Z:4.80 [[ 7.49120310e-01 6.62421281e-01 -4.09972422e-03 3.53338381e+02] [-6.62410533e-01 7.49131520e-01 3.77516250e-03 -1.33848790e+02] [ 5.57198061e-03 -1.12350404e-04 9.99984470e-01 4.79847958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.37, Y:-133.88, Z:4.80 [[ 7.47973589e-01 6.63713144e-01 -4.51363472e-03 3.53366769e+02] [-6.63700046e-01 7.47987197e-01 4.17160875e-03 -1.33876216e+02] [ 6.14489254e-03 -1.24553599e-04 9.99981112e-01 4.79884968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.39, Y:-133.91, Z:4.80 [[ 7.46978611e-01 6.64824041e-01 -5.65227400e-03 3.53393011e+02] [-6.64803311e-01 7.46999978e-01 5.25265900e-03 -1.33905824e+02] [ 7.71434253e-03 -1.65973457e-04 9.99970230e-01 4.80006637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.42, Y:-133.93, Z:4.80 [[ 7.46381840e-01 6.65503652e-01 -4.36327048e-03 3.53424975e+02] [-6.65491318e-01 7.46394583e-01 4.05358756e-03 -1.33929312e+02] [ 5.95439878e-03 -1.21805518e-04 9.99982265e-01 4.79637860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.45, Y:-133.96, Z:4.80 [[ 7.44146838e-01 6.68006681e-01 -3.54357393e-03 3.53448011e+02] [-6.67998595e-01 7.44155271e-01 3.28787585e-03 -1.33962200e+02] [ 4.83329225e-03 -7.95600138e-05 9.99988316e-01 4.80261319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.48, Y:-133.99, Z:4.80 [[ 7.41918955e-01 6.70475091e-01 -4.40643021e-03 3.53480027e+02] [-6.70462627e-01 7.41932036e-01 4.08885333e-03 -1.33993278e+02] [ 6.01074604e-03 -7.92510175e-05 9.99981932e-01 4.80449033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.51, Y:-134.02, Z:4.80 [[ 7.41014264e-01 6.71470473e-01 -5.02634822e-03 3.53507575e+02] [-6.71453902e-01 7.41031301e-01 4.71898004e-03 -1.34022819e+02] [ 6.89333712e-03 -1.21870401e-04 9.99976233e-01 4.80466825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.54, Y:-134.05, Z:4.81 [[ 7.39862545e-01 6.72737297e-01 -5.28609492e-03 3.53537254e+02] [-6.72718878e-01 7.39881418e-01 4.97979847e-03 -1.34050823e+02] [ 7.26117956e-03 -1.28310524e-04 9.99973629e-01 4.80546813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.56, Y:-134.08, Z:4.81 [[ 7.37448080e-01 6.75369387e-01 -6.82064202e-03 3.53564498e+02] [-6.75338472e-01 7.37479603e-01 6.46391877e-03 -1.34079426e+02] [ 9.39561723e-03 -1.60562520e-04 9.99955847e-01 4.80645977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.59, Y:-134.11, Z:4.81 [[ 7.36317350e-01 6.76608576e-01 -6.13148987e-03 3.53592672e+02] [-6.76583546e-01 7.36342865e-01 5.82154256e-03 -1.34107196e+02] [ 8.45378444e-03 -1.38037636e-04 9.99964257e-01 4.80805237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.62, Y:-134.14, Z:4.81 [[ 7.34299682e-01 6.78791175e-01 -6.82033669e-03 3.53621774e+02] [-6.78760091e-01 7.34331342e-01 6.49760453e-03 -1.34135458e+02] [ 9.41890361e-03 -1.41816597e-04 9.99955631e-01 4.80905238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.65, Y:-134.16, Z:4.81 [[ 7.32805313e-01 6.80407519e-01 -6.47925011e-03 3.53651016e+02] [-6.80379372e-01 7.32833945e-01 6.19024836e-03 -1.34162802e+02] [ 8.96010595e-03 -1.27898771e-04 9.99959849e-01 4.80920905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.68, Y:-134.19, Z:4.81 [[ 7.31017392e-01 6.82322673e-01 -7.02444443e-03 3.53679510e+02] [-6.82289468e-01 7.31051129e-01 6.73263894e-03 -1.34191003e+02] [ 9.72906023e-03 -1.28971699e-04 9.99952663e-01 4.81107901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.71, Y:-134.22, Z:4.81 [[ 7.29207635e-01 6.84256883e-01 -6.98167324e-03 3.53709089e+02] [-6.84224120e-01 7.29241048e-01 6.69683313e-03 -1.34222213e+02] [ 9.67367688e-03 -1.06352626e-04 9.99953203e-01 4.81339090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.23232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.54, Y:-133.45, Z:6.66 [[ 7.50895295e-01 -6.59382374e-01 3.70289118e-02 3.54543195e+02] [-6.58484762e-01 -7.51806314e-01 -3.44250621e-02 -1.33453924e+02] [ 5.05378489e-02 1.46664299e-03 -9.98721070e-01 6.66264171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.84, Y:-134.42, Z:4.82 [[ 7.73852170e-01 6.33326070e-01 -7.13492535e-03 3.53838441e+02] [-6.33297392e-01 7.73885048e-01 6.02881841e-03 -1.34418205e+02] [ 9.33981992e-03 -1.46884593e-04 9.99956372e-01 4.81713833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.29232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.87, Y:-134.44, Z:4.82 [[ 7.72957629e-01 6.34423983e-01 -6.53561655e-03 3.53866990e+02] [-6.34400102e-01 7.72985251e-01 5.50566075e-03 -1.34443053e+02] [ 8.54485842e-03 -1.09446668e-04 9.99963486e-01 4.81747318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.90, Y:-134.47, Z:4.82 [[ 7.71453946e-01 6.36247656e-01 -6.90865080e-03 3.53895612e+02] [-6.36220932e-01 7.71484873e-01 5.83244575e-03 -1.34468936e+02] [ 9.04079952e-03 -1.04035036e-04 9.99959126e-01 4.81869865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.35232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.93, Y:-134.49, Z:4.82 [[ 7.70921987e-01 6.36892253e-01 -6.89545348e-03 3.53925313e+02] [-6.36865505e-01 7.70952817e-01 5.83802089e-03 -1.34493700e+02] [ 9.03425956e-03 -1.09182203e-04 9.99959184e-01 4.81928010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.95, Y:-134.52, Z:4.82 [[ 7.70275766e-01 6.37669539e-01 -7.26659821e-03 3.53953206e+02] [-6.37639691e-01 7.70310031e-01 6.17089697e-03 -1.34520275e+02] [ 9.53252652e-03 -1.19820945e-04 9.99954557e-01 4.81987269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.41232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:353.98, Y:-134.55, Z:4.82 [[ 7.69452347e-01 6.38655183e-01 -7.91468651e-03 3.53982299e+02] [-6.38619594e-01 7.69493040e-01 6.74352721e-03 -1.34546793e+02] [ 1.03970848e-02 -1.34348950e-04 9.99945940e-01 4.82099358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.01, Y:-134.57, Z:4.82 [[ 7.69101605e-01 6.39077385e-01 -7.92575776e-03 3.54014708e+02] [-6.39041555e-01 7.69142429e-01 6.76861816e-03 -1.34571840e+02] [ 1.04217074e-02 -1.40866523e-04 9.99945683e-01 4.81972006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.47232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.04, Y:-134.60, Z:4.82 [[ 7.68413827e-01 6.39903173e-01 -8.00745455e-03 3.54041649e+02] [-6.39866364e-01 7.68455533e-01 6.86514499e-03 -1.34599100e+02] [ 1.05464008e-02 -1.51571505e-04 9.99944374e-01 4.82454059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.07, Y:-134.62, Z:4.83 [[ 7.66642081e-01 6.42015956e-01 -8.68520166e-03 3.54072056e+02] [-6.41972581e-01 7.66691262e-01 7.46416086e-03 -1.34624104e+02] [ 1.14509786e-02 -1.46678485e-04 9.99934425e-01 4.82504883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.11, Y:-134.66, Z:4.83 [[ 7.62897007e-01 6.46465399e-01 -8.40505353e-03 3.54107425e+02] [-6.46425230e-01 7.62943303e-01 7.20681004e-03 -1.34656825e+02] [ 1.10715326e-02 -6.48151507e-05 9.99938707e-01 4.82609855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.14, Y:-134.68, Z:4.83 [[ 7.60717490e-01 6.49021220e-01 -8.96415406e-03 3.54137387e+02] [-6.48974714e-01 7.60770299e-01 7.77000414e-03 -1.34681802e+02] [ 1.18625597e-02 -9.32687280e-05 9.99929633e-01 4.82527058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.17, Y:-134.71, Z:4.83 [[ 7.57321821e-01 6.52974629e-01 -9.36984639e-03 3.54165563e+02] [-6.52923750e-01 7.57379780e-01 8.15143040e-03 -1.34708295e+02] [ 1.24192094e-02 -5.54608680e-05 9.99922877e-01 4.82794797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.19, Y:-134.73, Z:4.83 [[ 7.55643114e-01 6.54922377e-01 -8.95345151e-03 3.54194832e+02] [-6.54875971e-01 7.55696155e-01 7.79637647e-03 -1.34734001e+02] [ 1.18721103e-02 -2.78779419e-05 9.99929524e-01 4.83218406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.65232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.23, Y:-134.76, Z:4.83 [[ 7.52956856e-01 6.58005156e-01 -9.22973384e-03 3.54226231e+02] [-6.57955834e-01 7.53013423e-01 8.05640879e-03 -1.34760508e+02] [ 1.22512720e-02 6.62899068e-06 9.99924950e-01 4.83042090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.26, Y:-134.79, Z:4.83 [[ 7.50093659e-01 6.61264792e-01 -9.40092845e-03 3.54264435e+02] [-6.61213897e-01 7.50152565e-01 8.20436421e-03 -1.34792736e+02] [ 1.24773878e-02 6.19829667e-05 9.99922152e-01 4.83185366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.71232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.29, Y:-134.82, Z:4.83 [[ 7.48785315e-01 6.62754988e-01 -8.73942397e-03 3.54294982e+02] [-6.62710283e-01 7.48836314e-01 7.69774145e-03 -1.34819713e+02] [ 1.16461146e-02 2.77503754e-05 9.99932181e-01 4.83224184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.33, Y:-134.85, Z:4.83 [[ 7.46582921e-01 6.65232806e-01 -8.90257404e-03 3.54327645e+02] [-6.65186384e-01 7.46635996e-01 7.85898684e-03 -1.34846239e+02] [ 1.18750381e-02 5.44856805e-05 9.99929488e-01 4.83435848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.77232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.36, Y:-134.87, Z:4.84 [[ 7.44568082e-01 6.67484048e-01 -9.13329037e-03 3.54358744e+02] [-6.67435016e-01 7.44624094e-01 8.09061945e-03 -1.34869630e+02] [ 1.22012275e-02 7.18607938e-05 9.99925560e-01 4.83693361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.39, Y:-134.90, Z:4.84 [[ 7.42757799e-01 6.69501231e-01 -8.88556927e-03 3.54392128e+02] [-6.69454931e-01 7.42810939e-01 7.87425500e-03 -1.34897863e+02] [ 1.18721215e-02 9.98238418e-05 9.99929519e-01 4.83872321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.83232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.42, Y:-134.93, Z:4.84 [[ 7.41390670e-01 6.71004773e-01 -9.61610398e-03 3.54422715e+02] [-6.70950078e-01 7.41453023e-01 8.56785878e-03 -1.34925227e+02] [ 1.28789635e-02 9.97951470e-05 9.99917058e-01 4.84221434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.45, Y:-134.95, Z:4.84 [[ 7.40400028e-01 6.72094470e-01 -9.83984870e-03 3.54454372e+02] [-6.72036957e-01 7.40465403e-01 8.79291587e-03 -1.34950160e+02] [ 1.31957377e-02 1.02466819e-04 9.99912927e-01 4.84277107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.89232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.49, Y:-134.97, Z:4.84 [[ 7.39253685e-01 6.73351899e-01 -1.00602860e-02 3.54485922e+02] [-6.73291579e-01 7.39322127e-01 9.01346782e-03 -1.34972778e+02] [ 1.35070278e-02 1.10266574e-04 9.99908770e-01 4.84288774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.52, Y:-134.99, Z:4.85 [[ 7.38262747e-01 6.74434837e-01 -1.02843123e-02 3.54519717e+02] [-6.74371668e-01 7.38334366e-01 9.23133674e-03 -1.34994583e+02] [ 1.38191963e-02 1.20296800e-04 9.99904503e-01 4.84546982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.95232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.55, Y:-135.02, Z:4.84 [[ 7.37189222e-01 6.75613796e-01 -9.90203605e-03 3.54550251e+02] [-6.75555052e-01 7.37255712e-01 8.90996690e-03 -1.35021167e+02] [ 1.33200292e-02 1.21038907e-04 9.99911277e-01 4.84357935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.58, Y:-135.05, Z:4.85 [[ 7.36641736e-01 6.76220309e-01 -9.22209247e-03 3.54581402e+02] [-6.76169065e-01 7.36699453e-01 8.32537886e-03 -1.35045388e+02] [ 1.24237007e-02 1.02872104e-04 9.99922818e-01 4.84548433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.01232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.61, Y:-135.07, Z:4.85 [[ 7.36346001e-01 6.76528645e-01 -1.01764587e-02 3.54611868e+02] [-6.76465908e-01 7.36416311e-01 9.21371970e-03 -1.35069561e+02] [ 1.37274555e-02 9.95417211e-05 9.99905769e-01 4.84715139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.64, Y:-135.09, Z:4.85 [[ 7.36501612e-01 6.76353044e-01 -1.05799997e-02 3.54644292e+02] [-6.76284945e-01 7.36577595e-01 9.59795915e-03 -1.35092724e+02] [ 1.42845996e-02 8.61821518e-05 9.99897966e-01 4.85050470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.07232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.68, Y:-135.12, Z:4.85 [[ 7.36162794e-01 6.76717115e-01 -1.08760197e-02 3.54676171e+02] [-6.76644785e-01 7.36243126e-01 9.89416548e-03 -1.35117692e+02] [ 1.47029458e-02 7.54854914e-05 9.99891903e-01 4.85044237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.71, Y:-135.14, Z:4.85 [[ 7.36386257e-01 6.76472097e-01 -1.09900850e-02 3.54709548e+02] [-6.76397782e-01 7.36468261e-01 1.00270433e-02 -1.35141239e+02] [ 1.48768638e-02 4.98921833e-05 9.99889332e-01 4.84903414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.13232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.74, Y:-135.17, Z:4.85 [[ 7.35767747e-01 6.77150316e-01 -1.06429763e-02 3.54739231e+02] [-6.77080273e-01 7.35844718e-01 9.73937822e-03 -1.35166040e+02] [ 1.44266009e-02 4.02289259e-05 9.99895930e-01 4.85139172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.77, Y:-135.19, Z:4.85 [[ 7.34848286e-01 6.78146556e-01 -1.07352416e-02 3.54769114e+02] [-6.78075027e-01 7.34926695e-01 9.84938860e-03 -1.35192139e+02] [ 1.45689446e-02 4.14929141e-05 9.99893866e-01 4.85308665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.80, Y:-135.22, Z:4.85 [[ 7.34551911e-01 6.78460449e-01 -1.11762699e-02 3.54800204e+02] [-6.78382487e-01 7.34636929e-01 1.02850936e-02 -1.35216762e+02] [ 1.51885298e-02 2.68506307e-05 9.99884647e-01 4.85438214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.83, Y:-135.24, Z:4.85 [[ 7.33951081e-01 6.79121802e-01 -1.04588984e-02 3.54830873e+02] [-6.79053251e-01 7.34025598e-01 9.64908025e-03 -1.35240351e+02] [ 1.42299999e-02 2.01960771e-05 9.99898748e-01 4.85439238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.86, Y:-135.27, Z:4.85 [[ 7.32678420e-01 6.80501211e-01 -1.00217361e-02 3.54860319e+02] [-6.80438099e-01 7.32746956e-01 9.26783257e-03 -1.35266038e+02] [ 1.36501679e-02 2.88301467e-05 9.99906832e-01 4.85176575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.89, Y:-135.29, Z:4.86 [[ 7.32344892e-01 6.80850929e-01 -1.06288188e-02 3.54889524e+02] [-6.80779554e-01 7.32422018e-01 9.85832965e-03 -1.35291216e+02] [ 1.44968338e-02 1.61851258e-05 9.99894915e-01 4.85665021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.92, Y:-135.32, Z:4.86 [[ 7.31728260e-01 6.81517605e-01 -1.03686363e-02 3.54919404e+02] [-6.81449396e-01 7.31801718e-01 9.64187735e-03 -1.35316600e+02] [ 1.41588950e-02 1.04668077e-05 9.99899758e-01 4.85662072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.95, Y:-135.34, Z:4.86 [[ 7.31242748e-01 6.82030688e-01 -1.08712430e-02 3.54950176e+02] [-6.81955334e-01 7.31323554e-01 1.01381884e-02 -1.35341657e+02] [ 1.48649517e-02 2.25430168e-07 9.99889511e-01 4.85773334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:354.98, Y:-135.37, Z:4.86 [[ 7.30097555e-01 6.83254198e-01 -1.10118956e-02 3.54980394e+02] [-6.83176582e-01 7.30180595e-01 1.02983595e-02 -1.35367613e+02] [ 1.50770699e-02 4.26213094e-06 9.99886335e-01 4.85871074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.01, Y:-135.39, Z:4.86 [[ 7.29018936e-01 6.84418405e-01 -1.01409195e-02 3.55011223e+02] [-6.84352393e-01 7.29089465e-01 9.50552514e-03 -1.35393066e+02] [ 1.38993939e-02 1.02546978e-05 9.99903399e-01 4.85970645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.04, Y:-135.42, Z:4.86 [[ 7.28357941e-01 6.85133694e-01 -9.30223388e-03 3.55041722e+02] [-6.85077963e-01 7.28417340e-01 8.73857283e-03 -1.35419065e+02] [ 1.27629991e-02 7.94652652e-06 9.99918550e-01 4.86086120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.07, Y:-135.44, Z:4.86 [[ 7.27224033e-01 6.86335623e-01 -9.41366707e-03 3.55072419e+02] [-6.86278306e-01 7.27284959e-01 8.86990901e-03 -1.35443769e+02] [ 1.29341530e-02 9.98448058e-06 9.99916350e-01 4.85926669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.10, Y:-135.47, Z:4.86 [[ 7.26369219e-01 6.87234438e-01 -9.82773361e-03 3.55101779e+02] [-6.87171660e-01 7.26435700e-01 9.28884168e-03 -1.35470086e+02] [ 1.35228284e-02 6.21134932e-06 9.99908562e-01 4.86376536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.13, Y:-135.50, Z:4.86 [[ 7.25419566e-01 6.88236929e-01 -9.81748341e-03 3.55130807e+02] [-6.88174096e-01 7.25485995e-01 9.29964985e-03 -1.35496567e+02] [ 1.35228092e-02 9.98981619e-06 9.99908563e-01 4.86492702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.16, Y:-135.52, Z:4.86 [[ 7.23921828e-01 6.89798871e-01 -1.07100201e-02 3.55161223e+02] [-6.89723796e-01 7.24001048e-01 1.01768104e-02 -1.35523509e+02] [ 1.47740181e-02 1.97404779e-05 9.99890858e-01 4.86276266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.19, Y:-135.55, Z:4.86 [[ 7.23445288e-01 6.90307242e-01 -1.01403684e-02 3.55190215e+02] [-6.90239538e-01 7.23516352e-01 9.66793422e-03 -1.35549931e+02] [ 1.40105674e-02 5.06173723e-06 9.99901847e-01 4.86368180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.22, Y:-135.58, Z:4.87 [[ 7.22028976e-01 6.91797684e-01 -9.49326527e-03 3.55219519e+02] [-6.91738311e-01 7.22091382e-01 9.06340902e-03 -1.35575638e+02] [ 1.31250504e-02 2.28113405e-05 9.99913863e-01 4.86774785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.25, Y:-135.60, Z:4.87 [[ 7.20566496e-01 6.93327064e-01 -9.02813679e-03 3.55250373e+02] [-6.93273268e-01 7.20623051e-01 8.63679954e-03 -1.35602773e+02] [ 1.24940103e-02 3.55775176e-05 9.99921946e-01 4.86592746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.28, Y:-135.63, Z:4.87 [[ 7.18993804e-01 6.94952611e-01 -9.42226449e-03 3.55279348e+02] [-6.94893697e-01 7.19055538e-01 9.04885609e-03 -1.35628995e+02] [ 1.30636576e-02 4.14007482e-05 9.99914666e-01 4.86777844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.31, Y:-135.66, Z:4.87 [[ 7.16893653e-01 6.97111028e-01 -9.98520527e-03 3.55308443e+02] [-6.97044732e-01 7.16963186e-01 9.61416601e-03 -1.35656080e+02] [ 1.38611657e-02 6.78001347e-05 9.99903927e-01 4.86933439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.73232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.34, Y:-135.68, Z:4.87 [[ 7.15337528e-01 6.98710991e-01 -9.75560243e-03 3.55338612e+02] [-6.98647561e-01 7.15404043e-01 9.41490832e-03 -1.35683696e+02] [ 1.35574973e-02 8.08906004e-05 9.99908090e-01 4.86963792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76232058799997 meters Centerline goodness [0,1] 0.9999033069038871 Centerline is valid? [True, True] Translation: X:355.37, Y:-135.71, Z:4.87 [[ 7.13778459e-01 7.00326407e-01 -7.95199490e-03 3.55369345e+02] [-7.00284220e-01 7.13822749e-01 7.68731916e-03 -1.35708192e+02] [ 1.10599475e-02 8.16137222e-05 9.99938834e-01 4.86842327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.79232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.40, Y:-135.73, Z:4.87 [[ 7.12818339e-01 7.01306096e-01 -7.73145912e-03 3.55401076e+02] [-7.01266189e-01 7.12860262e-01 7.48191550e-03 -1.35734177e+02] [ 1.07585629e-02 8.85642884e-05 9.99942121e-01 4.87285968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.43, Y:-135.76, Z:4.87 [[ 7.11218777e-01 7.02928875e-01 -7.67128718e-03 3.55431584e+02] [-7.02889464e-01 7.11260140e-01 7.44403994e-03 -1.35761030e+02] [ 1.06889114e-02 9.77259578e-05 9.99942867e-01 4.87467103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.85232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.46, Y:-135.79, Z:4.88 [[ 7.10524714e-01 7.03632706e-01 -7.45966932e-03 3.55462373e+02] [-7.03595269e-01 7.10563865e-01 7.25881229e-03 -1.35788040e+02] [ 1.04081092e-02 9.10225204e-05 9.99945830e-01 4.87616554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.50, Y:-135.81, Z:4.88 [[ 7.10586910e-01 7.03562161e-01 -8.15653164e-03 3.55495961e+02] [-7.03517074e-01 7.10633717e-01 7.96533273e-03 -1.35810416e+02] [ 1.14004131e-02 7.81981030e-05 9.99935010e-01 4.87716230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.91232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.53, Y:-135.84, Z:4.88 [[ 7.08990705e-01 7.05178350e-01 -7.46151750e-03 3.55534119e+02] [-7.05140950e-01 7.09029958e-01 7.26354717e-03 -1.35841381e+02] [ 1.04125357e-02 1.11634107e-04 9.99945782e-01 4.87729261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.56, Y:-135.87, Z:4.88 [[ 7.08267991e-01 7.05909078e-01 -6.98754288e-03 3.55564399e+02] [-7.05875622e-01 7.08302456e-01 6.87290814e-03 -1.35868545e+02] [ 9.80094203e-03 6.44753394e-05 9.99951968e-01 4.87833167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.97232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.59, Y:-135.90, Z:4.88 [[ 7.08255921e-01 7.05926880e-01 -6.38668248e-03 3.55593576e+02] [-7.05898783e-01 7.08284715e-01 6.29840066e-03 -1.35895063e+02] [ 8.96979991e-03 4.74718266e-05 9.99959769e-01 4.88194920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.62, Y:-135.92, Z:4.88 [[ 7.08179410e-01 7.06009593e-01 -5.69012830e-03 3.55624693e+02] [-7.05987241e-01 7.08202268e-01 5.61813622e-03 -1.35920895e+02] [ 7.99621983e-03 3.85095810e-05 9.99968029e-01 4.88271446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.03232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.66, Y:-135.94, Z:4.88 [[ 7.08246900e-01 7.05924741e-01 -7.52260977e-03 3.55657980e+02] [-7.05885211e-01 7.08286849e-01 7.47053841e-03 -1.35943499e+02] [ 1.06018035e-02 1.91133174e-05 9.99943799e-01 4.88184765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.40, Y:-135.18, Z:6.74 [[ 7.59004561e-01 -6.50209901e-01 3.37514427e-02 3.56396732e+02] [-6.49435988e-01 -7.59751405e-01 -3.17915054e-02 -1.35177535e+02] [ 4.63138576e-02 2.21049606e-03 -9.98924492e-01 6.74228622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.09232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.77, Y:-136.05, Z:4.89 [[ 7.63880503e-01 6.45280214e-01 -1.00011263e-02 3.55766491e+02] [-6.45224199e-01 7.63945969e-01 8.50230318e-03 -1.36050281e+02] [ 1.31266881e-02 -4.17749261e-05 9.99913840e-01 4.88624239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.80, Y:-136.07, Z:4.89 [[ 7.64374861e-01 6.44686934e-01 -1.04799397e-02 3.55795335e+02] [-6.44625361e-01 7.64446698e-01 8.91009824e-03 -1.36072770e+02] [ 1.37555792e-02 -5.50201598e-05 9.99905386e-01 4.88746827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.15232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.82, Y:-136.10, Z:4.89 [[ 7.64596823e-01 6.44419432e-01 -1.07375371e-02 3.55824770e+02] [-6.44354545e-01 7.64672211e-01 9.14492099e-03 -1.36095501e+02] [ 1.41038610e-02 -7.33966933e-05 9.99900533e-01 4.88813783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.85, Y:-136.12, Z:4.89 [[ 7.63637555e-01 6.45580044e-01 -9.17016693e-03 3.55852304e+02] [-6.45532706e-01 7.63692611e-01 7.81799042e-03 -1.36119794e+02] [ 1.20503273e-02 -5.04684144e-05 9.99927391e-01 4.88886952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.21232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.88, Y:-136.14, Z:4.89 [[ 7.62903645e-01 6.46456755e-01 -8.46711355e-03 3.55880699e+02] [-6.46416435e-01 7.62950629e-01 7.22010963e-03 -1.36144043e+02] [ 1.11274782e-02 -3.49666024e-05 9.99938087e-01 4.89034268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.91, Y:-136.17, Z:4.89 [[ 7.62071848e-01 6.47429736e-01 -9.01308749e-03 3.55909064e+02] [-6.47383759e-01 7.62125144e-01 7.71573178e-03 -1.36168056e+02] [ 1.18644948e-02 -4.50155177e-05 9.99929613e-01 4.89098190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.27232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.94, Y:-136.19, Z:4.89 [[ 7.59838109e-01 6.49998943e-01 -1.21417847e-02 3.55938357e+02] [-6.49915481e-01 7.59935112e-01 1.04159943e-02 -1.36191986e+02] [ 1.59973538e-02 -2.33354967e-05 9.99872034e-01 4.89234974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.97, Y:-136.22, Z:4.89 [[ 7.57833788e-01 6.52312106e-01 -1.32990890e-02 3.55966640e+02] [-6.52211776e-01 7.57950471e-01 1.14403959e-02 -1.36215940e+02] [ 1.75427595e-02 3.90386250e-06 9.99846114e-01 4.89325437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.33232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:355.99, Y:-136.24, Z:4.89 [[ 7.55581024e-01 6.54948971e-01 -1.17966756e-02 3.55994721e+02] [-6.54870052e-01 7.55673107e-01 1.01671407e-02 -1.36240454e+02] [ 1.55733888e-02 4.31909749e-05 9.99878726e-01 4.89407058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.02, Y:-136.26, Z:4.89 [[ 7.53267399e-01 6.57624990e-01 -1.08443054e-02 3.56023342e+02] [-6.57558303e-01 7.53345450e-01 9.36541462e-03 -1.36263866e+02] [ 1.43284388e-02 7.61015599e-05 9.99897340e-01 4.89453525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.39232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.05, Y:-136.29, Z:4.89 [[ 7.50791433e-01 6.60442388e-01 -1.13171009e-02 3.56054315e+02] [-6.60369737e-01 7.50876713e-01 9.79653232e-03 -1.36288512e+02] [ 1.49677927e-02 1.18318379e-04 9.99887969e-01 4.89437455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.08, Y:-136.31, Z:4.90 [[ 7.49240597e-01 6.62194845e-01 -1.16839463e-02 3.56083266e+02] [-6.62117133e-01 7.49331681e-01 1.01456221e-02 -1.36312579e+02] [ 1.54735298e-02 1.34629107e-04 9.99880269e-01 4.89504401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.45232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.11, Y:-136.34, Z:4.90 [[ 7.47887819e-01 6.63703533e-01 -1.27055176e-02 3.56112570e+02] [-6.63611312e-01 7.47995719e-01 1.10648222e-02 -1.36336401e+02] [ 1.68474344e-02 1.56279452e-04 9.99858060e-01 4.89712735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.14, Y:-136.36, Z:4.90 [[ 7.46524420e-01 6.65259254e-01 -1.14636576e-02 3.56143269e+02] [-6.65184161e-01 7.46612415e-01 9.99670998e-03 -1.36358470e+02] [ 1.52093129e-02 1.62655329e-04 9.99884318e-01 4.89795943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.51232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.17, Y:-136.38, Z:4.90 [[ 7.45313622e-01 6.66610470e-01 -1.17510356e-02 3.56172979e+02] [-6.66531330e-01 7.45406232e-01 1.02730712e-02 -1.36381898e+02] [ 1.56074320e-02 1.75773452e-04 9.99878181e-01 4.89975552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.20, Y:-136.41, Z:4.90 [[ 7.44047498e-01 6.68018963e-01 -1.19994063e-02 3.56201628e+02] [-6.67936216e-01 7.44144226e-01 1.05158675e-02 -1.36405361e+02] [ 1.59540878e-02 1.90533163e-04 9.99872707e-01 4.89992568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.57232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.23, Y:-136.43, Z:4.90 [[ 7.42115141e-01 6.70140020e-01 -1.33218083e-02 3.56230855e+02] [-6.70037780e-01 7.42234665e-01 1.17079801e-02 -1.36428278e+02] [ 1.77338939e-02 2.37445560e-04 9.99842714e-01 4.90064129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.26, Y:-136.45, Z:4.90 [[ 7.39968477e-01 6.72539772e-01 -1.17007867e-02 3.56260574e+02] [-6.72460912e-01 7.40060940e-01 1.03018380e-02 -1.36451828e+02] [ 1.55876909e-02 2.45286285e-04 9.99878474e-01 4.90127247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.63232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.29, Y:-136.48, Z:4.90 [[ 7.38896966e-01 6.73731290e-01 -1.08362002e-02 3.56289020e+02] [-6.73663505e-01 7.38976382e-01 9.55975699e-03 -1.36476006e+02] [ 1.44484035e-02 2.36277200e-04 9.99895588e-01 4.90151416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.32, Y:-136.50, Z:4.90 [[ 7.38084145e-01 6.74616586e-01 -1.11470658e-02 3.56317100e+02] [-6.74544599e-01 7.38168275e-01 9.85807377e-03 -1.36500013e+02] [ 1.48788304e-02 2.43105060e-04 9.99889275e-01 4.90427241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.35, Y:-136.52, Z:4.91 [[ 7.37355999e-01 6.75421267e-01 -1.05944698e-02 3.56346616e+02] [-6.75356044e-01 7.37432070e-01 9.38911651e-03 -1.36523573e+02] [ 1.41543107e-02 2.31917808e-04 9.99899796e-01 4.90512465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.38, Y:-136.54, Z:4.91 [[ 7.36151195e-01 6.76720694e-01 -1.14245347e-02 3.56378272e+02] [-6.76644601e-01 7.36239795e-01 1.01512753e-02 -1.36544917e+02] [ 1.52807751e-02 2.57476318e-04 9.99883209e-01 4.90626681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.41, Y:-136.57, Z:4.91 [[ 7.34399048e-01 6.78604824e-01 -1.23907685e-02 3.56407768e+02] [-6.78515089e-01 7.34503508e-01 1.10395053e-02 -1.36567710e+02] [ 1.65925245e-02 2.99921243e-04 9.99862290e-01 4.90816666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.44, Y:-136.59, Z:4.91 [[ 7.33748306e-01 6.79290695e-01 -1.33257399e-02 3.56437233e+02] [-6.79186470e-01 7.33869233e-01 1.19032844e-02 -1.36591570e+02] [ 1.78651408e-02 3.16647480e-04 9.99840355e-01 4.90982735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.47, Y:-136.61, Z:4.91 [[ 7.32577242e-01 6.80561018e-01 -1.29338478e-02 3.56466305e+02] [-6.80462582e-01 7.32691339e-01 1.15791206e-02 -1.36614547e+02] [ 1.73568164e-02 3.18399269e-04 9.99849308e-01 4.91072331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.50, Y:-136.64, Z:4.91 [[ 7.31786182e-01 6.81424980e-01 -1.22057385e-02 3.56496783e+02] [-6.81337085e-01 7.31887904e-01 1.09486146e-02 -1.36637382e+02] [ 1.63938919e-02 3.04177360e-04 9.99865565e-01 4.91090915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.53, Y:-136.66, Z:4.91 [[ 7.29993742e-01 6.83347983e-01 -1.20279221e-02 3.56527327e+02] [-6.83262483e-01 7.30092754e-01 1.08143133e-02 -1.36658825e+02] [ 1.61714380e-02 3.23846866e-04 9.99869181e-01 4.91109272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.56, Y:-136.68, Z:4.91 [[ 7.28821345e-01 6.84571248e-01 -1.34778897e-02 3.56557654e+02] [-6.84463526e-01 7.28945862e-01 1.21495475e-02 -1.36681728e+02] [ 1.81418828e-02 3.70274365e-04 9.99835354e-01 4.91461798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.932320588 meters Centerline goodness [0,1] 0.9999514963379735 Centerline is valid? [True, True] Translation: X:356.59, Y:-136.70, Z:4.92 [[ 7.27645272e-01 6.85819694e-01 -1.35537838e-02 3.56586629e+02] [-6.85710363e-01 7.27771395e-01 1.22513193e-02 -1.36704692e+02] [ 1.82662522e-02 3.79355447e-04 9.99833086e-01 4.91608690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.62, Y:-136.73, Z:4.92 [[ 7.26599837e-01 6.86920352e-01 -1.38962842e-02 3.56616189e+02] [-6.86805328e-01 7.26732595e-01 1.25768495e-02 -1.36728169e+02] [ 1.87381766e-02 4.05705208e-04 9.99824343e-01 4.91615627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.64, Y:-136.75, Z:4.92 [[ 7.25537795e-01 6.88022074e-01 -1.48503634e-02 3.56644543e+02] [-6.87890166e-01 7.25689628e-01 1.34790168e-02 -1.36751285e+02] [ 2.00506158e-02 4.35882820e-04 9.99798871e-01 4.91708017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.67, Y:-136.77, Z:4.92 [[ 7.25126779e-01 6.88452854e-01 -1.49607038e-02 3.56673812e+02] [-6.88318631e-01 7.25280965e-01 1.36008809e-02 -1.36773139e+02] [ 2.02142790e-02 4.35368168e-04 9.99795576e-01 4.91748613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.70, Y:-136.80, Z:4.92 [[ 7.24577955e-01 6.89029940e-01 -1.49842879e-02 3.56702861e+02] [-6.88894974e-01 7.24732745e-01 1.36441720e-02 -1.36796258e+02] [ 2.02608471e-02 4.36334351e-04 9.99794633e-01 4.91840453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.73, Y:-136.82, Z:4.92 [[ 7.24199408e-01 6.89454378e-01 -1.37068884e-02 3.56731972e+02] [-6.89341202e-01 7.24329002e-01 1.24981489e-02 -1.36818885e+02] [ 1.85452003e-02 3.97570901e-04 9.99827944e-01 4.91902951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.76, Y:-136.84, Z:4.92 [[ 7.23805357e-01 6.89855947e-01 -1.43030425e-02 3.56760071e+02] [-6.89732359e-01 7.23946548e-01 1.30640219e-02 -1.36842611e+02] [ 1.93669314e-02 4.09462228e-04 9.99812360e-01 4.92178901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14232058799996 meters Centerline goodness [0,1] 0.9998541848935549 Centerline is valid? [True, True] Translation: X:356.79, Y:-136.86, Z:4.92 [[ 7.22713484e-01 6.91004969e-01 -1.40482569e-02 3.56790432e+02] [-6.90885589e-01 7.22849886e-01 1.28508433e-02 -1.36863574e+02] [ 1.90347775e-02 4.18260556e-04 9.99818735e-01 4.92263412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.82, Y:-136.89, Z:4.92 [[ 7.21799620e-01 6.91966792e-01 -1.36845962e-02 3.56819399e+02] [-6.91853334e-01 7.21929210e-01 1.25371501e-02 -1.36886301e+02] [ 1.85546012e-02 4.18423340e-04 9.99827761e-01 4.92214243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.85, Y:-136.91, Z:4.92 [[ 7.21021353e-01 6.92737672e-01 -1.55796630e-02 3.56847505e+02] [-6.92590231e-01 7.21189495e-01 1.42998263e-02 -1.36910187e+02] [ 2.11419177e-02 4.79842300e-04 9.99776370e-01 4.92332481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.23232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.88, Y:-136.93, Z:4.92 [[ 7.20615856e-01 6.93140271e-01 -1.64119822e-02 3.56877237e+02] [-6.92976194e-01 7.20802550e-01 1.50890334e-02 -1.36932333e+02] [ 2.22886153e-02 4.99716178e-04 9.99751453e-01 4.92339012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.91, Y:-136.96, Z:4.92 [[ 7.19926565e-01 6.93872329e-01 -1.57140812e-02 3.56906273e+02] [-6.93721607e-01 7.20097880e-01 1.44698128e-02 -1.36955274e+02] [ 2.13558793e-02 4.83995086e-04 9.99771820e-01 4.92428026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.29232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.94, Y:-136.98, Z:4.93 [[ 7.20179935e-01 6.93641932e-01 -1.42032005e-02 3.56937069e+02] [-6.93518411e-01 7.20319856e-01 1.30965130e-02 -1.36975993e+02] [ 1.93151379e-02 4.18335117e-04 9.99813358e-01 4.92517274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32232058799997 meters Centerline goodness [0,1] 0.9999513949645183 Centerline is valid? [True, True] Translation: X:356.97, Y:-137.00, Z:4.93 [[ 7.19653434e-01 6.94170932e-01 -1.50216898e-02 3.56965717e+02] [-6.94032394e-01 7.19810060e-01 1.38749253e-02 -1.36999537e+02] [ 2.04443332e-02 4.40401661e-04 9.99790896e-01 4.92769868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.35232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:356.99, Y:-137.02, Z:4.93 [[ 7.19085207e-01 6.94765180e-01 -1.47584151e-02 3.56994334e+02] [-6.94631163e-01 7.19236509e-01 1.36525218e-02 -1.37022456e+02] [ 2.01000877e-02 4.34328599e-04 9.99797878e-01 4.92872225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.02, Y:-137.04, Z:4.93 [[ 7.18902883e-01 6.94959653e-01 -1.44819001e-02 3.57024897e+02] [-6.94830218e-01 7.19048613e-01 1.34186470e-02 -1.37044320e+02] [ 1.97386085e-02 4.15757760e-04 9.99805088e-01 4.92775244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.41232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.05, Y:-137.07, Z:4.93 [[ 7.18353030e-01 6.95528229e-01 -1.44708660e-02 3.57051804e+02] [-6.95398671e-01 7.18498650e-01 1.34305313e-02 -1.37068739e+02] [ 1.97386113e-02 4.15158078e-04 9.99805088e-01 4.92881516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.442320588 meters Centerline goodness [0,1] 0.9998540572095739 Centerline is valid? [True, True] Translation: X:357.08, Y:-137.09, Z:4.93 [[ 7.18078181e-01 6.95822213e-01 -1.39704643e-02 3.57080437e+02] [-6.95701143e-01 7.18213960e-01 1.29856301e-02 -1.37091908e+02] [ 1.90694723e-02 3.94570341e-04 9.99818083e-01 4.92932668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.47232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.11, Y:-137.12, Z:4.93 [[ 7.17506856e-01 6.96408259e-01 -1.41226197e-02 3.57108187e+02] [-6.96284244e-01 7.17645718e-01 1.31481943e-02 -1.37116819e+02] [ 1.92915487e-02 3.99437988e-04 9.99813821e-01 4.93124742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.14, Y:-137.14, Z:4.93 [[ 7.17223145e-01 6.96699230e-01 -1.41825007e-02 3.57136436e+02] [-6.96573803e-01 7.17363247e-01 1.32252991e-02 -1.37140406e+02] [ 1.93880604e-02 3.93667822e-04 9.99811956e-01 4.93375017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.17, Y:-137.16, Z:4.93 [[ 7.16668917e-01 6.97267976e-01 -1.42489757e-02 3.57165277e+02] [-6.97141070e-01 7.16810444e-01 1.33084849e-02 -1.37163003e+02] [ 1.94933949e-02 3.95768653e-04 9.99809907e-01 4.93403157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.562320588 meters Centerline goodness [0,1] 0.9999513476695534 Centerline is valid? [True, True] Translation: X:357.20, Y:-137.18, Z:4.93 [[ 7.15837262e-01 6.98144243e-01 -1.31007614e-02 3.57195707e+02] [-6.98036793e-01 7.15957035e-01 1.22539159e-02 -1.37183593e+02] [ 1.79345831e-02 3.73003897e-04 9.99839093e-01 4.93294871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59232058799995 meters Centerline goodness [0,1] 0.9999027190038426 Centerline is valid? [True, True] Translation: X:357.22, Y:-137.21, Z:4.93 [[ 7.14485184e-01 6.99522650e-01 -1.33785088e-02 3.57223710e+02] [-6.99410514e-01 7.14610313e-01 1.25313388e-02 -1.37207517e+02] [ 1.83263757e-02 4.03613775e-04 9.99831976e-01 4.93351929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.25, Y:-137.23, Z:4.94 [[ 7.13369709e-01 7.00651909e-01 -1.38043665e-02 3.57250854e+02] [-7.00532308e-01 7.13503131e-01 1.29525181e-02 -1.37231709e+02] [ 1.89246652e-02 4.30470700e-04 9.99820820e-01 4.93526394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.65232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.28, Y:-137.26, Z:4.94 [[ 7.10955814e-01 7.03116571e-01 -1.29968841e-02 3.57278799e+02] [-7.03010674e-01 7.11074455e-01 1.22111113e-02 -1.37255061e+02] [ 1.78275870e-02 4.55387651e-04 9.99840972e-01 4.93653938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.31, Y:-137.28, Z:4.94 [[ 7.10364542e-01 7.03708223e-01 -1.33024067e-02 3.57306656e+02] [-7.03597053e-01 7.10488929e-01 1.25167556e-02 -1.37277900e+02] [ 1.82593565e-02 4.68074765e-04 9.99833174e-01 4.93853524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.71232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.34, Y:-137.30, Z:4.94 [[ 7.10085759e-01 7.04030014e-01 -1.09523563e-02 3.57335496e+02] [-7.03954564e-01 7.10170114e-01 1.03141521e-02 -1.37300328e+02] [ 1.50395088e-02 3.86028706e-04 9.99886826e-01 4.93901295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.36, Y:-137.32, Z:4.94 [[ 7.10363817e-01 7.03749723e-01 -1.09350405e-02 3.57363566e+02] [-7.03674214e-01 7.10447882e-01 1.03153941e-02 -1.37323815e+02] [ 1.50282321e-02 3.67023309e-04 9.99887002e-01 4.93984440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.77232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.39, Y:-137.35, Z:4.94 [[ 7.10209243e-01 7.03900320e-01 -1.12769869e-02 3.57391755e+02] [-7.03819758e-01 7.10298671e-01 1.06557770e-02 -1.37348052e+02] [ 1.55106337e-02 3.69134913e-04 9.99879635e-01 4.94079745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.42, Y:-137.37, Z:4.94 [[ 7.10486680e-01 7.03609617e-01 -1.19241141e-02 3.57419785e+02] [-7.03519167e-01 7.10586639e-01 1.12876523e-02 -1.37370971e+02] [ 1.64152169e-02 3.69116202e-04 9.99865193e-01 4.94169003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.83232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.45, Y:-137.39, Z:4.94 [[ 7.11076701e-01 7.03022590e-01 -1.13650005e-02 3.57448651e+02] [-7.02940115e-01 7.11167442e-01 1.07733036e-02 -1.37392224e+02] [ 1.56562942e-02 3.28269575e-04 9.99877379e-01 4.94251802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.48, Y:-137.42, Z:4.94 [[ 7.10501267e-01 7.03606266e-01 -1.12325865e-02 3.57476124e+02] [-7.03525534e-01 7.10589977e-01 1.06633358e-02 -1.37415079e+02] [ 1.54845533e-02 3.26097872e-04 9.99880054e-01 4.94353984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.89232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.50, Y:-137.44, Z:4.94 [[ 7.08694652e-01 7.05451754e-01 -9.47165199e-03 3.57503092e+02] [-7.05394403e-01 7.08757879e-01 9.00027330e-03 -1.37439565e+02] [ 1.30623666e-02 3.02804749e-04 9.99914638e-01 4.94367258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.53, Y:-137.46, Z:4.95 [[ 7.07407602e-01 7.06738315e-01 -9.76928839e-03 3.57529310e+02] [-7.06677219e-01 7.07474981e-01 9.29836200e-03 -1.37463817e+02] [ 1.34830358e-02 3.26001582e-04 9.99909047e-01 4.94595041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.95232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.56, Y:-137.49, Z:4.95 [[ 7.06457229e-01 7.07690754e-01 -9.59059328e-03 3.57556130e+02] [-7.07631792e-01 7.06522249e-01 9.14102960e-03 -1.37488079e+02] [ 1.32449897e-02 3.28862266e-04 9.99912227e-01 4.94757907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.58, Y:-137.51, Z:4.95 [[ 7.05319344e-01 7.08837964e-01 -8.56525314e-03 3.57583675e+02] [-7.08790918e-01 7.05371283e-01 8.17239978e-03 -1.37510799e+02] [ 1.18345908e-02 3.06821984e-04 9.99929922e-01 4.94839050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.01232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.61, Y:-137.53, Z:4.95 [[ 7.04725098e-01 7.09421177e-01 -9.17226029e-03 3.57610814e+02] [-7.09367089e-01 7.04784709e-01 8.76624879e-03 -1.37534537e+02] [ 1.26834313e-02 3.28704049e-04 9.99919508e-01 4.94848728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.64, Y:-137.56, Z:4.95 [[ 7.04383012e-01 7.09752380e-01 -9.80461363e-03 3.57637604e+02] [-7.09690392e-01 7.04451161e-01 9.38662399e-03 -1.37558405e+02] [ 1.35690502e-02 3.46461606e-04 9.99907876e-01 4.94834751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.07232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.66, Y:-137.58, Z:4.95 [[ 7.03585133e-01 7.10516565e-01 -1.15832188e-02 3.57664853e+02] [-7.10429802e-01 7.03680355e-01 1.11110354e-02 -1.37581995e+02] [ 1.60454582e-02 4.11504517e-04 9.99871179e-01 4.94799500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.69, Y:-137.61, Z:4.95 [[ 7.03004038e-01 7.11097917e-01 -1.11836469e-02 3.57692000e+02] [-7.11016889e-01 7.03092876e-01 1.07420749e-02 -1.37605930e+02] [ 1.55018096e-02 4.00039819e-04 9.99879760e-01 4.94844658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.13232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.72, Y:-137.63, Z:4.95 [[ 7.01668535e-01 7.12429295e-01 -1.02842437e-02 3.57719304e+02] [-7.12360747e-01 7.01743792e-01 9.89022297e-03 -1.37629580e+02] [ 1.42629888e-02 3.86433271e-04 9.99898204e-01 4.94845831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.75, Y:-137.65, Z:4.95 [[ 7.00493079e-01 7.13595878e-01 -9.50624620e-03 3.57746190e+02] [-7.13537266e-01 7.00557482e-01 9.15339301e-03 -1.37654225e+02] [ 1.31914954e-02 3.71172466e-04 9.99912920e-01 4.94921377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.77, Y:-137.68, Z:4.95 [[ 6.99165012e-01 7.14898042e-01 -9.43796161e-03 3.57772410e+02] [-7.14840209e-01 6.99228605e-01 9.10127968e-03 -1.37678262e+02] [ 1.31057798e-02 3.83338127e-04 9.99914042e-01 4.95000328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.80, Y:-137.70, Z:4.95 [[ 6.96931858e-01 7.17076323e-01 -9.35582553e-03 3.57800337e+02] [-7.17019544e-01 6.96994531e-01 9.03309948e-03 -1.37701373e+02] [ 1.29983810e-02 4.12854953e-04 9.99915432e-01 4.95150882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.83, Y:-137.73, Z:4.95 [[ 6.95613894e-01 7.18349043e-01 -9.79603336e-03 3.57827563e+02] [-7.18286703e-01 6.95682724e-01 9.47413215e-03 -1.37725116e+02] [ 1.36206649e-02 4.46022543e-04 9.99907135e-01 4.95270131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.85, Y:-137.75, Z:4.95 [[ 6.94272844e-01 7.19646105e-01 -9.73148058e-03 3.57853992e+02] [-7.19584527e-01 6.94340891e-01 9.42521689e-03 -1.37749627e+02] [ 1.35397855e-02 4.58950709e-04 9.99908228e-01 4.95400148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.312320588 meters Centerline goodness [0,1] 0.9999507704425737 Centerline is valid? [True, True] Translation: X:357.88, Y:-137.77, Z:4.95 [[ 6.92914836e-01 7.20966474e-01 -8.73916652e-03 3.57883056e+02] [-7.20916802e-01 6.92969812e-01 8.47378590e-03 -1.37770760e+02] [ 1.21652941e-02 4.28600010e-04 9.99925908e-01 4.95379968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34232058799995 meters Centerline goodness [0,1] 0.999951140860898 Centerline is valid? [True, True] Translation: X:357.91, Y:-137.79, Z:4.95 [[ 6.92086876e-01 7.21757982e-01 -9.00952311e-03 3.57909991e+02] [-7.21705089e-01 6.92145372e-01 8.74921420e-03 -1.37794637e+02] [ 1.25507149e-02 4.47002352e-04 9.99921137e-01 4.95424688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.94, Y:-137.82, Z:4.96 [[ 6.92144634e-01 7.21703136e-01 -8.96596519e-03 3.57938893e+02] [-7.21650597e-01 6.92202567e-01 8.71906530e-03 -1.37816646e+02] [ 1.24988409e-02 4.35439874e-04 9.99921792e-01 4.95573311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.97, Y:-137.84, Z:4.96 [[ 6.92115751e-01 7.21742255e-01 -7.99403046e-03 3.57965486e+02] [-7.21700393e-01 6.92161810e-01 7.78273472e-03 -1.37841353e+02] [ 1.11502911e-02 3.82741643e-04 9.99937760e-01 4.95624334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:357.99, Y:-137.87, Z:4.96 [[ 6.91866764e-01 7.21980053e-01 -8.07360046e-03 3.57992880e+02] [-7.21937233e-01 6.91913764e-01 7.87245751e-03 -1.37865279e+02] [ 1.12699926e-02 3.81941067e-04 9.99936419e-01 4.95845025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.02, Y:-137.89, Z:4.96 [[ 6.91495608e-01 7.22317508e-01 -9.55203907e-03 3.58022488e+02] [-7.22257352e-01 6.91561435e-01 9.33268945e-03 -1.37886710e+02] [ 1.33469868e-02 4.45516681e-04 9.99910826e-01 4.95994735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.05, Y:-137.91, Z:4.96 [[ 6.90872960e-01 7.22910686e-01 -9.73102623e-03 3.58050108e+02] [-7.22848121e-01 6.90941338e-01 9.52169700e-03 -1.37909381e+02] [ 1.36069048e-02 4.55771031e-04 9.99907318e-01 4.96149310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.08, Y:-137.93, Z:4.96 [[ 6.90594334e-01 7.23190713e-01 -8.64056839e-03 3.58079231e+02] [-7.23141299e-01 6.90648268e-01 8.46353168e-03 -1.37931364e+02] [ 1.20883411e-02 4.03484828e-04 9.99926852e-01 4.96254246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.11, Y:-137.96, Z:4.96 [[ 6.90525849e-01 7.23251010e-01 -9.05700187e-03 3.58106492e+02] [-7.23196542e-01 6.90585118e-01 8.88577551e-03 -1.37955245e+02] [ 1.26812768e-02 4.14134756e-04 9.99919504e-01 4.96475939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.13, Y:-137.98, Z:4.97 [[ 6.91169140e-01 7.22650228e-01 -7.86563614e-03 3.58133887e+02] [-7.22609013e-01 6.91213809e-01 7.72560116e-03 -1.37978073e+02] [ 1.10197438e-02 3.44082455e-04 9.99939222e-01 4.96518895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.16, Y:-138.00, Z:4.97 [[ 6.91445590e-01 7.22380295e-01 -8.34893536e-03 3.58161464e+02] [-7.22333701e-01 6.91495903e-01 8.21216142e-03 -1.38001056e+02] [ 1.17055582e-02 3.52454584e-04 9.99931425e-01 4.96633112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.19, Y:-138.02, Z:4.97 [[ 6.91902643e-01 7.21948715e-01 -7.79645132e-03 3.58188936e+02] [-7.21907954e-01 6.91946496e-01 7.67810795e-03 -1.38023339e+02] [ 1.09379273e-02 3.15817036e-04 9.99940129e-01 4.96681834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.67232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.22, Y:-138.05, Z:4.97 [[ 6.91884687e-01 7.21962138e-01 -8.13950626e-03 3.58215938e+02] [-7.21917578e-01 6.91932488e-01 8.02765416e-03 -1.38046110e+02] [ 1.14276512e-02 3.21841656e-04 9.99934650e-01 4.96724194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.24, Y:-138.07, Z:4.97 [[ 6.91864216e-01 7.21954767e-01 -1.02576786e-02 3.58243601e+02] [-7.21883702e-01 6.91940143e-01 1.01370580e-02 -1.38068135e+02] [ 1.44161970e-02 3.91383282e-04 9.99896005e-01 4.96856220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.73232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.27, Y:-138.09, Z:4.97 [[ 6.91288835e-01 7.22510991e-01 -9.88003428e-03 3.58270555e+02] [-7.22444952e-01 6.91359331e-01 9.77586063e-03 -1.38091426e+02] [ 1.38938206e-02 3.79837578e-04 9.99903404e-01 4.96906058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.30, Y:-138.11, Z:4.97 [[ 6.90238230e-01 7.23520971e-01 -9.41228738e-03 3.58296642e+02] [-7.23460987e-01 6.90302300e-01 9.32390947e-03 -1.38114888e+02] [ 1.32433677e-02 3.73703953e-04 9.99912233e-01 4.96876095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.79232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.32, Y:-138.14, Z:4.97 [[ 6.89394358e-01 7.24335115e-01 -8.60578059e-03 3.58322574e+02] [-7.24284922e-01 6.89447981e-01 8.53425187e-03 -1.38139289e+02] [ 1.21148964e-02 3.49572029e-04 9.99926551e-01 4.96957121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.35, Y:-138.16, Z:4.97 [[ 6.89138831e-01 7.24591073e-01 -7.44635528e-03 3.58348008e+02] [-7.24553437e-01 6.89178994e-01 7.39128927e-03 -1.38163070e+02] [ 1.04875339e-02 3.01657865e-04 9.99944959e-01 4.97040594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.85232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.37, Y:-138.19, Z:4.97 [[ 6.88374455e-01 7.25314432e-01 -7.71905040e-03 3.58374176e+02] [-7.25273928e-01 6.88417659e-01 7.67176784e-03 -1.38186239e+02] [ 1.08783746e-02 3.17376997e-04 9.99940778e-01 4.97211127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.40, Y:-138.21, Z:4.97 [[ 6.86837282e-01 7.26766897e-01 -8.02653059e-03 3.58401828e+02] [-7.26723072e-01 6.86884093e-01 7.98864232e-03 -1.38208030e+02] [ 1.13191770e-02 3.46167596e-04 9.99935876e-01 4.97306692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.91232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.43, Y:-138.23, Z:4.97 [[ 6.85657703e-01 7.27869721e-01 -8.89852590e-03 3.58427637e+02] [-7.27815751e-01 6.85715331e-01 8.87227819e-03 -1.38232386e+02] [ 1.25597183e-02 3.93141426e-04 9.99921046e-01 4.97399966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.93, Y:-137.71, Z:6.86 [[ 7.79461431e-01 -6.25565804e-01 3.32761646e-02 3.58934626e+02] [-6.24787977e-01 -7.80162696e-01 -3.14030517e-02 -1.37714512e+02] [ 4.56054975e-02 3.68692009e-03 -9.98952724e-01 6.85800693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.97232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.52, Y:-138.33, Z:4.98 [[ 7.37213755e-01 6.75595377e-01 -9.31480017e-03 3.58523614e+02] [-6.75548825e-01 7.37272470e-01 7.94289479e-03 -1.38329003e+02] [ 1.22337287e-02 4.36991014e-04 9.99925070e-01 4.97593579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.55, Y:-138.35, Z:4.98 [[ 7.36087561e-01 6.76833619e-01 -8.44717187e-03 3.58550261e+02] [-6.76795395e-01 7.36135912e-01 7.20504712e-03 -1.38349380e+02] [ 1.10948847e-02 4.13461453e-04 9.99938364e-01 4.97703465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.58, Y:-138.37, Z:4.98 [[ 7.35688495e-01 6.77295566e-01 -5.75800773e-03 3.58578231e+02] [-6.77277821e-01 7.35710972e-01 4.91109059e-03 -1.38367586e+02] [ 7.56248934e-03 2.86738085e-04 9.99971363e-01 4.97882110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.61, Y:-138.39, Z:4.98 [[ 7.34741897e-01 6.78320821e-01 -5.93363412e-03 3.58605005e+02] [-6.78301972e-01 7.34765794e-01 5.06579884e-03 -1.38388758e+02] [ 7.79606821e-03 3.02741075e-04 9.99969564e-01 4.98056320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.63, Y:-138.41, Z:4.98 [[ 7.34287281e-01 6.78804716e-01 -6.80783896e-03 3.58632565e+02] [-6.78779843e-01 7.34318757e-01 5.82124882e-03 -1.38408697e+02] [ 8.95061500e-03 3.46554889e-04 9.99959882e-01 4.98230637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.122320588 meters Centerline goodness [0,1] 0.9999510355971208 Centerline is valid? [True, True] Translation: X:358.66, Y:-138.43, Z:4.98 [[ 7.33436966e-01 6.79702489e-01 -8.64541600e-03 3.58659980e+02] [-6.79662290e-01 7.33487784e-01 7.40563449e-03 -1.38428379e+02] [ 1.13749352e-02 4.44397138e-04 9.99935205e-01 4.98454504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.15232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.69, Y:-138.44, Z:4.98 [[ 7.32497416e-01 6.80700448e-01 -9.71777760e-03 3.58689875e+02] [-6.80649567e-01 7.32561699e-01 8.33815108e-03 -1.38444842e+02] [ 1.27946549e-02 5.06726991e-04 9.99918017e-01 4.98438238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.72, Y:-138.47, Z:4.99 [[ 7.31523095e-01 6.81765434e-01 -8.35797053e-03 3.58715860e+02] [-6.81727855e-01 7.31570701e-01 7.17228956e-03 -1.38466145e+02] [ 1.10042655e-02 4.51165872e-04 9.99939349e-01 4.98674159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.21232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.74, Y:-138.49, Z:4.99 [[ 7.31125845e-01 6.82198858e-01 -7.72762782e-03 3.58742544e+02] [-6.82166703e-01 7.31166563e-01 6.63680915e-03 -1.38485943e+02] [ 1.01778067e-02 4.19187692e-04 9.99948117e-01 4.98947793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.77, Y:-138.51, Z:4.99 [[ 7.30648415e-01 6.82711854e-01 -7.57754436e-03 3.58769276e+02] [-6.82680889e-01 7.30687590e-01 6.51531071e-03 -1.38506287e+02] [ 9.98489748e-03 4.12643280e-04 9.99950065e-01 4.99092653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.27232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.80, Y:-138.53, Z:4.99 [[ 7.29989940e-01 6.83401024e-01 -8.81629780e-03 3.58797348e+02] [-6.83359030e-01 7.30043017e-01 7.59140118e-03 -1.38526046e+02] [ 1.16242480e-02 4.83050216e-04 9.99932319e-01 4.99212276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.83, Y:-138.54, Z:4.99 [[ 7.30039934e-01 6.83309863e-01 -1.13721213e-02 3.58826129e+02] [-6.83239709e-01 7.30128250e-01 9.81014899e-03 -1.38542727e+02] [ 1.50064786e-02 6.08084363e-04 9.99887212e-01 4.99162017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.33232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.85, Y:-138.56, Z:4.99 [[ 7.29676661e-01 6.83697849e-01 -1.13675836e-02 3.58851451e+02] [-6.83627660e-01 7.29764949e-01 9.81540216e-03 -1.38564192e+02] [ 1.50064334e-02 6.09124674e-04 9.99887212e-01 4.99258286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.88, Y:-138.58, Z:4.99 [[ 7.29705849e-01 6.83667899e-01 -1.12950400e-02 3.58878121e+02] [-6.83598445e-01 7.29793017e-01 9.76312024e-03 -1.38584942e+02] [ 1.49177732e-02 5.97065807e-04 9.99888546e-01 4.99379263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.39232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.91, Y:-138.60, Z:4.99 [[ 7.30685070e-01 6.82642660e-01 -9.91604308e-03 3.58906171e+02] [-6.82588931e-01 7.30752181e-01 8.57919020e-03 -1.38602713e+02] [ 1.31026913e-02 4.99895053e-04 9.99914031e-01 4.99447075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.93, Y:-138.62, Z:5.00 [[ 7.31662662e-01 6.81597682e-01 -9.71335673e-03 3.58932844e+02] [-6.81545947e-01 7.31726987e-01 8.41068724e-03 -1.38621650e+02] [ 1.28402302e-02 4.66313089e-04 9.99917452e-01 4.99636990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.45232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.96, Y:-138.64, Z:5.00 [[ 7.32000957e-01 6.81248925e-01 -8.63142851e-03 3.58958208e+02] [-6.81207989e-01 7.32051732e-01 7.47919333e-03 -1.38643348e+02] [ 1.14138446e-02 4.05021383e-04 9.99934778e-01 4.99629541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:358.98, Y:-138.66, Z:5.00 [[ 7.32720015e-01 6.80446349e-01 -1.06839112e-02 3.58983824e+02] [-6.80383329e-01 7.32797749e-01 9.27281198e-03 -1.38663585e+02] [ 1.41387972e-02 4.74780162e-04 9.99899929e-01 4.99835844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.51232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.01, Y:-138.68, Z:5.00 [[ 7.32621880e-01 6.80545847e-01 -1.10693763e-02 3.59010568e+02] [-6.80478075e-01 7.32705338e-01 9.61649595e-03 -1.38683011e+02] [ 1.46550575e-02 4.87212499e-04 9.99892490e-01 4.99913358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.04, Y:-138.70, Z:5.00 [[ 7.32624219e-01 6.80547104e-01 -1.08348041e-02 3.59037578e+02] [-6.80482034e-01 7.32704183e-01 9.42242400e-03 -1.38701543e+02] [ 1.43511096e-02 4.69793505e-04 9.99896907e-01 4.99867553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.57232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.06, Y:-138.72, Z:5.00 [[ 7.32440959e-01 6.80742793e-01 -1.09312101e-02 3.59063070e+02] [-6.80676444e-01 7.32522374e-01 9.51579813e-03 -1.38721921e+02] [ 1.44851670e-02 4.70856912e-04 9.99894974e-01 4.99971521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.09, Y:-138.74, Z:5.00 [[ 7.31627740e-01 6.81612431e-01 -1.11957176e-02 3.59089098e+02] [-6.81542784e-01 7.31713231e-01 9.75609883e-03 -1.38741689e+02] [ 1.48419329e-02 4.92527985e-04 9.99889731e-01 5.00048468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.63232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.11, Y:-138.76, Z:5.00 [[ 7.31867898e-01 6.81358952e-01 -1.09251371e-02 3.59114996e+02] [-6.81292474e-01 7.31949287e-01 9.52925605e-03 -1.38761381e+02] [ 1.44894902e-02 4.69057065e-04 9.99894912e-01 5.00171903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.14, Y:-138.78, Z:5.00 [[ 7.32011885e-01 6.81212505e-01 -1.03981933e-02 3.59141029e+02] [-6.81152163e-01 7.32085604e-01 9.07741228e-03 -1.38780981e+02] [ 1.37960144e-02 4.37978218e-04 9.99904735e-01 5.00347063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.17, Y:-138.80, Z:5.01 [[ 7.32552547e-01 6.80621685e-01 -1.09949216e-02 3.59169123e+02] [-6.80554000e-01 7.32634920e-01 9.60870490e-03 -1.38798674e+02] [ 1.45951564e-02 4.43756603e-04 9.99893387e-01 5.00599003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.20, Y:-138.82, Z:5.01 [[ 7.32534847e-01 6.80648589e-01 -1.04974653e-02 3.59195605e+02] [-6.80586781e-01 7.32609940e-01 9.18202123e-03 -1.38818621e+02] [ 1.39402772e-02 4.18285591e-04 9.99902742e-01 5.00853527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.22, Y:-138.84, Z:5.01 [[ 7.32647109e-01 6.80549098e-01 -9.00767561e-03 3.59221772e+02] [-6.80503522e-01 7.32702395e-01 7.88391476e-03 -1.38838333e+02] [ 1.19653366e-02 3.53627617e-04 9.99928350e-01 5.00896108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.25, Y:-138.86, Z:5.01 [[ 7.33089340e-01 6.80097150e-01 -6.91993136e-03 3.59250275e+02] [-6.80070218e-01 7.33121952e-01 6.05826071e-03 -1.38855203e+02] [ 9.19335943e-03 2.64792884e-04 9.99957705e-01 5.00907289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.28, Y:-138.87, Z:5.01 [[ 7.33419303e-01 6.79733498e-01 -7.64837220e-03 3.59277549e+02] [-6.79700491e-01 7.33459128e-01 6.70445273e-03 -1.38874335e+02] [ 1.01670095e-02 2.81427297e-04 9.99948275e-01 5.01052315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.30, Y:-138.89, Z:5.01 [[ 7.33327816e-01 6.79821958e-01 -8.50994892e-03 3.59303925e+02] [-6.79781004e-01 7.33377127e-01 7.46835208e-03 -1.38894840e+02] [ 1.13181516e-02 3.08151298e-04 9.99935900e-01 5.01188270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.33, Y:-138.91, Z:5.01 [[ 7.34346066e-01 6.78724127e-01 -8.33157726e-03 3.59330313e+02] [-6.78684713e-01 7.34393274e-01 7.31973345e-03 -1.38914549e+02] [ 1.10867340e-02 2.79296670e-04 9.99938501e-01 5.01358611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.36, Y:-138.93, Z:5.02 [[ 7.34879186e-01 6.78148068e-01 -8.23286039e-03 3.59355933e+02] [-6.78109467e-01 7.34925254e-01 7.24029400e-03 -1.38934556e+02] [ 1.09605284e-02 2.62039205e-04 9.99939897e-01 5.01520912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.38, Y:-138.95, Z:5.02 [[ 7.36175173e-01 6.76747224e-01 -7.70128090e-03 3.59383972e+02] [-6.76713309e-01 7.36215421e-01 6.77881301e-03 -1.38952839e+02] [ 1.02573446e-02 2.21165442e-04 9.99947368e-01 5.01586576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.41, Y:-138.97, Z:5.02 [[ 7.36593657e-01 6.76276488e-01 -8.93847154e-03 3.59409545e+02] [-6.76230652e-01 7.36647849e-01 7.87728949e-03 -1.38972649e+02] [ 1.19117315e-02 2.42106961e-04 9.99929023e-01 5.01787233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.43, Y:-138.99, Z:5.02 [[ 7.36932819e-01 6.75893300e-01 -9.91299945e-03 3.59434192e+02] [-6.75836766e-01 7.36999445e-01 8.74549885e-03 -1.38993889e+02] [ 1.32168992e-02 2.54724368e-04 9.99912621e-01 5.01839097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.46, Y:-139.02, Z:5.02 [[ 7.36822563e-01 6.76018280e-01 -9.58100211e-03 3.59459971e+02] [-6.75965387e-01 7.36884812e-01 8.45988248e-03 -1.39015088e+02] [ 1.27791301e-02 2.42993511e-04 9.99918314e-01 5.01961620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.49, Y:-139.04, Z:5.02 [[ 7.36284408e-01 6.76622815e-01 -8.17537049e-03 3.59485387e+02] [-6.76584290e-01 7.36329764e-01 7.22339908e-03 -1.39035844e+02] [ 1.09072852e-02 2.12851125e-04 9.99940491e-01 5.02006491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.51, Y:-139.06, Z:5.02 [[ 7.36075701e-01 6.76854200e-01 -7.80735733e-03 3.59510156e+02] [-6.76819017e-01 7.36117077e-01 6.90410300e-03 -1.39057038e+02] [ 1.04202002e-02 2.02225458e-04 9.99945688e-01 5.02015065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.53, Y:-139.08, Z:5.02 [[ 7.36091926e-01 6.76822037e-01 -8.97817568e-03 3.59534487e+02] [-6.76775370e-01 7.36146644e-01 7.95097749e-03 -1.39078712e+02] [ 1.19906507e-02 2.23557830e-04 9.99928085e-01 5.02080441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.56, Y:-139.10, Z:5.02 [[ 7.36039598e-01 6.76882477e-01 -8.70763736e-03 3.59559889e+02] [-6.76838509e-01 7.36091073e-01 7.71786487e-03 -1.39100135e+02] [ 1.16337016e-02 2.13010127e-04 9.99932304e-01 5.02114085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.17232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.59, Y:-139.12, Z:5.02 [[ 7.37049094e-01 6.75782392e-01 -8.76305501e-03 3.59585097e+02] [-6.75737688e-01 7.37101162e-01 7.77524592e-03 -1.39120764e+02] [ 1.17136323e-02 1.90788565e-04 9.99931375e-01 5.02193411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.61, Y:-139.14, Z:5.02 [[ 7.36782388e-01 6.76072587e-01 -8.80732773e-03 3.59609369e+02] [-6.76027366e-01 7.36835002e-01 7.82178360e-03 -1.39142207e+02] [ 1.17776408e-02 1.91042163e-04 9.99930623e-01 5.02283555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.23232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.63, Y:-139.16, Z:5.02 [[ 7.37692098e-01 6.75078935e-01 -8.87696324e-03 3.59633343e+02] [-6.75032824e-01 7.37745486e-01 7.89205035e-03 -1.39164690e+02] [ 1.18766965e-02 1.70338383e-04 9.99929455e-01 5.02490041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.66, Y:-139.19, Z:5.03 [[ 7.37010212e-01 6.75830104e-01 -8.34373535e-03 3.59657594e+02] [-6.75789350e-01 7.37057422e-01 7.42367408e-03 -1.39186852e+02] [ 1.11669545e-02 1.67283879e-04 9.99937634e-01 5.02593010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.29232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.68, Y:-139.21, Z:5.03 [[ 7.36077666e-01 6.76851286e-01 -7.87438271e-03 3.59682887e+02] [-6.76814968e-01 7.36119765e-01 7.01362617e-03 -1.39208157e+02] [ 1.05436706e-02 1.66926499e-04 9.99944400e-01 5.02695178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.71, Y:-139.23, Z:5.03 [[ 7.35072323e-01 6.77933056e-01 -8.68628690e-03 3.59707966e+02] [-6.77888857e-01 7.35123618e-01 7.74365871e-03 -1.39229319e+02] [ 1.16351769e-02 1.96187907e-04 9.99932290e-01 5.02857970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.35232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.73, Y:-139.25, Z:5.03 [[ 7.33353597e-01 6.79793421e-01 -8.56781806e-03 3.59733496e+02] [-6.79750456e-01 7.33403612e-01 7.64585182e-03 -1.39250493e+02] [ 1.14812685e-02 2.16865303e-04 9.99934065e-01 5.02930821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.76, Y:-139.27, Z:5.03 [[ 7.32205552e-01 6.81022750e-01 -9.11283018e-03 3.59758032e+02] [-6.80974128e-01 7.32262217e-01 8.14149295e-03 -1.39273039e+02] [ 1.22175231e-02 2.44355248e-04 9.99925333e-01 5.03052929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.41232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.78, Y:-139.29, Z:5.03 [[ 7.31529320e-01 6.81749523e-01 -9.07977386e-03 3.59782319e+02] [-6.81701157e-01 7.31585625e-01 8.12440174e-03 -1.39294493e+02] [ 1.21814390e-02 2.46454262e-04 9.99925773e-01 5.03139750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.81, Y:-139.32, Z:5.03 [[ 7.31067468e-01 6.82241209e-01 -9.34294315e-03 3.59807367e+02] [-6.82190019e-01 7.31127119e-01 8.36137814e-03 -1.39315713e+02] [ 1.25353558e-02 2.60931027e-04 9.99921395e-01 5.03333686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.47232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.83, Y:-139.34, Z:5.04 [[ 7.31620022e-01 6.81649748e-01 -9.26091050e-03 3.59832501e+02] [-6.81599296e-01 7.31678592e-01 8.29687333e-03 -1.39336410e+02] [ 1.24315716e-02 2.42071426e-04 9.99922696e-01 5.03520453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.502320588 meters Centerline goodness [0,1] 0.9999509755858418 Centerline is valid? [True, True] Translation: X:359.86, Y:-139.36, Z:5.04 [[ 7.32826837e-01 6.80339578e-01 -1.01432607e-02 3.59857082e+02] [-6.80278797e-01 7.32896994e-01 9.09690497e-03 -1.39358330e+02] [ 1.36229497e-02 2.33789076e-04 9.99907176e-01 5.03651560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.53232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.88, Y:-139.38, Z:5.04 [[ 7.33577841e-01 6.79536208e-01 -9.70020204e-03 3.59881579e+02] [-6.79480455e-01 7.33641943e-01 8.70689688e-03 -1.39380014e+02] [ 1.30331268e-02 2.03911081e-04 9.99915044e-01 5.03743087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.91, Y:-139.40, Z:5.04 [[ 7.33831891e-01 6.79260883e-01 -9.76777740e-03 3.59906329e+02] [-6.79204211e-01 7.33896870e-01 8.77636367e-03 -1.39401538e+02] [ 1.31299818e-02 1.93939995e-04 9.99913779e-01 5.03888007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.59232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.93, Y:-139.42, Z:5.04 [[ 7.34252802e-01 6.78805992e-01 -9.75949165e-03 3.59930117e+02] [-6.78749262e-01 7.34317637e-01 8.77763224e-03 -1.39423867e+02] [ 1.31248762e-02 1.79246692e-04 9.99913849e-01 5.03950510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.95, Y:-139.45, Z:5.04 [[ 7.34173036e-01 6.78887335e-01 -1.00965002e-02 3.59954373e+02] [-6.78826481e-01 7.34242436e-01 9.09140677e-03 -1.39445944e+02] [ 1.35853198e-02 1.79106023e-04 9.99907699e-01 5.04096464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.65232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:359.98, Y:-139.47, Z:5.04 [[ 7.34008039e-01 6.79059755e-01 -1.04903859e-02 3.59978896e+02] [-6.78993956e-01 7.34082976e-01 9.45471514e-03 -1.39467826e+02] [ 1.41211302e-02 1.83071698e-04 9.99900275e-01 5.04232989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.00, Y:-139.49, Z:5.04 [[ 7.34349198e-01 6.78701673e-01 -9.76194654e-03 3.60003871e+02] [-6.78644561e-01 7.34414062e-01 8.80594920e-03 -1.39488753e+02] [ 1.31459233e-02 1.58250199e-04 9.99913576e-01 5.04248352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.71232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.03, Y:-139.51, Z:5.04 [[ 7.34017623e-01 6.79067454e-01 -9.24776475e-03 3.60028873e+02] [-6.79016137e-01 7.34075861e-01 8.34957420e-03 -1.39510326e+02] [ 1.24584850e-02 1.50646895e-04 9.99922379e-01 5.04273320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.05, Y:-139.53, Z:5.04 [[ 7.32883802e-01 6.80303778e-01 -8.25247606e-03 3.60052470e+02] [-6.80262926e-01 7.32930248e-01 7.45675897e-03 -1.39532893e+02] [ 1.11213506e-02 1.48915649e-04 9.99938145e-01 5.04420694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.77232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.08, Y:-139.56, Z:5.05 [[ 7.32264317e-01 6.80960901e-01 -9.01231352e-03 3.60077036e+02] [-6.80912114e-01 7.32319755e-01 8.15287056e-03 -1.39555052e+02] [ 1.21516813e-02 1.66537265e-04 9.99926152e-01 5.04694177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.10, Y:-139.58, Z:5.05 [[ 7.31886660e-01 6.81348622e-01 -1.02942240e-02 3.60101206e+02] [-6.81284835e-01 7.31959028e-01 9.32493420e-03 -1.39576596e+02] [ 1.38884813e-02 1.88503727e-04 9.99903533e-01 5.04793642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.83232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.13, Y:-139.60, Z:5.05 [[ 7.30410187e-01 6.82935897e-01 -9.97597893e-03 3.60125337e+02] [-6.82876027e-01 7.30478281e-01 9.04504576e-03 -1.39598323e+02] [ 1.34644224e-02 2.05763296e-04 9.99909329e-01 5.04767352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.15, Y:-139.62, Z:5.05 [[ 7.30179972e-01 6.83175759e-01 -1.03966390e-02 3.60149204e+02] [-6.83110616e-01 7.30253954e-01 9.43655881e-03 -1.39620485e+02] [ 1.40390150e-02 2.11668231e-04 9.99901426e-01 5.04920349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.89232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.17, Y:-139.64, Z:5.05 [[ 7.30093761e-01 6.83281744e-01 -9.44233122e-03 3.60173294e+02] [-6.83227934e-01 7.30154793e-01 8.57714987e-03 -1.39642425e+02] [ 1.27549733e-02 1.89140848e-04 9.99918634e-01 5.05127326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.20, Y:-139.66, Z:5.05 [[ 7.29946876e-01 6.83441208e-01 -9.25598253e-03 3.60198922e+02] [-6.83389413e-01 7.30005536e-01 8.41594795e-03 -1.39663610e+02] [ 1.25087241e-02 1.82245546e-04 9.99921746e-01 5.05230690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.95232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.22, Y:-139.68, Z:5.05 [[ 7.29076731e-01 6.84358594e-01 -1.00217554e-02 3.60223770e+02] [-6.84297816e-01 7.29145577e-01 9.12287536e-03 -1.39684990e+02] [ 1.35506368e-02 2.06589197e-04 9.99908165e-01 5.05289050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.25, Y:-139.71, Z:5.06 [[ 7.27898811e-01 6.85606070e-01 -1.03749164e-02 3.60247418e+02] [-6.85540914e-01 7.27972708e-01 9.45467496e-03 -1.39707237e+02] [ 1.40348385e-02 2.30383028e-04 9.99901480e-01 5.05539304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.01232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.27, Y:-139.73, Z:5.06 [[ 7.27021681e-01 6.86544258e-01 -9.82129696e-03 3.60272035e+02] [-6.86485849e-01 7.27087979e-01 8.95820712e-03 -1.39728919e+02] [ 1.32911526e-02 2.29370588e-04 9.99911642e-01 5.05671090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.30, Y:-139.75, Z:5.06 [[ 7.25278955e-01 6.88381895e-01 -1.00401251e-02 3.60296779e+02] [-6.88320899e-01 7.25348398e-01 9.16747630e-03 -1.39750022e+02] [ 1.35933134e-02 2.61850333e-04 9.99907572e-01 5.05788482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.07232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.32, Y:-139.77, Z:5.06 [[ 7.24269346e-01 6.89437775e-01 -1.04627862e-02 3.60321271e+02] [-6.89371497e-01 7.24344858e-01 9.56376856e-03 -1.39771871e+02] [ 1.41722887e-02 2.86002193e-04 9.99899527e-01 5.05852951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.35, Y:-139.79, Z:5.06 [[ 7.23695904e-01 6.90036665e-01 -1.06601738e-02 3.60345821e+02] [-6.89967783e-01 7.23774353e-01 9.75420264e-03 -1.39794120e+02] [ 1.44463178e-02 2.96099971e-04 9.99895603e-01 5.06013875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.13232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.37, Y:-139.81, Z:5.06 [[ 7.23053563e-01 6.90697945e-01 -1.13970946e-02 3.60372690e+02] [-6.90619110e-01 7.23143309e-01 1.04402833e-02 -1.39813206e+02] [ 1.54528149e-02 3.22167274e-04 9.99880546e-01 5.06056786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.40, Y:-139.83, Z:5.06 [[ 7.22851290e-01 6.90909780e-01 -1.13880410e-02 3.60398259e+02] [-6.90830938e-01 7.22940920e-01 1.04423092e-02 -1.39834354e+02] [ 1.54475744e-02 3.18974355e-04 9.99880628e-01 5.06191598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.42, Y:-139.86, Z:5.06 [[ 7.23426063e-01 6.90314312e-01 -1.09946505e-02 3.60422855e+02] [-6.90240613e-01 7.23509549e-01 1.00910160e-02 -1.39855716e+02] [ 1.49207074e-02 2.88850358e-04 9.99888638e-01 5.06381049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.45, Y:-139.88, Z:5.06 [[ 7.23083143e-01 6.90673580e-01 -1.09897366e-02 3.60446894e+02] [-6.90599841e-01 7.23166594e-01 1.00963623e-02 -1.39877411e+02] [ 1.49207010e-02 2.89000965e-04 9.99888638e-01 5.06474875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.47, Y:-139.90, Z:5.07 [[ 7.23317076e-01 6.90428964e-01 -1.09660257e-02 3.60472035e+02] [-6.90355366e-01 7.23400145e-01 1.00845901e-02 -1.39897937e+02] [ 1.48955177e-02 2.76098515e-04 9.99889018e-01 5.06621286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.50, Y:-139.92, Z:5.07 [[ 7.23385268e-01 6.90357961e-01 -1.09380272e-02 3.60498226e+02] [-6.90284583e-01 7.23467909e-01 1.00687738e-02 -1.39918284e+02] [ 1.48643698e-02 2.66748932e-04 9.99889484e-01 5.06637124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.53, Y:-139.94, Z:5.07 [[ 7.23488098e-01 6.90239873e-01 -1.15710822e-02 3.60526298e+02] [-6.90157540e-01 7.23580573e-01 1.06641635e-02 -1.39936934e+02] [ 1.57334411e-02 2.70474277e-04 9.99876185e-01 5.06596332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.55, Y:-139.96, Z:5.07 [[ 7.22667062e-01 6.91078061e-01 -1.27839777e-02 3.60552013e+02] [-6.90977485e-01 7.22780061e-01 1.17940081e-02 -1.39958115e+02] [ 1.73905844e-02 3.10299554e-04 9.99848724e-01 5.06822391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.58, Y:-139.98, Z:5.07 [[ 7.22266680e-01 6.91529637e-01 -1.08445731e-02 3.60579170e+02] [-6.91457208e-01 7.22348039e-01 1.00119539e-02 -1.39976849e+02] [ 1.47571190e-02 2.67257516e-04 9.99891072e-01 5.06990136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.60, Y:-140.00, Z:5.07 [[ 7.21934056e-01 6.91888167e-01 -1.00986319e-02 3.60604828e+02] [-6.91825291e-01 7.22004641e-01 9.33084668e-03 -1.39997290e+02] [ 1.37471615e-02 2.50232937e-04 9.99905472e-01 5.07114603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.63, Y:-140.02, Z:5.07 [[ 7.23304652e-01 6.90467056e-01 -9.25338899e-03 3.60632869e+02] [-6.90414057e-01 7.23363812e-01 8.55715370e-03 -1.40015423e+02] [ 1.26019995e-02 1.99240758e-04 9.99920572e-01 5.07167798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.66, Y:-140.04, Z:5.07 [[ 7.23309048e-01 6.90450079e-01 -1.01345929e-02 3.60658844e+02] [-6.90386351e-01 7.23380014e-01 9.38308124e-03 -1.40035023e+02] [ 1.38097111e-02 2.09917023e-04 9.99904619e-01 5.07270954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.69, Y:-140.05, Z:5.07 [[ 7.23182517e-01 6.90599473e-01 -8.91149598e-03 3.60685120e+02] [-6.90550146e-01 7.23237398e-01 8.25599615e-03 -1.40054888e+02] [ 1.21467138e-02 1.83242775e-04 9.99926209e-01 5.07291443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.71, Y:-140.07, Z:5.07 [[ 7.23459174e-01 6.90324634e-01 -7.66305351e-03 3.60714038e+02] [-6.90288099e-01 7.23499742e-01 7.10378659e-03 -1.40072148e+02] [ 1.04481361e-02 1.50415059e-04 9.99945405e-01 5.07363203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.552320588 meters Centerline goodness [0,1] 0.9999508768482586 Centerline is valid? [True, True] Translation: X:360.74, Y:-140.09, Z:5.08 [[ 7.22970818e-01 6.90839408e-01 -7.35583772e-03 3.60739889e+02] [-6.90805708e-01 7.23008223e-01 6.82519560e-03 -1.40092815e+02] [ 1.00334452e-02 1.47037448e-04 9.99949653e-01 5.07505748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.77, Y:-140.11, Z:5.08 [[ 7.22681145e-01 6.91126869e-01 -8.69564563e-03 3.60765086e+02] [-6.91079636e-01 7.22733438e-01 8.08169878e-03 -1.40112218e+02] [ 1.18701130e-02 1.68892295e-04 9.99929533e-01 5.07819723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.79, Y:-140.13, Z:5.08 [[ 7.22289144e-01 6.91548730e-01 -7.66461819e-03 3.60790056e+02] [-6.91512014e-01 7.22329793e-01 7.12770395e-03 -1.40132262e+02] [ 1.04655367e-02 1.51912384e-04 9.99945223e-01 5.07896966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.82, Y:-140.15, Z:5.08 [[ 7.21766439e-01 6.92100517e-01 -7.07685966e-03 3.60815833e+02] [-6.92069207e-01 7.21801117e-01 6.58480621e-03 -1.40152116e+02] [ 9.66543299e-03 1.44984527e-04 9.99953278e-01 5.07963949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.67232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.84, Y:-140.17, Z:5.08 [[ 7.22529243e-01 6.91311953e-01 -6.26714312e-03 3.60842163e+02] [-6.91287348e-01 7.22556413e-01 5.83372886e-03 -1.40171857e+02] [ 8.56129094e-03 1.17357043e-04 9.99963345e-01 5.07975908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.87, Y:-140.19, Z:5.08 [[ 7.23552983e-01 6.90248647e-01 -5.28084644e-03 3.60869411e+02] [-6.90231136e-01 7.23572248e-01 4.91740009e-03 -1.40190841e+02] [ 7.21530268e-03 8.70051331e-05 9.99973966e-01 5.07997838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.73232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.90, Y:-140.21, Z:5.08 [[ 7.24476875e-01 6.89286791e-01 -4.12046778e-03 3.60895759e+02] [-6.89276117e-01 7.24488590e-01 3.83643864e-03 -1.40210277e+02] [ 5.62963837e-03 6.07289535e-05 9.99984152e-01 5.08001744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.92, Y:-140.23, Z:5.08 [[ 7.25072436e-01 6.88661489e-01 -3.91347853e-03 3.60921391e+02] [-6.88651837e-01 7.25082996e-01 3.64658152e-03 -1.40231375e+02] [ 5.34885700e-03 5.09884275e-05 9.99985693e-01 5.08086336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.79232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.95, Y:-140.25, Z:5.08 [[ 7.25975340e-01 6.87706880e-01 -4.36487278e-03 3.60945647e+02] [-6.87694804e-01 7.25988461e-01 4.07577917e-03 -1.40252511e+02] [ 5.97178865e-03 4.27851575e-05 9.99982168e-01 5.08332708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.97, Y:-140.27, Z:5.08 [[ 7.26757226e-01 6.86881835e-01 -4.15693399e-03 3.60969683e+02] [-6.86870866e-01 7.26769113e-01 3.88200908e-03 -1.40274533e+02] [ 5.68761275e-03 3.39987043e-05 9.99983825e-01 5.08362566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.85232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:360.99, Y:-140.30, Z:5.08 [[ 7.27261747e-01 6.86343921e-01 -4.72999121e-03 3.60993157e+02] [-6.86329648e-01 7.27277128e-01 4.42637853e-03 -1.40296652e+02] [ 6.47803242e-03 2.71974251e-05 9.99979017e-01 5.08339722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.02, Y:-140.32, Z:5.08 [[ 7.26635024e-01 6.87023415e-01 -6.07454615e-04 3.61016962e+02] [-6.87023193e-01 7.26635278e-01 5.52601966e-04 -1.40318725e+02] [ 8.21048443e-04 1.57954664e-05 9.99999663e-01 5.08287902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.91232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.04, Y:-140.34, Z:5.08 [[ 7.25962700e-01 6.87734066e-01 -1.11860023e-04 3.61040022e+02] [-6.87734061e-01 7.25962708e-01 8.49289871e-05 -1.40341813e+02] [ 1.39614763e-04 1.52746714e-05 9.99999990e-01 5.08408394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.06, Y:-140.36, Z:5.09 [[ 7.25418949e-01 6.88307050e-01 8.68279714e-04 3.61062363e+02] [-6.88306542e-01 7.25419468e-01 -8.35886905e-04 -1.40364527e+02] [-1.20521386e-03 8.72559239e-06 9.99999274e-01 5.08502052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.97232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.09, Y:-140.39, Z:5.09 [[ 7.23971905e-01 6.89828253e-01 1.28918704e-03 3.61085102e+02] [-6.89827148e-01 7.23973052e-01 -1.23511291e-03 -1.40388412e+02] [-1.78535246e-03 4.87082953e-06 9.99998406e-01 5.08588087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.11, Y:-140.41, Z:5.09 [[ 7.23441879e-01 6.90384669e-01 9.25934057e-04 3.61108920e+02] [-6.90384089e-01 7.23442471e-01 -8.94607097e-04 -1.40410690e+02] [-1.28748305e-03 7.94609878e-06 9.99999171e-01 5.08620360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.03232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.13, Y:-140.43, Z:5.09 [[ 7.22454730e-01 6.91408995e-01 3.57273077e-03 3.61131348e+02] [-6.91400665e-01 7.22463564e-01 -3.39401032e-03 -1.40434108e+02] [-4.92781707e-03 -1.81696247e-05 9.99987858e-01 5.08704625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.16, Y:-140.46, Z:5.09 [[ 7.21883460e-01 6.92004498e-01 3.74754968e-03 3.61155176e+02] [-6.91995314e-01 7.21893188e-01 -3.56519179e-03 -1.40456856e+02] [-5.17245934e-03 -1.96338310e-05 9.99986623e-01 5.08875897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.09232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.18, Y:-140.48, Z:5.09 [[ 7.20800181e-01 6.93136767e-01 2.91912474e-03 3.61178691e+02] [-6.93131185e-01 7.20806092e-01 -2.78168384e-03 -1.40478927e+02] [-4.03221024e-03 -1.82981739e-05 9.99991870e-01 5.08999139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.20, Y:-140.50, Z:5.09 [[ 7.18430590e-01 6.95593072e-01 2.78664612e-03 3.61201999e+02] [-6.95587982e-01 7.18435994e-01 -2.66121168e-03 -1.40501597e+02] [-3.85314728e-03 -2.64616794e-05 9.99992576e-01 5.09005299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.15232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.23, Y:-140.52, Z:5.09 [[ 7.17467325e-01 6.96584713e-01 3.22097190e-03 3.61225269e+02] [-6.96577925e-01 7.17474554e-01 -3.07554092e-03 -1.40524420e+02] [-4.45334017e-03 -3.70578030e-05 9.99990083e-01 5.09132901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.25, Y:-140.55, Z:5.09 [[ 7.16286223e-01 6.97796109e-01 3.82594494e-03 3.61249076e+02] [-6.97786550e-01 7.16296438e-01 -3.65277691e-03 -1.40546467e+02] [-5.28940425e-03 -5.32591418e-05 9.99986010e-01 5.09192753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.21232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.27, Y:-140.57, Z:5.09 [[ 7.14902617e-01 6.99197875e-01 6.04809279e-03 3.61274256e+02] [-6.99174097e-01 7.14928193e-01 -5.76734411e-03 -1.40566633e+02] [-8.35646679e-03 -1.05580413e-04 9.99965079e-01 5.09305513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.30, Y:-140.59, Z:5.09 [[ 7.14438101e-01 6.99652793e-01 8.01052900e-03 3.61298996e+02] [-6.99611082e-01 7.14482993e-01 -7.64107118e-03 -1.40587762e+02] [-1.10694835e-02 -1.45182483e-04 9.99938721e-01 5.09234106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.27232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.32, Y:-140.61, Z:5.09 [[ 7.14785003e-01 6.99312167e-01 6.70022417e-03 3.61324737e+02] [-6.99282908e-01 7.14816396e-01 -6.39799917e-03 -1.40607671e+02] [-9.26362876e-03 -1.12158392e-04 9.99957085e-01 5.09373305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.35, Y:-140.63, Z:5.09 [[ 7.15161521e-01 6.98925053e-01 6.91149329e-03 3.61349818e+02] [-6.98893817e-01 7.15194910e-01 -6.60860867e-03 -1.40629678e+02] [-9.56198699e-03 -1.04177299e-04 9.99954278e-01 5.09410575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.33232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.37, Y:-140.65, Z:5.09 [[ 7.14946115e-01 6.99141866e-01 7.25969476e-03 3.61374750e+02] [-6.99107356e-01 7.14982964e-01 -6.94735388e-03 -1.40651506e+02] [-1.00477440e-02 -1.08322341e-04 9.99949514e-01 5.09451821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.40, Y:-140.67, Z:5.09 [[ 7.15619777e-01 6.98441881e-01 8.20198272e-03 3.61400718e+02] [-6.98397851e-01 7.15666770e-01 -7.84329621e-03 -1.40671035e+02] [-1.13479730e-02 -1.15429213e-04 9.99935603e-01 5.09427991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.39232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.43, Y:-140.69, Z:5.10 [[ 7.15973978e-01 6.98071007e-01 8.83916475e-03 3.61425422e+02] [-6.98019694e-01 7.16028531e-01 -8.46463468e-03 -1.40691275e+02] [-1.22380102e-02 -1.09452906e-04 9.99925107e-01 5.09507236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.45, Y:-140.71, Z:5.09 [[ 7.16551399e-01 6.97467111e-01 9.68099376e-03 3.61451557e+02] [-6.97405441e-01 7.16616786e-01 -9.27545269e-03 -1.40709712e+02] [-1.34068858e-02 -1.05239116e-04 9.99910118e-01 5.09490100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.45232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.48, Y:-140.73, Z:5.10 [[ 7.16562273e-01 6.97454641e-01 9.77406418e-03 3.61476642e+02] [-6.97391598e-01 7.16628924e-01 -9.37788349e-03 -1.40730399e+02] [-1.35450255e-02 -9.65127192e-05 9.99908257e-01 5.09620366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.50, Y:-140.75, Z:5.10 [[ 7.17079930e-01 6.96925746e-01 9.53308086e-03 3.61501902e+02] [-6.96865645e-01 7.17143290e-01 -9.15285755e-03 -1.40750921e+02] [-1.32154470e-02 -7.99460888e-05 9.99912669e-01 5.09641375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.51232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.53, Y:-140.77, Z:5.10 [[ 7.17700584e-01 6.96248083e-01 1.20199558e-02 3.61528269e+02] [-6.96152320e-01 7.17801226e-01 -1.15475813e-02 -1.40770803e+02] [-1.66679204e-02 -8.00142797e-05 9.99861077e-01 5.09565627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.55, Y:-140.79, Z:5.10 [[ 7.18553763e-01 6.95357705e-01 1.25758538e-02 3.61552745e+02] [-6.95252583e-01 7.18663801e-01 -1.20907538e-02 -1.40791248e+02] [-1.74452097e-02 -5.55381686e-05 9.99847819e-01 5.09614473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.57232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.58, Y:-140.81, Z:5.10 [[ 7.20054604e-01 6.93799823e-01 1.27739290e-02 3.61579554e+02] [-6.93690847e-01 7.20167901e-01 -1.22964461e-02 -1.40810202e+02] [-1.77306458e-02 -7.04506714e-06 9.99842800e-01 5.09666276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60232058799994 meters Centerline goodness [0,1] 0.9999509154272812 Centerline is valid? [True, True] Translation: X:361.60, Y:-140.83, Z:5.10 [[ 7.20776785e-01 6.93062548e-01 1.20470534e-02 3.61603723e+02] [-6.92965371e-01 7.20877455e-01 -1.16055741e-02 -1.40830935e+02] [-1.67278379e-02 1.68375212e-05 9.99860080e-01 5.09770058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.63232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.63, Y:-140.85, Z:5.10 [[ 7.21539560e-01 6.92275847e-01 1.16109445e-02 3.61627880e+02] [-6.92185306e-01 7.21632974e-01 -1.11961263e-02 -1.40852400e+02] [-1.61296482e-02 4.15228843e-05 9.99869908e-01 5.09882510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.65, Y:-140.87, Z:5.10 [[ 7.21658643e-01 6.92154817e-01 1.14242166e-02 3.61651610e+02] [-6.92066918e-01 7.21749061e-01 -1.10306092e-02 -1.40874540e+02] [-1.58803069e-02 5.40121026e-05 9.99873899e-01 5.09930247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.68, Y:-140.90, Z:5.10 [[ 7.21089446e-01 6.92749029e-01 1.13487474e-02 3.61676358e+02] [-6.92662179e-01 7.21178744e-01 -1.09692938e-02 -1.40896859e+02] [-1.57834430e-02 4.89938955e-05 9.99875433e-01 5.09949766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.70, Y:-140.92, Z:5.10 [[ 7.19994805e-01 6.93885284e-01 1.14320991e-02 3.61700836e+02] [-6.93797116e-01 7.20085559e-01 -1.10611743e-02 -1.40918867e+02] [-1.59072756e-02 3.24306444e-05 9.99873471e-01 5.10020688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.72, Y:-140.94, Z:5.10 [[ 7.18654125e-01 6.95279501e-01 1.10753758e-02 3.61724748e+02] [-6.95196796e-01 7.18739463e-01 -1.07237426e-02 -1.40939871e+02] [-1.54163080e-02 7.09608936e-06 9.99881162e-01 5.10004285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.75, Y:-140.96, Z:5.10 [[ 7.17890703e-01 6.96074110e-01 1.06664408e-02 3.61748550e+02] [-6.95997339e-01 7.17969939e-01 -1.03378048e-02 -1.40961387e+02] [-1.48540621e-02 -2.40041308e-06 9.99889672e-01 5.10098807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.77, Y:-140.98, Z:5.10 [[ 7.17516056e-01 6.96466309e-01 1.02659817e-02 3.61772197e+02] [-6.96395096e-01 7.17589493e-01 -9.95937975e-03 -1.40982714e+02] [-1.43031331e-02 -3.16446019e-06 9.99897705e-01 5.10113093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.80, Y:-141.00, Z:5.10 [[ 7.16597343e-01 6.97425575e-01 9.26363363e-03 3.61795647e+02] [-6.97367539e-01 7.16657218e-01 -8.99710238e-03 -1.41004189e+02] [-1.29136592e-02 -1.28577286e-05 9.99916615e-01 5.10089685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.82, Y:-141.03, Z:5.10 [[ 7.16453056e-01 6.97573558e-01 9.28173542e-03 3.61819987e+02] [-6.97515157e-01 7.16513176e-01 -9.02631502e-03 -1.41026356e+02] [-1.29470044e-02 -7.22015860e-06 9.99916184e-01 5.10129866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.84, Y:-141.05, Z:5.10 [[ 7.15720041e-01 6.98340106e-01 8.11909614e-03 3.61844350e+02] [-6.98295389e-01 7.15766090e-01 -7.90272754e-03 -1.41047289e+02] [-1.13301653e-02 -1.33869271e-05 9.99935812e-01 5.10205855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.87, Y:-141.07, Z:5.10 [[ 7.14735091e-01 6.99346519e-01 8.25811236e-03 3.61868669e+02] [-6.99300204e-01 7.14782796e-01 -8.04857647e-03 -1.41069248e+02] [-1.15315006e-02 -2.22996260e-05 9.99933510e-01 5.10281764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.89, Y:-141.09, Z:5.10 [[ 7.13881156e-01 7.00222089e-01 7.91973473e-03 3.61892936e+02] [-7.00179447e-01 7.13925084e-01 -7.72759870e-03 -1.41091261e+02] [-1.10651326e-02 -2.86483973e-05 9.99938779e-01 5.10367905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.92, Y:-141.11, Z:5.11 [[ 7.12493678e-01 7.01643776e-01 6.98363516e-03 3.61916829e+02] [-7.01610781e-01 7.12527901e-01 -6.80459299e-03 -1.41113459e+02] [-9.75043522e-03 -5.15642380e-05 9.99952462e-01 5.10545008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.94, Y:-141.14, Z:5.11 [[ 7.10829125e-01 7.03334051e-01 6.57022930e-03 3.61939939e+02] [-7.03304723e-01 7.10859487e-01 -6.42309906e-03 -1.41136424e+02] [-9.18809411e-03 -5.51474144e-05 9.99957787e-01 5.10760429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.96, Y:-141.16, Z:5.11 [[ 7.09303526e-01 7.04868868e-01 6.95610878e-03 3.61962864e+02] [-7.04836048e-01 7.09337630e-01 -6.80235313e-03 -1.41158790e+02] [-9.72899666e-03 -7.79831567e-05 9.99952669e-01 5.10823105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:361.99, Y:-141.18, Z:5.11 [[ 7.08388346e-01 7.05797074e-01 6.03661874e-03 3.61986588e+02] [-7.05772328e-01 7.08414063e-01 -5.91076138e-03 -1.41180197e+02] [-8.44822370e-03 -7.33639809e-05 9.99964310e-01 5.10954464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.112320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.01, Y:-141.20, Z:5.11 [[ 7.06666184e-01 7.07523676e-01 5.75784188e-03 3.62010907e+02] [-7.07501146e-01 7.06689636e-01 -5.64686879e-03 -1.41202739e+02] [-8.06430054e-03 -8.32285059e-05 9.99967480e-01 5.11014174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.03, Y:-141.23, Z:5.11 [[ 7.06306315e-01 7.07882949e-01 5.75495196e-03 3.62034321e+02] [-7.07860407e-01 7.06329756e-01 -5.64981939e-03 -1.41225196e+02] [-8.06430462e-03 -8.31995250e-05 9.99967480e-01 5.11108049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.06, Y:-141.25, Z:5.11 [[ 7.03621971e-01 7.10557160e-01 4.96432907e-03 3.62057990e+02] [-7.10540399e-01 7.03639477e-01 -4.88130951e-03 -1.41247418e+02] [-6.96154734e-03 -9.27597414e-05 9.99975764e-01 5.11319238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.08, Y:-141.27, Z:5.12 [[ 7.01713726e-01 7.12449340e-01 3.71279560e-03 3.62082043e+02] [-7.12439963e-01 7.01723543e-01 -3.65626098e-03 -1.41268066e+02] [-5.21025680e-03 -7.94954477e-05 9.99986423e-01 5.11585189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.23232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.11, Y:-141.29, Z:5.12 [[ 7.00803357e-01 7.13347581e-01 3.14381469e-03 3.62107523e+02] [-7.13340830e-01 7.00810406e-01 -3.10418014e-03 -1.41289054e+02] [-4.41757744e-03 -6.71915139e-05 9.99990240e-01 5.11757976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.13, Y:-141.31, Z:5.12 [[ 7.00002911e-01 7.14135116e-01 2.63833308e-03 3.62132888e+02] [-7.14130345e-01 7.00007880e-01 -2.61116904e-03 -1.41310867e+02] [-3.71158146e-03 -5.62877818e-05 9.99993110e-01 5.11799737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.29232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.16, Y:-141.33, Z:5.12 [[ 7.00341995e-01 7.13803944e-01 2.24046855e-03 3.62158032e+02] [-7.13800534e-01 7.00345577e-01 -2.20710879e-03 -1.41331854e+02] [-3.14454520e-03 -5.35166708e-05 9.99995054e-01 5.11854595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.18, Y:-141.35, Z:5.12 [[ 7.00176646e-01 7.13966947e-01 1.96545026e-03 3.62182854e+02] [-7.13964277e-01 7.00179404e-01 -1.95296134e-03 -1.41354033e+02] [-2.77051763e-03 -3.58433495e-05 9.99996161e-01 5.12027533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.35232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.21, Y:-141.37, Z:5.12 [[ 7.00491672e-01 7.13659542e-01 1.21503573e-03 3.62209768e+02] [-7.13658510e-01 7.00492725e-01 -1.21359781e-03 -1.41372835e+02] [-1.71721935e-03 -1.70054294e-05 9.99998525e-01 5.12190190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.24, Y:-141.39, Z:5.12 [[ 7.00687310e-01 7.13467178e-01 1.37104763e-03 3.62235414e+02] [-7.13465861e-01 7.00688651e-01 -1.37111965e-03 -1.41393958e+02] [-1.93892638e-03 -1.74695438e-05 9.99998120e-01 5.12199401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.41232058799994 meters Centerline goodness [0,1] 0.999950874435056 Centerline is valid? [True, True] Translation: X:362.26, Y:-141.42, Z:5.12 [[ 7.00493697e-01 7.13658578e-01 1.20033439e-04 3.62259123e+02] [-7.13658565e-01 7.00493707e-01 -1.36287983e-04 -1.41415164e+02] [-1.81345756e-04 9.80598085e-06 9.99999984e-01 5.12196647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.28, Y:-141.44, Z:5.12 [[ 7.00564776e-01 7.13587719e-01 -1.24996529e-03 3.62283115e+02] [-7.13586684e-01 7.00565890e-01 1.21571088e-03 -1.41435963e+02] [ 1.74319940e-03 4.02743654e-05 9.99998480e-01 5.12284480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.47232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.31, Y:-141.46, Z:5.12 [[ 6.99836333e-01 7.14301792e-01 -1.43410609e-03 3.62308362e+02] [-7.14300429e-01 6.99837801e-01 1.39624153e-03 -1.41457356e+02] [ 2.00097948e-03 4.72420457e-05 9.99997997e-01 5.12421353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.502320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.33, Y:-141.48, Z:5.12 [[ 6.98965646e-01 7.15154049e-01 1.30818200e-03 3.62333667e+02] [-7.15152847e-01 6.98966870e-01 -1.31145784e-03 -1.41477136e+02] [-1.85227027e-03 -1.88861036e-05 9.99998284e-01 5.12450782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.53232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.36, Y:-141.50, Z:5.13 [[ 6.98137447e-01 7.15960644e-01 2.11216122e-03 3.62357313e+02] [-7.15957542e-01 6.98140641e-01 -2.10823763e-03 -1.41499116e+02] [-2.98400076e-03 -4.03781219e-05 9.99995547e-01 5.12562412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.562320588 meters Centerline goodness [0,1] 0.9999506781750925 Centerline is valid? [True, True] Translation: X:362.38, Y:-141.52, Z:5.13 [[ 6.97838949e-01 7.16250027e-01 2.58853283e-03 3.62381447e+02] [-7.16245364e-01 6.97843748e-01 -2.58485014e-03 -1.41520909e+02] [-3.65779044e-03 -5.02155331e-05 9.99993309e-01 5.12714780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59232058799995 meters Centerline goodness [0,1] 0.9999507801348624 Centerline is valid? [True, True] Translation: X:362.41, Y:-141.54, Z:5.13 [[ 6.98202281e-01 7.15886814e-01 4.43227343e-03 3.62408347e+02] [-7.15873220e-01 6.98216343e-01 -4.41263063e-03 -1.41539891e+02] [-6.25362983e-03 -9.20370857e-05 9.99980442e-01 5.12832526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.43, Y:-141.56, Z:5.13 [[ 6.97946874e-01 7.16139515e-01 3.78889846e-03 3.62432961e+02] [-7.16129553e-01 6.97957154e-01 -3.77811603e-03 -1.41560901e+02] [-5.35014697e-03 -7.64178934e-05 9.99985685e-01 5.12931144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.65232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.46, Y:-141.58, Z:5.13 [[ 6.98812011e-01 7.15295381e-01 3.78032048e-03 3.62457588e+02] [-7.15285433e-01 6.98822233e-01 -3.77306372e-03 -1.41581154e+02] [-5.34062705e-03 -6.73459259e-05 9.99985736e-01 5.13010060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.48, Y:-141.60, Z:5.13 [[ 6.98824320e-01 7.15279050e-01 4.52215742e-03 3.62481466e+02] [-7.15264813e-01 6.98838947e-01 -4.51372283e-03 -1.41602502e+02] [-6.38883111e-03 -8.02407951e-05 9.99979588e-01 5.13266701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.71232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.51, Y:-141.62, Z:5.14 [[ 6.99006987e-01 7.15103237e-01 4.07329599e-03 3.62506708e+02] [-7.15091651e-01 6.99018852e-01 -4.07121113e-03 -1.41622130e+02] [-5.75864694e-03 -6.69749265e-05 9.99983417e-01 5.13527203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.53, Y:-141.64, Z:5.14 [[ 6.98615383e-01 7.15489650e-01 3.33277061e-03 3.62530267e+02] [-7.15481869e-01 6.98623330e-01 -3.33733961e-03 -1.41644081e+02] [-4.71618325e-03 -5.30201532e-05 9.99988877e-01 5.13673666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.77232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.55, Y:-141.67, Z:5.14 [[ 6.98625294e-01 7.15485621e-01 1.73934908e-03 3.62554206e+02] [-7.15483476e-01 6.98627458e-01 -1.75191100e-03 -1.41665705e+02] [-2.46862415e-03 -2.05461889e-05 9.99996953e-01 5.13900766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.58, Y:-141.68, Z:5.14 [[ 6.99072267e-01 7.15044715e-01 3.00350895e-03 3.62579929e+02] [-7.15038360e-01 6.99078718e-01 -3.01500051e-03 -1.41684834e+02] [-4.25554937e-03 -3.99208685e-05 9.99990944e-01 5.13865051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.83232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.61, Y:-141.71, Z:5.14 [[ 6.99461822e-01 7.14663132e-01 3.12518875e-03 3.62605748e+02] [-7.14656225e-01 6.99468803e-01 -3.14234598e-03 -1.41706224e+02] [-4.43169086e-03 -3.54845525e-05 9.99990179e-01 5.13994713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.862320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.63, Y:-141.73, Z:5.14 [[ 6.99502759e-01 7.14623198e-01 3.09451441e-03 3.62631839e+02] [-7.14616410e-01 6.99509603e-01 -3.11488527e-03 -1.41727325e+02] [-4.39061182e-03 -3.25199393e-05 9.99990361e-01 5.14002004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.89232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.66, Y:-141.75, Z:5.14 [[ 6.99386200e-01 7.14737029e-01 3.15007504e-03 3.62656011e+02] [-7.14729984e-01 6.99393293e-01 -3.17348220e-03 -1.41749691e+02] [-4.47134659e-03 -3.19634310e-05 9.99990003e-01 5.14167862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.80, Y:-141.58, Z:7.01 [[ 7.62762537e-01 -6.45063743e-01 4.56736294e-02 3.62800686e+02] [-6.43691382e-01 -7.64123827e-01 -4.21447642e-02 -1.41577346e+02] [ 6.20863678e-02 2.74672564e-03 -9.98067001e-01 7.00602650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.95232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.79, Y:-141.65, Z:7.01 [[ 8.09434507e-01 -5.85246809e-01 4.79786685e-02 3.62787561e+02] [-5.84021418e-01 -8.10850728e-01 -3.79483818e-02 -1.41653792e+02] [ 6.11127076e-02 2.69615968e-03 -9.98127230e-01 7.00768310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.77, Y:-141.72, Z:7.01 [[ 8.52201286e-01 -5.20701828e-01 5.12110795e-02 3.62769938e+02] [-5.19573615e-01 -8.53734411e-01 -3.43629777e-02 -1.41722555e+02] [ 6.16135260e-02 2.67624810e-03 -9.98096494e-01 7.00960834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.01232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.76, Y:-141.79, Z:7.01 [[ 8.89997772e-01 -4.52700467e-01 5.44633133e-02 3.62756887e+02] [-4.51671629e-01 -8.91658713e-01 -3.06182666e-02 -1.41792140e+02] [ 6.24235914e-02 2.65065561e-03 -9.98046226e-01 7.01020762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.75, Y:-141.86, Z:7.01 [[ 9.22624995e-01 -3.81554930e-01 5.63822138e-02 3.62749862e+02] [-3.80668404e-01 -9.24342384e-01 -2.61289861e-02 -1.41861496e+02] [ 6.20861134e-02 2.64432836e-03 -9.98067293e-01 7.00996432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.07232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.75, Y:-141.93, Z:7.01 [[ 9.49679921e-01 -3.07535400e-01 5.94140226e-02 3.62747980e+02] [-3.06757896e-01 -9.51532852e-01 -2.20187362e-02 -1.41930994e+02] [ 6.33059352e-02 2.68503108e-03 -9.97990556e-01 7.01043207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.75, Y:-142.00, Z:7.01 [[ 9.71357663e-01 -2.29895987e-01 6.01009634e-02 3.62751406e+02] [-2.29277550e-01 -9.73211131e-01 -1.70850585e-02 -1.42003431e+02] [ 6.24187130e-02 2.81590079e-03 -9.98046079e-01 7.01224465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.13232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.76, Y:-142.07, Z:7.01 [[ 9.86308128e-01 -1.53197775e-01 6.10468580e-02 3.62760147e+02] [-1.52729905e-01 -9.88191599e-01 -1.22857672e-02 -1.42074167e+02] [ 6.22081445e-02 2.79387116e-03 -9.98059287e-01 7.01305923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.78, Y:-142.14, Z:7.01 [[ 9.95194263e-01 -7.64472440e-02 6.11898523e-02 3.62775167e+02] [-7.61358552e-02 -9.97069935e-01 -7.40780146e-03 -1.42142663e+02] [ 6.15768681e-02 2.71345978e-03 -9.98098656e-01 7.01349310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.79, Y:-142.21, Z:7.01 [[ 9.98037706e-01 6.95548764e-04 6.26119275e-02 3.62794844e+02] [ 8.59230873e-04 -9.99996284e-01 -2.58734457e-03 -1.42209495e+02] [ 6.26098952e-02 2.63606554e-03 -9.98034595e-01 7.01406253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.82, Y:-142.27, Z:7.02 [[ 9.94888339e-01 7.79665350e-02 6.41748535e-02 3.62817765e+02] [ 7.79701950e-02 -9.96952677e-01 2.45123975e-03 -1.42274449e+02] [ 6.41704067e-02 2.56501600e-03 -9.97935659e-01 7.01515840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.85, Y:-142.34, Z:7.02 [[ 9.86243324e-01 1.53774541e-01 6.06423643e-02 3.62846015e+02] [ 1.53633956e-01 -9.88103020e-01 7.00211727e-03 -1.42337818e+02] [ 6.09976506e-02 2.41093489e-03 -9.98134998e-01 7.01508231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.88, Y:-142.40, Z:7.02 [[ 9.71258592e-01 2.30498032e-01 5.93919596e-02 3.62879595e+02] [ 2.30217282e-01 -9.73069865e-01 1.16207038e-02 -1.42398452e+02] [ 6.04710755e-02 2.38634706e-03 -9.98167097e-01 7.01604719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.92, Y:-142.46, Z:7.02 [[ 9.50340037e-01 3.05757530e-01 5.80185032e-02 3.62917098e+02] [ 3.05339355e-01 -9.52106490e-01 1.61588930e-02 -1.42456435e+02] [ 6.01804967e-02 2.35888941e-03 -9.98184724e-01 7.01783768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:362.96, Y:-142.51, Z:7.02 [[ 9.23531115e-01 3.79311401e-01 5.66845771e-02 3.62958900e+02] [ 3.78752818e-01 -9.25266110e-01 2.07105955e-02 -1.42509701e+02] [ 6.03040831e-02 2.34256399e-03 -9.98177304e-01 7.01908640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.372320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.01, Y:-142.56, Z:7.02 [[ 8.91221140e-01 4.50239751e-01 5.48547786e-02 3.63007057e+02] [ 4.49546920e-01 -8.92904708e-01 2.50748557e-02 -1.42559764e+02] [ 6.02697868e-02 2.31255528e-03 -9.98179445e-01 7.01982439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.17, Y:-142.69, Z:5.16 [[ 8.95600609e-01 -4.44839601e-01 4.15679917e-03 3.63165331e+02] [ 4.44834803e-01 8.95610255e-01 2.06595280e-03 -1.42688721e+02] [-4.64188958e-03 -1.17964796e-06 9.99989226e-01 5.15869563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.432320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.19, Y:-142.67, Z:5.16 [[ 8.94959465e-01 -4.46145251e-01 1.40409424e-03 3.63193872e+02] [ 4.46144721e-01 8.94960566e-01 6.87600084e-04 -1.42673142e+02] [-1.56337848e-03 1.10550273e-05 9.99998778e-01 5.16016765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.22, Y:-142.66, Z:5.16 [[ 8.94936590e-01 -4.46190321e-01 1.64217240e-03 3.63222810e+02] [ 4.46189589e-01 8.94938097e-01 8.08219932e-04 -1.42657919e+02] [-1.83026255e-03 9.41463692e-06 9.99998325e-01 5.16112319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.492320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.25, Y:-142.64, Z:5.16 [[ 8.95379771e-01 -4.45299237e-01 1.91171291e-03 3.63252404e+02] [ 4.45298252e-01 8.95381812e-01 9.36666848e-04 -1.42642498e+02] [-2.12881000e-03 1.26098717e-05 9.99997734e-01 5.16193860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.28, Y:-142.63, Z:5.16 [[ 8.95870269e-01 -4.44302142e-01 3.47374727e-03 3.63280371e+02] [ 4.44298828e-01 8.95877004e-01 1.71614548e-03 -1.42627483e+02] [-3.87453741e-03 5.93812254e-06 9.99992494e-01 5.16279421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.552320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.31, Y:-142.61, Z:5.16 [[ 8.96538638e-01 -4.42955529e-01 2.97811078e-03 3.63309342e+02] [ 4.42953106e-01 8.96543585e-01 1.46532594e-03 -1.42612758e+02] [-3.31908034e-03 5.44209875e-06 9.99994492e-01 5.16347475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.34, Y:-142.60, Z:5.17 [[ 8.97741715e-01 -4.40520778e-01 1.12136152e-03 3.63337814e+02] [ 4.40520443e-01 8.97742415e-01 5.42986809e-04 -1.42598932e+02] [-1.24589077e-03 6.52076332e-06 9.99999224e-01 5.16538889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.612320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.37, Y:-142.58, Z:5.17 [[ 8.98519389e-01 -4.38933764e-01 -2.39917773e-04 3.63366331e+02] [ 4.38933744e-01 8.98519421e-01 -1.33140697e-04 -1.42584441e+02] [ 2.74010726e-04 1.43214914e-05 9.99999962e-01 5.16722536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.40, Y:-142.57, Z:5.17 [[ 8.99116463e-01 -4.37709368e-01 -3.08695878e-04 3.63396010e+02] [ 4.37709335e-01 8.99116516e-01 -1.69086154e-04 -1.42569393e+02] [ 3.51564156e-04 1.69090773e-05 9.99999938e-01 5.16865211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.42, Y:-142.55, Z:5.17 [[ 9.00232083e-01 -4.35410252e-01 3.29818206e-04 3.63424967e+02] [ 4.35410227e-01 9.00232143e-01 1.49336034e-04 -1.42554718e+02] [-3.61935390e-04 9.16913043e-06 9.99999934e-01 5.16952362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.45, Y:-142.54, Z:5.17 [[ 9.00656862e-01 -4.34530026e-01 9.35052566e-04 3.63453517e+02] [ 4.34529794e-01 9.00657347e-01 4.48480204e-04 -1.42540555e+02] [-1.03704008e-03 2.38142618e-06 9.99999462e-01 5.17041923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.73232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.48, Y:-142.52, Z:5.17 [[ 9.02214942e-01 -4.31286017e-01 7.55495720e-04 3.63481888e+02] [ 4.31285867e-01 9.02215258e-01 3.59250255e-04 -1.42524498e+02] [-8.36559377e-04 1.71367918e-06 9.99999650e-01 5.17194469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.51, Y:-142.51, Z:5.17 [[ 9.03418332e-01 -4.28759819e-01 5.79462633e-04 3.63510326e+02] [ 4.28759733e-01 9.03418517e-01 2.72113884e-04 -1.42509002e+02] [-6.40168772e-04 2.61757228e-06 9.99999795e-01 5.17370063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.79232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.54, Y:-142.49, Z:5.17 [[ 9.04249211e-01 -4.27003611e-01 1.13198734e-03 3.63538560e+02] [ 4.27003265e-01 9.04249919e-01 5.44141327e-04 -1.42494302e+02] [-1.25594977e-03 -8.67707679e-06 9.99999211e-01 5.17445165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82232058799997 meters Centerline goodness [0,1] 0.9999507704425737 Centerline is valid? [True, True] Translation: X:363.57, Y:-142.48, Z:5.18 [[ 9.06046093e-01 -4.23176248e-01 -1.52991913e-03 3.63567726e+02] [ 4.23175553e-01 9.06047383e-01 -7.68555970e-04 -1.42479258e+02] [ 1.71141386e-03 4.89227582e-05 9.99998534e-01 5.17633320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.85232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.60, Y:-142.46, Z:5.18 [[ 9.07055958e-01 -4.21010041e-01 1.87452288e-04 3.63595719e+02] [ 4.21010034e-01 9.07055977e-01 7.85996373e-05 -1.42462454e+02] [-2.03120954e-04 7.62502474e-06 9.99999979e-01 5.17602194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.62, Y:-142.45, Z:5.18 [[ 9.07219095e-01 -4.20657661e-01 8.03917737e-04 3.63624246e+02] [ 4.20657490e-01 9.07219451e-01 3.79287134e-04 -1.42446673e+02] [-8.88879847e-04 -5.92251291e-06 9.99999605e-01 5.17671254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.91232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.65, Y:-142.43, Z:5.18 [[ 9.07290319e-01 -4.20504219e-01 6.92212886e-04 3.63653532e+02] [ 4.20504095e-01 9.07290583e-01 3.24038332e-04 -1.42431550e+02] [-7.64297718e-04 -2.91848903e-06 9.99999708e-01 5.17832619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.942320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.68, Y:-142.42, Z:5.18 [[ 9.07390537e-01 -4.20285672e-01 1.53823601e-03 3.63683041e+02] [ 4.20285025e-01 9.07391841e-01 7.37865945e-04 -1.42416482e+02] [-1.70589729e-03 -2.30350144e-05 9.99998545e-01 5.17932461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.97232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.71, Y:-142.40, Z:5.18 [[ 9.07092903e-01 -4.20920947e-01 2.83218351e-03 3.63710767e+02] [ 4.20918721e-01 9.07097323e-01 1.36993394e-03 -1.42397811e+02] [-3.14569998e-03 -5.05382982e-05 9.99995051e-01 5.18061401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.002320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.74, Y:-142.38, Z:5.18 [[ 9.06932110e-01 -4.21270799e-01 2.24991106e-03 3.63738502e+02] [ 4.21269402e-01 9.06934900e-01 1.08565614e-03 -1.42381517e+02] [-2.49787809e-03 -3.67977243e-05 9.99996880e-01 5.18166754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.77, Y:-142.37, Z:5.18 [[ 9.07146376e-01 -4.20809202e-01 2.25122343e-03 3.63767563e+02] [ 4.20807810e-01 9.07149169e-01 1.08296126e-03 -1.42366989e+02] [-2.49791553e-03 -3.50719788e-05 9.99996880e-01 5.18256128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.062320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.79, Y:-142.35, Z:5.19 [[ 9.06693740e-01 -4.21784082e-01 2.15629532e-03 3.63794832e+02] [ 4.21782784e-01 9.06696304e-01 1.04683257e-03 -1.42350566e+02] [-2.39664232e-03 -3.96682963e-05 9.99997127e-01 5.18583439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.83, Y:-142.34, Z:5.19 [[ 9.06783385e-01 -4.21588013e-01 2.72754682e-03 3.63825052e+02] [ 4.21585971e-01 9.06787487e-01 1.31266585e-03 -1.42336226e+02] [-3.02670951e-03 -4.04081111e-05 9.99995419e-01 5.18668756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.122320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.85, Y:-142.32, Z:5.19 [[ 9.06928999e-01 -4.21280317e-01 1.63888994e-03 3.63854020e+02] [ 4.21279588e-01 9.06930479e-01 7.83754854e-04 -1.42321414e+02] [-1.81653973e-03 -2.03791278e-05 9.99998350e-01 5.18854749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.15232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.88, Y:-142.30, Z:5.19 [[ 9.06631115e-01 -4.21917702e-01 2.33941871e-03 3.63881921e+02] [ 4.21916214e-01 9.06634133e-01 1.12108745e-03 -1.42304356e+02] [-2.59400350e-03 -2.93740763e-05 9.99996635e-01 5.18915125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.182320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.91, Y:-142.29, Z:5.19 [[ 9.07172313e-01 -4.20754342e-01 2.04395866e-03 3.63911615e+02] [ 4.20753210e-01 9.07174616e-01 9.76186620e-04 -1.42289093e+02] [-2.26496217e-03 -2.55673066e-05 9.99997435e-01 5.19065836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.21232058799995 meters Centerline goodness [0,1] 0.9999507752891952 Centerline is valid? [True, True] Translation: X:363.94, Y:-142.27, Z:5.19 [[ 9.06689120e-01 -4.21777472e-01 4.31307250e-03 3.63940421e+02] [ 4.21772364e-01 9.06699377e-01 2.07680276e-03 -1.42274792e+02] [-4.78660877e-03 -6.38796840e-05 9.99988542e-01 5.19344722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.242320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:363.97, Y:-142.26, Z:5.19 [[ 9.06286590e-01 -4.22652233e-01 3.11549948e-03 3.63968990e+02] [ 4.22649592e-01 9.06291944e-01 1.49470079e-03 -1.42259457e+02] [-3.45529071e-03 -3.78626989e-05 9.99994030e-01 5.19483566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.27232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.00, Y:-142.24, Z:5.20 [[ 9.05943557e-01 -4.23391618e-01 2.41027770e-03 3.63997515e+02] [ 4.23390052e-01 9.05946763e-01 1.15178489e-03 -1.42243939e+02] [-2.67123934e-03 -2.29644995e-05 9.99996432e-01 5.19535633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.302320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.03, Y:-142.23, Z:5.19 [[ 9.05591203e-01 -4.24145252e-01 2.31905896e-03 3.64025747e+02] [ 4.24143809e-01 9.05594172e-01 1.10634274e-03 -1.42228574e+02] [-2.56937630e-03 -1.82797509e-05 9.99996699e-01 5.19475939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.33232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.05, Y:-142.21, Z:5.19 [[ 9.04787597e-01 -4.25845953e-01 3.82467825e-03 3.64053789e+02] [ 4.25842015e-01 9.04795681e-01 1.83160120e-03 -1.42212579e+02] [-4.24053232e-03 -2.85013545e-05 9.99991008e-01 5.19473071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.362320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.08, Y:-142.20, Z:5.20 [[ 9.04369367e-01 -4.26721278e-01 4.99984765e-03 3.64081882e+02] [ 4.26714554e-01 9.04383188e-01 2.39564429e-03 -1.42197193e+02] [-5.54405054e-03 -3.30395464e-05 9.99984631e-01 5.19661001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.39232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.11, Y:-142.18, Z:5.20 [[ 9.03789991e-01 -4.27947853e-01 4.92827138e-03 3.64109422e+02] [ 4.27941369e-01 9.03803427e-01 2.35580853e-03 -1.42178997e+02] [-5.46235177e-03 -2.01449725e-05 9.99985081e-01 5.19762876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.14, Y:-142.16, Z:5.20 [[ 9.03336449e-01 -4.28889158e-01 6.11146129e-03 3.64137711e+02] [ 4.28879193e-01 9.03357122e-01 2.92365260e-03 -1.42163254e+02] [-6.77475498e-03 -1.99633751e-05 9.99977051e-01 5.19772029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.45232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.17, Y:-142.15, Z:5.20 [[ 9.02487746e-01 -4.30673770e-01 5.99771713e-03 3.64167906e+02] [ 4.30664253e-01 9.02507675e-01 2.86310880e-03 -1.42149005e+02] [-6.64605161e-03 -9.18238892e-07 9.99977915e-01 5.19877120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.20, Y:-142.13, Z:5.20 [[ 9.02093643e-01 -4.31503915e-01 5.60637118e-03 3.64197853e+02] [ 4.31495645e-01 9.02111064e-01 2.67146051e-03 -1.42134406e+02] [-6.21031513e-03 9.21720533e-06 9.99980716e-01 5.19998332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.51232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.23, Y:-142.12, Z:5.20 [[ 9.02070385e-01 -4.31535184e-01 6.81218242e-03 3.64225943e+02] [ 4.31522963e-01 9.02096106e-01 3.24774005e-03 -1.42119539e+02] [-7.54675734e-03 9.92302856e-06 9.99971523e-01 5.20005119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.25, Y:-142.10, Z:5.20 [[ 9.02125760e-01 -4.31412273e-01 7.25009901e-03 3.64254746e+02] [ 4.31398474e-01 9.02154893e-01 3.45050094e-03 -1.42103274e+02] [-8.02930075e-03 1.48958658e-05 9.99967765e-01 5.20146115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.57232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.28, Y:-142.09, Z:5.20 [[ 9.02552352e-01 -4.30508208e-01 7.86986045e-03 3.64283698e+02] [ 4.30491923e-01 9.02586662e-01 3.74450716e-03 -1.42089145e+02] [-8.71527214e-03 8.29761929e-06 9.99962021e-01 5.20206723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.31, Y:-142.08, Z:5.21 [[ 9.03673661e-01 -4.28175681e-01 6.28490617e-03 3.64313044e+02] [ 4.28165282e-01 9.03695516e-01 2.98410453e-03 -1.42075902e+02] [-6.95736251e-03 -5.67804989e-06 9.99975797e-01 5.20513511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.63232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.34, Y:-142.06, Z:5.21 [[ 9.04636293e-01 -4.26140379e-01 6.12817775e-03 3.64342468e+02] [ 4.26130489e-01 9.04657050e-01 2.90323401e-03 -1.42061378e+02] [-6.78108444e-03 -1.49674730e-05 9.99977008e-01 5.20575872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.37, Y:-142.05, Z:5.21 [[ 9.05295232e-01 -4.24749008e-01 5.36871553e-03 3.64371136e+02] [ 4.24741410e-01 9.05311151e-01 2.54055645e-03 -1.42047010e+02] [-5.93945686e-03 -1.96378326e-05 9.99982361e-01 5.20725408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.692320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.40, Y:-142.03, Z:5.21 [[ 9.06613424e-01 -4.21925074e-01 5.59743376e-03 3.64401011e+02] [ 4.21916778e-01 9.06630702e-01 2.64615984e-03 -1.42034145e+02] [-6.19128649e-03 -3.73928186e-05 9.99980833e-01 5.20805772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.43, Y:-142.02, Z:5.21 [[ 9.07051236e-01 -4.20963370e-01 6.92066401e-03 3.64430519e+02] [ 4.20950664e-01 9.07077636e-01 3.27114598e-03 -1.42020598e+02] [-7.65461219e-03 -5.38388893e-05 9.99970702e-01 5.20888296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.752320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.46, Y:-142.00, Z:5.21 [[ 9.07648886e-01 -4.19686435e-01 6.06597350e-03 3.64458555e+02] [ 4.19676678e-01 9.07669154e-01 2.86217756e-03 -1.42004564e+02] [-6.70711413e-03 -5.21046700e-05 9.99977506e-01 5.21071349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.49, Y:-141.99, Z:5.21 [[ 9.08355607e-01 -4.18164072e-01 5.37599158e-03 3.64487738e+02] [ 4.18156424e-01 9.08371514e-01 2.52949664e-03 -1.41989310e+02] [-5.94114222e-03 -4.96770396e-05 9.99982350e-01 5.21079001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.812320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.52, Y:-141.98, Z:5.21 [[ 9.08885656e-01 -4.17023714e-01 4.25291681e-03 3.64516422e+02] [ 4.17018932e-01 9.08895605e-01 1.99742131e-03 -1.41975912e+02] [-4.69842944e-03 -4.18807477e-05 9.99988961e-01 5.21227285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.55, Y:-141.96, Z:5.21 [[ 9.10017688e-01 -4.14548560e-01 4.15913794e-03 3.64545282e+02] [ 4.14543973e-01 9.10027191e-01 1.95082032e-03 -1.41962851e+02] [-4.59363837e-03 -5.11354301e-05 9.99989448e-01 5.21434571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.872320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.57, Y:-141.95, Z:5.22 [[ 9.10874213e-01 -4.12652505e-01 5.10673939e-03 3.64573516e+02] [ 4.12645558e-01 9.10888525e-01 2.39568661e-03 -1.41948019e+02] [-5.64025639e-03 -7.48958286e-05 9.99984091e-01 5.21537835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.60, Y:-141.93, Z:5.22 [[ 9.11468207e-01 -4.11328264e-01 5.89624798e-03 3.64602142e+02] [ 4.11318982e-01 9.11487274e-01 2.76496959e-03 -1.41932716e+02] [-6.51166514e-03 -9.49431522e-05 9.99978794e-01 5.21622114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.932320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.63, Y:-141.92, Z:5.22 [[ 9.11749930e-01 -4.10718996e-01 4.68742282e-03 3.64631835e+02] [ 4.10713095e-01 9.11761975e-01 2.20320208e-03 -1.41919140e+02] [-5.17871083e-03 -8.35834022e-05 9.99986587e-01 5.21643890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.66, Y:-141.91, Z:5.22 [[ 9.11650614e-01 -4.10939925e-01 4.64071937e-03 3.64662141e+02] [ 4.10934216e-01 9.11662423e-01 2.16737687e-03 -1.41905130e+02] [-5.12143115e-03 -6.88600765e-05 9.99986883e-01 5.21687188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.992320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.69, Y:-141.89, Z:5.22 [[ 9.11083524e-01 -4.12206842e-01 3.51172304e-03 3.64690876e+02] [ 4.12203596e-01 9.11090290e-01 1.63642066e-03 -1.41890683e+02] [-3.87404055e-03 -4.33710357e-05 9.99992495e-01 5.21908676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.72, Y:-141.88, Z:5.22 [[ 9.11056107e-01 -4.12273278e-01 2.74106105e-03 3.64719640e+02] [ 4.12271315e-01 9.11060230e-01 1.27273357e-03 -1.41876326e+02] [-3.02198575e-03 -2.94708492e-05 9.99995433e-01 5.22086262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.052320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.75, Y:-141.86, Z:5.22 [[ 9.11022349e-01 -4.12342946e-01 3.40221510e-03 3.64749091e+02] [ 4.12339925e-01 9.11028701e-01 1.57888046e-03 -1.41862532e+02] [-3.75055582e-03 -3.55262637e-05 9.99992966e-01 5.22138362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.78, Y:-141.85, Z:5.22 [[ 9.11361382e-01 -4.11587905e-01 3.97827629e-03 3.64778940e+02] [ 4.11583756e-01 9.11370064e-01 1.84870222e-03 -1.41849936e+02] [-4.38658539e-03 -4.74419095e-05 9.99990378e-01 5.22214541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.112320588 meters Centerline goodness [0,1] 0.9999508067689886 Centerline is valid? [True, True] Translation: X:364.81, Y:-141.84, Z:5.22 [[ 9.12136198e-01 -4.09878108e-01 2.73730721e-03 3.64807921e+02] [ 4.09876154e-01 9.12140305e-01 1.26628029e-03 -1.41836111e+02] [-3.01582880e-03 -3.30631412e-05 9.99995452e-01 5.22307550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.84, Y:-141.82, Z:5.22 [[ 9.13216900e-01 -4.07466767e-01 2.39327513e-03 3.64837302e+02] [ 4.07465272e-01 9.13220035e-01 1.10414303e-03 -1.41823159e+02] [-2.63548839e-03 -3.31455742e-05 9.99996527e-01 5.22460362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.87, Y:-141.81, Z:5.23 [[ 9.13548039e-01 -4.06716313e-01 3.43813115e-03 3.64866774e+02] [ 4.06713208e-01 9.13554507e-01 1.59023462e-03 -1.41810541e+02] [-3.78769457e-03 -5.44223691e-05 9.99992825e-01 5.22545742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.90, Y:-141.80, Z:5.23 [[ 9.14456584e-01 -4.04672282e-01 3.08214838e-03 3.64897048e+02] [ 4.04669793e-01 9.14461777e-01 1.42024316e-03 -1.41796805e+02] [-3.39323992e-03 -5.14983612e-05 9.99994242e-01 5.22704884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.23232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.93, Y:-141.78, Z:5.23 [[ 9.15141912e-01 -4.03123197e-01 2.63982563e-03 3.64926251e+02] [ 4.03121376e-01 9.15145718e-01 1.21265815e-03 -1.41781857e+02] [-2.90467575e-03 -4.55841619e-05 9.99995780e-01 5.22698940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26232058799997 meters Centerline goodness [0,1] 0.9999508309568296 Centerline is valid? [True, True] Translation: X:364.96, Y:-141.77, Z:5.23 [[ 9.15997803e-01 -4.01172211e-01 2.98038793e-03 3.64955449e+02] [ 4.01169871e-01 9.16002649e-01 1.37151106e-03 -1.41767311e+02] [-3.28025537e-03 -6.06592755e-05 9.99994618e-01 5.22680290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.29232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:364.98, Y:-141.75, Z:5.23 [[ 9.16901960e-01 -3.99099940e-01 3.16755451e-03 3.64984516e+02] [ 3.99097287e-01 9.16907429e-01 1.45690955e-03 -1.41752760e+02] [-3.48580677e-03 -7.16808094e-05 9.99993922e-01 5.22740997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32232058799997 meters Centerline goodness [0,1] 0.9999014584154513 Centerline is valid? [True, True] Translation: X:365.01, Y:-141.74, Z:5.23 [[ 9.18043408e-01 -3.96475064e-01 1.95560167e-03 3.65013559e+02] [ 3.96474065e-01 9.18045490e-01 8.91300023e-04 -1.41737730e+02] [-2.14870953e-03 -4.29067667e-05 9.99997691e-01 5.22963406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.35232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.04, Y:-141.72, Z:5.23 [[ 9.18851642e-01 -3.94596039e-01 2.37189816e-03 3.65042099e+02] [ 3.94594552e-01 9.18854702e-01 1.08487400e-03 -1.41723548e+02] [-2.60751676e-03 -6.09001665e-05 9.99996599e-01 5.23043712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.07, Y:-141.71, Z:5.23 [[ 9.18613993e-01 -3.95146332e-01 2.77631476e-03 3.65071474e+02] [ 3.95144302e-01 9.18618186e-01 1.26851205e-03 -1.41708183e+02] [-3.05162111e-03 -6.82279551e-05 9.99995341e-01 5.23105175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.41232058799994 meters Centerline goodness [0,1] 0.9999507946661418 Centerline is valid? [True, True] Translation: X:365.10, Y:-141.69, Z:5.23 [[ 9.18590949e-01 -3.95190892e-01 3.85068001e-03 3.65099989e+02] [ 3.95186962e-01 9.18599014e-01 1.76518642e-03 -1.41693648e+02] [-4.23481646e-03 -9.97457338e-05 9.99991028e-01 5.23192222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.442320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.13, Y:-141.68, Z:5.23 [[ 9.18269170e-01 -3.95945979e-01 2.91780604e-03 3.65128180e+02] [ 3.95943742e-01 9.18273803e-01 1.33272998e-03 -1.41677615e+02] [-3.20703393e-03 -6.85178060e-05 9.99994855e-01 5.23406886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.47232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.16, Y:-141.66, Z:5.23 [[ 9.17847286e-01 -3.96925010e-01 2.62606650e-03 3.65155459e+02] [ 3.96923210e-01 9.17851041e-01 1.19658015e-03 -1.41660313e+02] [-2.88529046e-03 -5.59310973e-05 9.99995836e-01 5.23433231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.502320588 meters Centerline goodness [0,1] 0.9999015360378102 Centerline is valid? [True, True] Translation: X:365.18, Y:-141.65, Z:5.24 [[ 9.17802991e-01 -3.97029555e-01 2.28105603e-03 3.65184338e+02] [ 3.97028188e-01 9.17805824e-01 1.04303480e-03 -1.41645024e+02] [-2.50768215e-03 -5.16569173e-05 9.99996854e-01 5.23562086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53232058799995 meters Centerline goodness [0,1] 0.9999507728660038 Centerline is valid? [True, True] Translation: X:365.21, Y:-141.63, Z:5.24 [[ 9.17547029e-01 -3.97618864e-01 2.58616389e-03 3.65213294e+02] [ 3.97617134e-01 9.17550672e-01 1.17383856e-03 -1.41628683e+02] [-2.83967677e-03 -4.87490078e-05 9.99995967e-01 5.23642282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.562320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.24, Y:-141.61, Z:5.24 [[ 9.17695463e-01 -3.97277457e-01 2.37875473e-03 3.65242835e+02] [ 3.97276000e-01 9.17698545e-01 1.07690018e-03 -1.41614147e+02] [-2.61080792e-03 -4.32442447e-05 9.99996591e-01 5.23768168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.27, Y:-141.60, Z:5.24 [[ 9.17750915e-01 -3.97152342e-01 1.80993935e-03 3.65271785e+02] [ 3.97151504e-01 9.17752699e-01 8.16733577e-04 -1.41600339e+02] [-1.98544438e-03 -3.07378527e-05 9.99998029e-01 5.23903898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.622320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.30, Y:-141.59, Z:5.24 [[ 9.17217502e-01 -3.98386766e-01 1.95302726e-04 3.65300713e+02] [ 3.98386757e-01 9.17217523e-01 8.47014965e-05 -1.41585306e+02] [-2.12879038e-04 1.16324758e-07 9.99999977e-01 5.24070975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.65232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.33, Y:-141.57, Z:5.24 [[ 9.17599643e-01 -3.97505149e-01 -7.43040294e-04 3.65329241e+02] [ 3.97504993e-01 9.17599943e-01 -3.53941551e-04 -1.41570724e+02] [ 8.22507320e-04 2.94144137e-05 9.99999661e-01 5.24241730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.682320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.36, Y:-141.56, Z:5.24 [[ 9.17440336e-01 -3.97872870e-01 6.39708758e-04 3.65358154e+02] [ 3.97872773e-01 9.17440559e-01 2.76842269e-04 -1.41555435e+02] [-6.97042788e-04 5.36433292e-07 9.99999757e-01 5.24338170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.71232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.39, Y:-141.54, Z:5.24 [[ 9.17491693e-01 -3.97750213e-01 1.93973120e-03 3.65386723e+02] [ 3.97749257e-01 9.17493743e-01 8.72495502e-04 -1.41541281e+02] [-2.12672651e-03 -2.89807314e-05 9.99997738e-01 5.24422524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.742320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.42, Y:-141.53, Z:5.24 [[ 9.18108998e-01 -3.96321251e-01 2.30929518e-03 3.65415858e+02] [ 3.96319889e-01 9.18111902e-01 1.04009640e-03 -1.41527071e+02] [-2.53240369e-03 -3.97022618e-05 9.99996793e-01 5.24450020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.77232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.44, Y:-141.51, Z:5.25 [[ 9.18610393e-01 -3.95163577e-01 -8.32636259e-04 3.65443912e+02] [ 3.95163383e-01 9.18610770e-01 -3.92935112e-04 -1.41511048e+02] [ 9.20142280e-04 3.19269168e-05 9.99999576e-01 5.24654567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.802320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.47, Y:-141.50, Z:5.25 [[ 9.19029874e-01 -3.94180905e-01 -2.34609609e-03 3.65472817e+02] [ 3.94179428e-01 9.19032866e-01 -1.08142009e-03 -1.41496551e+02] [ 2.58241457e-03 6.90745515e-05 9.99996663e-01 5.24825475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.83232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.50, Y:-141.48, Z:5.25 [[ 9.19753789e-01 -3.92475991e-01 -3.94501192e-03 3.65501513e+02] [ 3.92471840e-01 9.19762243e-01 -1.80881771e-03 -1.41481078e+02] [ 4.33839053e-03 1.15360858e-04 9.99990582e-01 5.25012323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.862320588 meters Centerline goodness [0,1] 0.9996060859717366 Centerline is valid? [True, True] Translation: X:365.53, Y:-141.46, Z:5.28 [[ 9.20127687e-01 -3.91512844e-01 -9.09574175e-03 3.65528661e+02] [ 3.91491002e-01 9.20172609e-01 -4.14309858e-03 -1.41464112e+02] [ 9.99172872e-03 2.51278668e-04 9.99950050e-01 5.27907549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.89232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.56, Y:-141.45, Z:5.25 [[ 9.20551383e-01 -3.90611497e-01 -2.79474832e-03 3.65558750e+02] [ 3.90609433e-01 9.20555622e-01 -1.27230020e-03 -1.41451168e+02] [ 3.06969636e-03 7.95626518e-05 9.99995285e-01 5.25047077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92232058799993 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.59, Y:-141.44, Z:5.25 [[ 9.20990471e-01 -3.89575727e-01 -2.70265774e-03 3.65587778e+02] [ 3.89573763e-01 9.20994433e-01 -1.24033264e-03 -1.41435599e+02] [ 2.97233622e-03 8.94499948e-05 9.99995579e-01 5.25178721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.95232058799996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.62, Y:-141.42, Z:5.25 [[ 9.21190568e-01 -3.89102338e-01 -2.70325159e-03 3.65617275e+02] [ 3.89100375e-01 9.21194530e-01 -1.23903021e-03 -1.41421919e+02] [ 2.97233013e-03 8.95467358e-05 9.99995579e-01 5.25268106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.65, Y:-141.41, Z:5.25 [[ 9.21157644e-01 -3.89159464e-01 -4.84840417e-03 3.65645106e+02] [ 3.89153242e-01 9.21170392e-01 -2.20537225e-03 -1.41405502e+02] [ 5.32444785e-03 1.44723303e-04 9.99985815e-01 5.25385649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.01232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.67, Y:-141.39, Z:5.25 [[ 9.20992677e-01 -3.89554113e-01 -4.48137443e-03 3.65673996e+02] [ 3.89548800e-01 9.21003570e-01 -2.03878420e-03 -1.41390383e+02] [ 4.92157862e-03 1.31991291e-04 9.99987880e-01 5.25446057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04232058799994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.70, Y:-141.37, Z:5.26 [[ 9.20297797e-01 -3.91156834e-01 -6.94955016e-03 3.65700725e+02] [ 3.91144215e-01 9.20324019e-01 -3.14702957e-03 -1.41371389e+02] [ 7.62682005e-03 1.77928034e-04 9.99970900e-01 5.25616689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.07232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.73, Y:-141.36, Z:5.26 [[ 9.19910362e-01 -3.92066392e-01 -6.99069910e-03 3.65728570e+02] [ 3.92053678e-01 9.19936909e-01 -3.16190732e-03 -1.41355792e+02] [ 7.67067971e-03 1.67942011e-04 9.99970566e-01 5.25762703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10232058799994 meters Centerline goodness [0,1] 0.9997519964287486 Centerline is valid? [True, True] Translation: X:365.76, Y:-141.34, Z:5.26 [[ 9.18921831e-01 -3.94414605e-01 -4.44840992e-03 3.65757016e+02] [ 3.94409463e-01 9.18932593e-01 -2.01631926e-03 -1.41339111e+02] [ 4.88305462e-03 9.83448222e-05 9.99988073e-01 5.25962934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.13232058799997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.79, Y:-141.32, Z:5.26 [[ 9.18386146e-01 -3.95662198e-01 -4.27914551e-03 3.65785167e+02] [ 3.95657471e-01 9.18396111e-01 -1.93593260e-03 -1.41324398e+02] [ 4.69592594e-03 8.48577889e-05 9.99988970e-01 5.25981888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16232058799994 meters Centerline goodness [0,1] 0.9993557978196234 Centerline is valid? [True, True] Translation: X:365.81, Y:-141.31, Z:5.29 [[ 9.18105700e-01 -3.96221243e-01 -9.52108598e-03 3.65812449e+02] [ 3.96198099e-01 9.18155053e-01 -4.28554519e-03 -1.41307998e+02] [ 1.04398572e-02 1.62347300e-04 9.99945490e-01 5.28530916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.192320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.84, Y:-141.29, Z:5.26 [[ 9.16568825e-01 -3.99834810e-01 -5.80628406e-03 3.65842097e+02] [ 3.99826250e-01 9.16587213e-01 -2.61743391e-03 -1.41291438e+02] [ 6.36850691e-03 7.75535384e-05 9.99979718e-01 5.26216496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22232058799995 meters Centerline goodness [0,1] 0.9994056757961468 Centerline is valid? [True, True] Translation: X:365.87, Y:-141.27, Z:5.29 [[ 9.16467590e-01 -3.99874070e-01 -1.37070670e-02 3.65869098e+02] [ 3.99826845e-01 9.16570076e-01 -6.14733774e-03 -1.41274943e+02] [ 1.50216484e-02 1.53382467e-04 9.99887157e-01 5.29323112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.252320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.90, Y:-141.26, Z:5.26 [[ 9.16216257e-01 -4.00642536e-01 -5.77310031e-03 3.65899157e+02] [ 4.00634142e-01 9.16234443e-01 -2.59413459e-03 -1.41261945e+02] [ 6.32883401e-03 6.38871940e-05 9.99979971e-01 5.26470773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.93, Y:-141.25, Z:5.27 [[ 9.15577230e-01 -4.02104451e-01 -5.50880521e-03 3.65928147e+02] [ 4.02096840e-01 9.15593801e-01 -2.47446636e-03 -1.41245358e+02] [ 6.03882184e-03 5.04918868e-05 9.99981765e-01 5.26620144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.312320588 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.96, Y:-141.23, Z:5.27 [[ 9.15967815e-01 -4.01202382e-01 -6.29368215e-03 3.65957741e+02] [ 4.01192471e-01 9.15989435e-01 -2.82072825e-03 -1.41230173e+02] [ 6.89662925e-03 5.87183965e-05 9.99976216e-01 5.26783046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34232058799995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:365.99, Y:-141.21, Z:5.27 [[ 9.15800323e-01 -4.01588231e-01 -6.05478113e-03 3.65986283e+02] [ 4.01579088e-01 9.15820337e-01 -2.71033665e-03 -1.41213619e+02] [ 6.63353100e-03 5.06536978e-05 9.99977997e-01 5.26844184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.372320588 meters Centerline goodness [0,1] 0.9998513526905163 Centerline is valid? [True, True] Translation: X:366.02, Y:-141.20, Z:5.27 [[ 9.15823921e-01 -4.01541182e-01 -5.58788485e-03 3.66015381e+02] [ 4.01533407e-01 9.15840967e-01 -2.49908600e-03 -1.41198982e+02] [ 6.12109981e-03 4.50002989e-05 9.99981265e-01 5.27074254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40232058799995 meters Centerline goodness [0,1] 0.9999010146003464 Centerline is valid? [True, True] Translation: X:366.04, Y:-141.18, Z:5.27 [[ 9.15669743e-01 -4.01887183e-01 -5.96778849e-03 3.66044838e+02] [ 4.01878399e-01 9.15689189e-01 -2.65734482e-03 -1.41184876e+02] [ 6.53259223e-03 3.49249649e-05 9.99978662e-01 5.27233569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.432320588 meters Centerline goodness [0,1] 0.9998516173706599 Centerline is valid? [True, True] Translation: X:366.07, Y:-141.17, Z:5.28 [[ 9.15413388e-01 -4.02426132e-01 -8.45791977e-03 3.66073176e+02] [ 4.02408528e-01 9.15452460e-01 -3.76439192e-03 -1.41169409e+02] [ 9.25771314e-03 4.24357173e-05 9.99957146e-01 5.27569903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46232058799995 meters Centerline goodness [0,1] 0.9998515880083111 Centerline is valid? [True, True] Translation: X:366.10, Y:-141.15, Z:5.28 [[ 9.15393526e-01 -4.02415639e-01 -1.07863714e-02 3.66102203e+02] [ 4.02387185e-01 9.15457073e-01 -4.78552864e-03 -1.41154286e+02] [ 1.18002316e-02 4.03442901e-05 9.99930374e-01 5.27751623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.492320588 meters Centerline goodness [0,1] 0.9996538423499159 Centerline is valid? [True, True] Translation: X:366.13, Y:-141.14, Z:5.28 [[ 9.15430137e-01 -4.02271458e-01 -1.28583727e-02 3.66131051e+02] [ 4.02231039e-01 9.15520438e-01 -5.70256094e-03 -1.41138752e+02] [ 1.40660805e-02 4.82595444e-05 9.99901067e-01 5.27936514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52232058799996 meters Centerline goodness [0,1] 0.9995553799031717 Centerline is valid? [True, True] Translation: X:366.16, Y:-141.12, Z:5.28 [[ 9.15748581e-01 -4.01541596e-01 -1.29955304e-02 3.66159064e+02] [ 4.01500236e-01 9.15840785e-01 -5.76341409e-03 -1.41121073e+02] [ 1.42160872e-02 6.01297636e-05 9.99898945e-01 5.28293851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.552320588 meters Centerline goodness [0,1] 0.9992605737947353 Centerline is valid? [True, True] Translation: X:366.19, Y:-141.11, Z:5.29 [[ 9.16141087e-01 -4.00647231e-01 -1.29346134e-02 3.66188581e+02] [ 4.00606286e-01 9.16232390e-01 -5.72814901e-03 -1.41106379e+02] [ 1.41460788e-02 6.61052319e-05 9.99899937e-01 5.28541538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58232058799996 meters Centerline goodness [0,1] 0.999162148841794 Centerline is valid? [True, True] Translation: X:366.22, Y:-141.09, Z:5.29 [[ 9.16375502e-01 -3.99963620e-01 -1.68831664e-02 3.66217645e+02] [ 3.99894100e-01 9.16531012e-01 -7.45740266e-03 -1.41091503e+02] [ 1.84566353e-02 8.23024892e-05 9.99829658e-01 5.28784925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.612320588 meters Centerline goodness [0,1] 0.9989175891758918 Centerline is valid? [True, True] Translation: X:366.25, Y:-141.08, Z:5.29 [[ 9.16644422e-01 -3.99248608e-01 -1.90670788e-02 3.66247285e+02] [ 3.99159842e-01 9.16842701e-01 -8.41917199e-03 -1.41077373e+02] [ 2.08428548e-02 1.06574859e-04 9.99782758e-01 5.28887626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64232058799996 meters Centerline goodness [0,1] 0.9990150694376047 Centerline is valid? [True, True] Translation: X:366.28, Y:-141.06, Z:5.29 [[ 9.16829731e-01 -3.98822262e-01 -1.90800457e-02 3.66276430e+02] [ 3.98733544e-01 9.17028240e-01 -8.41238639e-03 -1.41062235e+02] [ 2.08519877e-02 1.04871703e-04 9.99782568e-01 5.28971266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.67232058799993 meters Centerline goodness [0,1] 0.9986684420772304 Centerline is valid? [True, True] Translation: X:366.31, Y:-141.05, Z:5.29 [[ 9.16652235e-01 -3.99220024e-01 -1.92886387e-02 3.66306393e+02] [ 3.99129710e-01 9.16855149e-01 -8.49172072e-03 -1.41047237e+02] [ 2.10749526e-02 8.52860222e-05 9.99777895e-01 5.29188062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70232058799996 meters Centerline goodness [0,1] 0.9991583325081691 Centerline is valid? [True, True] Translation: X:366.34, Y:-141.03, Z:5.29 [[ 9.16405997e-01 -3.99774372e-01 -1.95064255e-02 3.66336255e+02] [ 3.99682452e-01 9.16613576e-01 -8.57263760e-03 -1.41032649e+02] [ 2.13069752e-02 5.96405402e-05 9.99772979e-01 5.29285351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.73232058799994 meters Centerline goodness [0,1] 0.9991133878435622 Centerline is valid? [True, True] Translation: X:366.37, Y:-141.02, Z:5.29 [[ 9.16124947e-01 -4.00284551e-01 -2.20762202e-02 3.66366401e+02] [ 4.00167106e-01 9.16390897e-01 -9.69594958e-03 -1.41019506e+02] [ 2.41115861e-02 4.85241442e-05 9.99709272e-01 5.29457864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76232058799997 meters Centerline goodness [0,1] 0.9991139988186651 Centerline is valid? [True, True] Translation: X:366.40, Y:-141.01, Z:5.30 [[ 9.16225023e-01 -4.00044822e-01 -2.22676319e-02 3.66397343e+02] [ 3.99925618e-01 9.16495575e-01 -9.76532938e-03 -1.41006609e+02] [ 2.43147556e-02 4.18426764e-05 9.99704352e-01 5.29530122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.79232058799994 meters Centerline goodness [0,1] 0.9990149239028715 Centerline is valid? [True, True] Translation: X:366.43, Y:-140.99, Z:5.30 [[ 9.16741550e-01 -3.98903440e-01 -2.14703760e-02 3.66427601e+02] [ 3.98792629e-01 9.16992935e-01 -9.40195379e-03 -1.40992879e+02] [ 2.34386548e-02 5.69340195e-05 9.99725275e-01 5.29717404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82232058799997 meters Centerline goodness [0,1] 0.9993590375702593 Centerline is valid? [True, True] Translation: X:366.46, Y:-140.98, Z:5.30 [[ 9.17550697e-01 -3.97026937e-01 -2.16870735e-02 3.66457649e+02] [ 3.96913686e-01 9.17806953e-01 -9.48278151e-03 -1.40978873e+02] [ 2.36694665e-02 9.30365115e-05 9.99719835e-01 5.29781820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.85232058799994 meters Centerline goodness [0,1] 0.9993597320724981 Centerline is valid? [True, True] Translation: X:366.49, Y:-140.97, Z:5.30 [[ 9.18519396e-01 -3.94643901e-01 -2.40480655e-02 3.66487599e+02] [ 3.94504275e-01 9.18834135e-01 -1.04980910e-02 -1.40965264e+02] [ 2.62391911e-02 1.55635560e-04 9.99655681e-01 5.29894268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88232058799997 meters Centerline goodness [0,1] 0.9994067335739358 Centerline is valid? [True, True] Translation: X:366.52, Y:-140.95, Z:5.30 [[ 9.18885429e-01 -3.93787104e-01 -2.41098687e-02 3.66517549e+02] [ 3.93646873e-01 9.19201659e-01 -1.05095399e-02 -1.40951868e+02] [ 2.63003525e-02 1.66288643e-04 9.99654072e-01 5.30054717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.91232058799994 meters Centerline goodness [0,1] 0.9993097667997831 Centerline is valid? [True, True] Translation: X:366.55, Y:-140.94, Z:5.30 [[ 9.19941318e-01 -3.91275743e-01 -2.47237739e-02 3.66547704e+02] [ 3.91127811e-01 9.20273460e-01 -1.07608056e-02 -1.40939252e+02] [ 2.69630751e-02 2.29154145e-04 9.99636404e-01 5.30228756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.942320588 meters Centerline goodness [0,1] 0.9991114621384145 Centerline is valid? [True, True] Translation: X:366.58, Y:-140.93, Z:5.31 [[ 9.21004202e-01 -3.88650859e-01 -2.64909221e-02 3.66578232e+02] [ 3.88480465e-01 9.21385052e-01 -1.15115204e-02 -1.40927709e+02] [ 2.88823019e-02 3.10952925e-04 9.99582771e-01 5.30539312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.97232058799995 meters Centerline goodness [0,1] 0.9984722290670741 Centerline is valid? [True, True] Translation: X:366.61, Y:-140.91, Z:5.31 [[ 9.21611307e-01 -3.87192360e-01 -2.67334228e-02 3.66608397e+02] [ 3.87018727e-01 9.21998893e-01 -1.15994215e-02 -1.40914811e+02] [ 2.91393936e-02 3.43822776e-04 9.99575299e-01 5.30749635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.002320588 meters Centerline goodness [0,1] 0.9988666600965803 Centerline is valid? [True, True] Translation: X:366.64, Y:-140.90, Z:5.31 [[ 9.22761562e-01 -3.84367873e-01 -2.77927685e-02 3.66637794e+02] [ 3.84179478e-01 9.23179912e-01 -1.20406905e-02 -1.40901873e+02] [ 3.02857801e-02 4.33275078e-04 9.99541187e-01 5.30935489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.03232058799995 meters Centerline goodness [0,1] 0.9987652491727169 Centerline is valid? [True, True] Translation: X:366.67, Y:-140.89, Z:5.31 [[ 9.23465294e-01 -3.82616018e-01 -2.85803037e-02 3.66668080e+02] [ 3.82416478e-01 9.23907324e-01 -1.23650227e-02 -1.40888088e+02] [ 3.11366076e-02 4.89090243e-04 9.99515019e-01 5.31123506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.062320588 meters Centerline goodness [0,1] 0.9986688359710102 Centerline is valid? [True, True] Translation: X:366.70, Y:-140.87, Z:5.31 [[ 9.23783034e-01 -3.81828487e-01 -2.88428940e-02 3.66698374e+02] [ 3.81625471e-01 9.24233062e-01 -1.24598070e-02 -1.40874745e+02] [ 3.14150655e-02 5.02975308e-04 9.99506298e-01 5.31211332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09232058799995 meters Centerline goodness [0,1] 0.99876968503937 Centerline is valid? [True, True] Translation: X:366.73, Y:-140.86, Z:5.31 [[ 9.24421087e-01 -3.80186029e-01 -3.00705352e-02 3.66727634e+02] [ 3.79965136e-01 9.24909869e-01 -1.29703784e-02 -1.40861887e+02] [ 3.27436914e-02 5.64336279e-04 9.99463622e-01 5.31282155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.122320588 meters Centerline goodness [0,1] 0.9979320531757755 Centerline is valid? [True, True] Translation: X:366.76, Y:-140.85, Z:5.32 [[ 9.24869775e-01 -3.78698894e-01 -3.46849626e-02 3.66756823e+02] [ 3.78404753e-01 9.25519675e-01 -1.49390018e-02 -1.40848172e+02] [ 3.77589988e-02 6.91676560e-04 9.99286635e-01 5.31571349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.15232058799995 meters Centerline goodness [0,1] 0.9986215045293423 Centerline is valid? [True, True] Translation: X:366.79, Y:-140.83, Z:5.32 [[ 9.25273422e-01 -3.77558973e-01 -3.63086314e-02 3.66785865e+02] [ 3.77236588e-01 9.25985234e-01 -1.56173798e-02 -1.40834567e+02] [ 3.95177384e-02 7.53402193e-04 9.99218585e-01 5.31753360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.182320588 meters Centerline goodness [0,1] 0.9979731065849318 Centerline is valid? [True, True] Translation: X:366.82, Y:-140.82, Z:5.32 [[ 9.25467913e-01 -3.76890105e-01 -3.82490750e-02 3.66815849e+02] [ 3.76532674e-01 9.26257634e-01 -1.64299054e-02 -1.40822417e+02] [ 4.16207665e-02 8.03323725e-04 9.99133158e-01 5.32035907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.21232058799995 meters Centerline goodness [0,1] 0.9976318515960334 Centerline is valid? [True, True] Translation: X:366.85, Y:-140.81, Z:5.32 [[ 9.25650998e-01 -3.76362826e-01 -3.90032451e-02 3.66845740e+02] [ 3.75991626e-01 9.26471989e-01 -1.67317447e-02 -1.40810226e+02] [ 4.24326208e-02 8.22862680e-04 9.99098992e-01 5.32198347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.242320588 meters Centerline goodness [0,1] 0.9976835879743716 Centerline is valid? [True, True] Translation: X:366.87, Y:-140.80, Z:5.32 [[ 9.25509671e-01 -3.76588458e-01 -4.01619531e-02 3.66874458e+02] [ 3.76195764e-01 9.26380298e-01 -1.72130841e-02 -1.40797958e+02] [ 4.36874909e-02 8.22119209e-04 9.99044908e-01 5.32386728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.27232058799996 meters Centerline goodness [0,1] 0.99699684915321 Centerline is valid? [True, True] Translation: X:366.90, Y:-140.79, Z:5.33 [[ 9.25493136e-01 -3.76132023e-01 -4.45775239e-02 3.66903215e+02] [ 3.75647791e-01 9.26565610e-01 -1.91025666e-02 -1.40786686e+02] [ 4.84890877e-02 9.33845890e-04 9.98823276e-01 5.32624669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.302320588 meters Centerline goodness [0,1] 0.997391475538931 Centerline is valid? [True, True] Translation: X:366.93, Y:-140.78, Z:5.33 [[ 9.25544286e-01 -3.75760094e-01 -4.66060680e-02 3.66930228e+02] [ 3.75230166e-01 9.26716437e-01 -1.99742059e-02 -1.40776126e+02] [ 5.06961187e-02 9.99009492e-04 9.98713625e-01 5.32800772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.33232058799996 meters Centerline goodness [0,1] 0.9967996061053668 Centerline is valid? [True, True] Translation: X:366.96, Y:-140.77, Z:5.33 [[ 9.25432601e-01 -3.75674494e-01 -4.94284897e-02 3.66957112e+02] [ 3.75077830e-01 9.26751059e-01 -2.11919039e-02 -1.40765001e+02] [ 5.37691630e-02 1.07214813e-03 9.98552817e-01 5.33093852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.362320588 meters Centerline goodness [0,1] 0.9965873683169296 Centerline is valid? [True, True] Translation: X:366.98, Y:-140.75, Z:5.33 [[ 9.25324140e-01 -3.75722833e-01 -5.10645531e-02 3.66983014e+02] [ 3.75085601e-01 9.26731415e-01 -2.19015291e-02 -1.40752398e+02] [ 5.55520301e-02 1.11243502e-03 9.98455174e-01 5.33346634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.39232058799996 meters Centerline goodness [0,1] 0.9964090707855773 Centerline is valid? [True, True] Translation: X:367.01, Y:-140.74, Z:5.34 [[ 9.25521973e-01 -3.74977800e-01 -5.29218944e-02 3.67009473e+02] [ 3.74291620e-01 9.27033005e-01 -2.27066360e-02 -1.40740599e+02] [ 5.75748272e-02 1.20726892e-03 9.98340464e-01 5.33585188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42232058799993 meters Centerline goodness [0,1] 0.9967534064636726 Centerline is valid? [True, True] Translation: X:367.04, Y:-140.73, Z:5.34 [[ 9.25219872e-01 -3.75330219e-01 -5.56364619e-02 3.67037342e+02] [ 3.74571859e-01 9.26890313e-01 -2.38803133e-02 -1.40731816e+02] [ 6.05319008e-02 1.25468744e-03 9.98165475e-01 5.34031795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.45232058799996 meters Centerline goodness [0,1] 0.9956213716422316 Centerline is valid? [True, True] Translation: X:367.06, Y:-140.72, Z:5.34 [[ 9.25010841e-01 -3.75723686e-01 -5.64504832e-02 3.67064596e+02] [ 3.74943131e-01 9.26730887e-01 -2.42386444e-02 -1.40722193e+02] [ 6.14214392e-02 1.25528792e-03 9.98111132e-01 5.34250069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48232058799994 meters Centerline goodness [0,1] 0.9965981363703594 Centerline is valid? [True, True] Translation: X:367.09, Y:-140.71, Z:5.34 [[ 9.24396195e-01 -3.76980588e-01 -5.81146313e-02 3.67091351e+02] [ 3.76155175e-01 9.26220362e-01 -2.49624643e-02 -1.40710893e+02] [ 6.32373193e-02 1.21508770e-03 9.97997778e-01 5.34472841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.51232058799997 meters Centerline goodness [0,1] 0.9964057114721812 Centerline is valid? [True, True] Translation: X:367.12, Y:-140.70, Z:5.35 [[ 9.24146375e-01 -3.77348822e-01 -5.96769947e-02 3.67117546e+02] [ 3.76478523e-01 9.26070382e-01 -2.56431257e-02 -1.40699147e+02] [ 6.49415005e-02 1.23089488e-03 9.97888314e-01 5.34858366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54232058799994 meters Centerline goodness [0,1] 0.9956241703131914 Centerline is valid? [True, True] Translation: X:367.14, Y:-140.69, Z:5.35 [[ 9.23884396e-01 -3.77803148e-01 -6.08473792e-02 3.67144319e+02] [ 3.76898675e-01 9.25885125e-01 -2.61557760e-02 -1.40688028e+02] [ 6.62194178e-02 1.23161673e-03 9.97804325e-01 5.35154008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.57232058799997 meters Centerline goodness [0,1] 0.995754973098376 Centerline is valid? [True, True] Translation: X:367.17, Y:-140.68, Z:5.36 [[ 9.23995894e-01 -3.77535730e-01 -6.08141534e-02 3.67171602e+02] [ 3.76631029e-01 9.25994162e-01 -2.61511165e-02 -1.40678005e+02] [ 6.61865319e-02 1.25902711e-03 9.97806473e-01 5.35604321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60232058799994 meters Centerline goodness [0,1] 0.9940860480015771 Centerline is valid? [True, True] Translation: X:367.20, Y:-140.67, Z:5.36 [[ 9.24048564e-01 -3.77168572e-01 -6.22745499e-02 3.67198522e+02] [ 3.76218336e-01 9.26143677e-01 -2.67890279e-02 -1.40666696e+02] [ 6.77791601e-02 1.32553517e-03 9.97699468e-01 5.35834533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.63232058799997 meters Centerline goodness [0,1] 0.9947798680193046 Centerline is valid? [True, True] Translation: X:367.22, Y:-140.66, Z:5.36 [[ 9.24105859e-01 -3.77102107e-01 -6.18252521e-02 3.67224453e+02] [ 3.76163565e-01 9.26170713e-01 -2.66229847e-02 -1.40655763e+02] [ 6.73003214e-02 1.34604889e-03 9.97731855e-01 5.35962154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66232058799994 meters Centerline goodness [0,1] 0.9944911711179971 Centerline is valid? [True, True] Translation: X:367.25, Y:-140.65, Z:5.36 [[ 9.24182887e-01 -3.76923441e-01 -6.17633405e-02 3.67250818e+02] [ 3.75984914e-01 9.26243392e-01 -2.66181019e-02 -1.40645348e+02] [ 6.72408726e-02 1.37790999e-03 9.97735820e-01 5.36233612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.692320588 meters Centerline goodness [0,1] 0.9930651190241984 Centerline is valid? [True, True] Translation: X:367.28, Y:-140.64, Z:5.36 [[ 9.24528175e-01 -3.76275590e-01 -6.05337487e-02 3.67277609e+02] [ 3.75372092e-01 9.26506722e-01 -2.60976395e-02 -1.40635123e+02] [ 6.59048298e-02 1.40532309e-03 9.97824924e-01 5.36373982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5838.46 sec! =-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-= Saving Lidar 3D alignment track ... Completed! Saving Lidar 2D alignment track ... Completed! Writing Lidar 2D slices PTD file in binary format... Completed! Filtering the 2D slices ... |- Filtering the 2D slices ... 0%| | 0/12024 [00:00